We had shown in our previous research that the stability assessment and control are essential for generation of faster and more energy efficient functional electrical stimulation (FES) and/or crutch-assisted gait. The objective of our recent research work has been to design a wearable and portable system for gait stability analysis with online capabilities that is also applicable to crutch-assisted gait modes. The developed wearable stability assessment system for as yet only biped gait consists of foot switches and goniometers attached to the leg joints. The instantaneous static and dynamic stability is, within the wearable system, assessed from the trajectory of the estimated body center of gravity (COG(HAT) ) and the supporting area shape/size as derived from step length and foot-floor contact state. We used motion analysis system data as reference for testing the wearable system accuracy. The wearable system was tested on five healthy subjects and one above-knee amputee. It proved to be reasonably accurate if compared to the classical, motion analysis system based method. However, additional work is required to port the system to the FES assisted and/or crutch assisted gait.
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