Fig. 9From: Robust walking control of a lower limb rehabilitation exoskeleton coupled with a musculoskeletal model via deep reinforcement learningCoP-based stability analysis. It shows the CoP locations under different human conditions during 100 walking gait cycles. a Fully passive; b healthy; c muscle weakness; and d hemiparesis. We can clearly see that all CoP positions stay inside in the stable region during the walking motionBack to article page