Balancing the upper body is pivotal for upright and efficient gait. While models have identified potentially useful characteristics of biarticular thigh muscles for postural control of the upper body, experimental evidence for their specific role is lacking. Based on theoretical findings, we hypothesised that biarticular muscle activity would increase strongly in response to upper-body perturbations. To test this hypothesis, we used a novel Angular Momentum Perturbator (AMP) that, in contrast to existing methods, perturbs the upper-body posture with only minimal effect on Centre of Mass (CoM) excursions. The impulse-like AMP torques applied to the trunk of subjects resulted in upper-body pitch deflections of up to 17° with only small CoM excursions below 2 cm. Biarticular thigh muscles (biceps femoris long head and rectus femoris) showed the strongest increase in muscular activity (mid- and long-latency reflexes, starting 100 ms after perturbation onset) of all eight measured leg muscles which highlights the importance of biarticular muscles for restoring upper-body balance. These insights could be used for improving technological aids like rehabilitation or assistive devices, and the effectiveness of physical training for fall prevention e.g. for elderly people.

We recently proposed the theoretical idea of a wearable balancing aid, consisting of a set of control moment gyroscopes (CMGs) contained into a backpacklike orthopedic corset. Even though similar solutions have been reported in the literature, important considerations in the synthesis and design of the actuators remained to be addressed. These include design requirements such as aerodynamic behavior of the spinning flywheel, induced dynamics by the wearer's motion, and stresses in the inner components due to the generated gyroscopic moment. In this paper, we describe the design and evaluation of a single CMG, addressing in detail the aforementioned requirements. In addition, given the application of the device in human balance, the design follows the European directives for medical electrical equipment. The developed system was tested in a dedicated balance test bench showing good agreement with the expected flywheel speed, and calculated power requirements in the actuators and output gyroscopic moment. The device was capable of producing a peak gyroscopic moment of approximately 70 N·m with a total CMG mass of about 10 kg.

Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a backpack-like prototype portable robot, to investigate the hypothesis that the balance of both healthy and chronic stroke subjects can be augmented through moments applied to the upper body. We quantified balance performance in terms of each participant's ability to walk or remain standing on a narrow support surface oriented to challenge stability in either the frontal or the sagittal plane. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. A rotational viscous field increased the distance healthy participants could walk along a 30mm-wide beam by a factor of 2.0, compared to when the GyBAR was worn but inactive. The same controller enabled individuals with chronic stroke to remain standing for a factor of 2.5 longer on a narrow block. Due to its wearability and versatility of control, the GyBAR could enable new therapy interventions for training and rehabilitation.

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The occurrence of falls is an urgent challenge in our aging society. For wearable devices that actively prevent falls or mitigate their consequences, a critical prerequisite is knowledge on the user's current state of balance. To keep such wearable systems practical and to achieve high acceptance, only very limited sensor instrumentation is possible, often restricted to inertial measurement units at waist level. We propose to augment this limited sensor information by combining it with additional knowledge on human gait, in the form of an observer concept. The observer contains a combination of validated concepts to model human gait: a spring-loaded inverted pendulum model with articulated upper body, where foot placement and stance leg are controlled via the extrapolated center of mass (XCoM) and the virtual pivot point (VPP), respectively. State estimation is performed via an Additive Unscented Kalman Filter (Additive UKF). We investigated sensitivity of the proposed concept to model uncertainties, and we evaluated observer performance with real data from human subjects walking on a treadmill. Data were collected from an Inertial Measurement Unit (IMU) placed near the subject's center of mass (CoM), and observer estimates were compared to the ground truth as obtained via infrared motion capture. We found that the root mean squared deviation did not exceed 13 cm on position, 22 cm/s on velocity (0.56-1.35 m/s), 1.2°on orientation, and 17°/s on angular velocity.Keywords: human gait and balance, wearable sensors, state estimation, virtual pivot point, extrapolated center of mass, capture point, additive unscented kalman filter, fall detection

Abstract-Gyroscopic actuation is appealing for wearable applications due to its ability to impart free moments on a body without exoskeletal structures on the joints. We recently proposed an unobtrusive balancing aid consisting of multiple parallelmounted control moment gyroscopes (CMGs) contained within a backpack-like orthopedic corset. Using conventional CMG control techniques, geometric singularities result in a number of performance issues, including either unintended oscillations or freezing of the gimbals at certain alignments, which are typically mitigated by the addition of redundant actuators or by allowing errors in the generated moment; however, because of the minimalistic design of the proposed device and focus on accurate moment tracking, a new methodology is required.In this paper, a control scheme is proposed for non-redundant CMG systems in which oscillations at saturated states are avoided and all remaining singularities are efficiently escaped by exploiting the system geometry; due to its use of classification-specific singularity proximity measures that account for the command moment orientation, it is named the directional singularity-robust (DSR) control law. The performance of this control law is assessed in both simulations and hardware testing. The proposed method is suitable for a wide range of CMG systems, including both balancing and aerospace applications.

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