Fig. 5
From: Assisting walking balance using a bio-inspired exoskeleton controller
Effect of perturbation force and exoskeleton controller on pelvis displacement. The controller type influenced the movement of the pelvis after push perturbations [F(2,22) = 4.1593, p = 0.04)]. Forward displacement of the pelvis during the perturbed stance phase was smaller in the controller with COM feedback compared to the controller without COM feedback (p = 0.026) (A, B). The controller type also influenced the backward pelvis displacement after pull perturbations [F(2,20) = 21.92, p < 0.001]. Backward pelvis displacement at the first heel strike after the perturbation was smaller in the controllers with COM feedback compared to the controller without COM feedback (p = 0.002) (C, D). A and C contain data of one representative subject. The bar plots in B and D contain data of all subjects with the dots representing the response of individual subjects and the bars the averages across subjects. A repeated measures anova with Tukey’s HSD post-hoc test was used to compare the pelvis displacement between controllers