Siying Guo

Estimating the Center of Mass of Human-Exoskeleton Systems with Physically Coupled Serial Chain

Estimating the center of mass (CoM) is essential for both gait planning and controlling of lower limb exoskeletons. Different from CoM estimation in human and humanoid robots, a critical issue in human-exoskeleton systems pis how to describe the effect of physical human-exoskeleton interactions in e…