Research Article

Tip-Over Stability Analysis of a Pelvic Support Walking Robot

Figure 3

The four cases that the subject leans on the robot. (a) The subject leans on the machine to the left; (b) the subject leans on the machine to the right; (c) the subject leans on the machine to the forward; (d) the subject leans on the machine to the backward.
(a)
(b)
(c)
(d)