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Fig. 3 | Journal of NeuroEngineering and Rehabilitation

Fig. 3

From: Effects of a powered ankle-foot orthosis on perturbed standing balance

Fig. 3

Computation of the body sway angle θ sway based on a rigid link model. The variables ϕ are joint angles, m n are segment masses and M is the total body mass located at the CoM. Left: model in baseline pose. The model is placed in a right-handed coordinate system. Segment rotations and moments are positive in counter-clockwise direction. Middle: the joint angles are defined as the angle of segment n minus the angle of segment n−1. Segment angles are zero in the baseline pose. Right: Based on segment angles and masses the whole body CoM can be computed. Similar to the segment angles, the body sway angle is positive in counter-clockwise direction

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