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. 2017 May 11;7:46721. doi: 10.1038/srep46721

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Copyright © 2017, The Author(s)

This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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(A) The mechatronic platform (1) provides sudden and unexpected slipping-like perturbations while the subject was steadily walking (2). The subject’s balance control was hence challenged (3) and, accordingly, the Active Pelvis Orthosis (4) could supply the assistive strategy for stability recovery. (B) The balance loss is detected in real time by an algorithm running in the APO control unit and comparing the actual hip angles of the robot (i.e., θ) with those predicted by a pool of adaptive oscillators (i.e., ). (C) Once the slipping-like perturbation was detected, counteracting torques were supplied by the APO at the hip joints to promote balance recovery. Panel C was created by Arch. Alessio Tommasetti Panel C was created by Mr. Francesco Giovacchini.

Inline graphic — (A) The mechatronic platform (1) provides sudden and unexpected slipping-like perturbations while the subject was steadily walking (2). The subject’s balance control was hence challenged (3) and, accordingly, the Active Pelvis Orthosis (4) could supply the assistive strategy for stability recovery. (B) The balance loss is detected in real time by an algorithm running in the APO control unit and comparing the actual hip angles of the robot (i.e., θ) with those predicted by a pool of adaptive oscillators (i.e., ). (C) Once the slipping-like perturbation was detected, counteracting torques were supplied by the APO at the hip joints to promote balance recovery. Panel C was created by Arch. Alessio Tommasetti Panel C was created by Mr. Francesco Giovacchini.