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. 2020 Nov 16;7:553828. doi: 10.3389/frobt.2020.553828

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Copyright © 2020 Fasola, Baud, Vouga, Ijspeert and Bouri.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Object lifting perturbation results. Foot contact point position (x_CoP) along the curved soles during object lifting perturbations. For BKC, the x_CoP of one successful arm lift and one failed barbell lift is shown. When the toe tip has been reached, the pilot fell forward, was caught by the spotters and therefore the x_CoP quickly returned close to zero. The barbell was then removed, and the system stabilization is highlighted by the x_CoP returning to the target position. For EKC, the x_CoP of 3 successful barbell lifts with increasing weights is represented, as well as the CoM compensation.