![]() 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. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. 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. 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. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs.
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