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Article summary:
1. This paper presents a balance control for a powered lower limbs exoskeleton based on the instantaneous capture point concept and human balance strategies.
2. The proposed control assists stand leg(s) in order to facilitate the balance recovery, while the user is supposed to compensate efforts to overcome actuation issues.
3. The desired behavior of the Instantaneous Capture Point (ICP) is a convergence toward the expected position like a first order system, and leg distribution coefficients are chosen based on the position of the Instantaneous Capture Point (ICP).
Article analysis:
The article provides an overview of a balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies. The authors present their proposed control which assists stand leg(s) in order to facilitate the balance recovery, while assuming that the user will compensate efforts to overcome actuation issues. They also discuss how they compute joint torques for the specific actuation of EMY-Balance, as well as how they detect loss of balance situations by observing Instantaneous Capture Point (ICP) position in the support polygon.
The article appears to be reliable and trustworthy overall, as it provides detailed information about its research methods and results. It also cites relevant sources such as biomechanic studies and other related works which adds credibility to its claims. Furthermore, it does not appear to be biased or one-sided in its reporting, as it presents both sides equally and does not promote any particular viewpoint or agenda.
However, there are some points that could be improved upon in terms of trustworthiness and reliability. For example, there is no discussion about possible risks associated with using this type of technology or potential counterarguments that could be raised against it. Additionally, there is no mention of any limitations or drawbacks associated with this approach which could have been explored further. Finally, more evidence could have been provided for some of the claims made throughout the article such as those related to human balance strategies and joint torque computation.