A Personalized Dynamic Balance Evaluation Paradigm for Hip Exoskeleton-Assisted Walking under Unexpected Ground Perturbations

arXiv:2609.14765 · cs.RO, cs.LG, cs.SY, eess.SY · Submitted 2026-09-13 · Read on arXiv

cs.RO, cs.LG, cs.SY, eess.SY

Submitted: 2026-09-13

Updated: 2026-09-13

Comments: 8 pages, 6 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Human-in-the-Loop — 6× in this paper · explained in 3 episodes
• Personalization — 3× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Post-Selection — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Systematic Evaluation of Hip Exoskeleton Assistance Parameters for Enhancing Gait Stability During Ground Slip Perturbations

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