A stability index has been generally used in a gait system of formulaic structure. In this standardized structure, a human model has a center of gravity (COG), while a robot device has a zero moment point (ZMP) with COG as the stability standard in the walking motion. In the gait system of wearable type, the stability of human model is closely related with the robot device, in other words, the COG and ZMP are located in the limited domain of human motion and robot task. In this paper, the human and device are designed individually and the knee joint of human is unconstrained from the device work to allow the human reliance. The stability index that includes the COG and ZMP is defined. The validation of this index is guaranteed through a few tests to describe a correlation between the stability index and the human model condition. Based on the validity of the stability index, the experiment for the walking stabilization is implemented with the ZMP estimation by reaction torque observer.

中文翻译：

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人体运动分析及其在COG和ZMP稳定步行中的应用

稳定性指数通常被用在公式结构的步态系统中。在这种标准化的结构中，人体模型具有重心（COG），而机器人设备具有零力矩点（ZMP），其中COG作为步行运动的稳定性标准。在可穿戴式步态系统中，人体模型的稳定性与机器人设备密切相关，换句话说，COG和ZMP处于人体运动和机器人任务的有限领域。在本文中，人和设备是单独设计的，并且人的膝关节不受设备工作的限制，从而使人能够依靠。定义了包括COG和ZMP的稳定性指标。通过一些描述稳定性指标与人体模型状况之间相关性的测试，可以保证该指标的有效性。