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The most common approach to studying dynamic balance during walking is by applying perturbations. Previous studies that investigated dynamic balance responses predominantly focused on applying perturbations in frontal plane while walking on treadmill. The goal of our work was to develop balance assessment robot (BAR) that can be used during overground walking and to assess normative balance responses to perturbations in transversal plane in a group of neurologically healthy individuals.

BAR provides three passive degrees of freedom (DoF) and three actuated DoF in pelvis that are admittance-controlled in such a way that the natural movement of pelvis is not significantly affected. In this study BAR was used to assess normative balance responses in neurologically healthy individuals by applying linear perturbations in …