Tip-Over Stability Analysis of a Pelvic Support Walking Robot

Table 1

The force along the X-axis and Y-axis when the patient falls over.

Subject	Height (cm)	Weight (kg)	+Fx (N)	−Fx (N)	+Fy (N)	−Fy (N)
S1	178	73	130	140	130	130
S2	170	78	160	165	155	130
S3	178	65	130	130	120	125
S4	173	55	90	90	85	75
S5	173	60	140	130	110	90
S6	173	62	100	110	100	110
S7	173	68	120	120	120	120
S8	169	63	130	140	100	110
Average	173	66	125	128	115	111