The idea of using a stability control system, developed for small robots, on active (robotic) exoskeletons to recover patients with impaired walking function. A method for controlling gait stability based on the zero-moment point is proposed. It takes into account the inclination angle of the sports surface, which is achieved by controlling the ankle joint of the exoskeleton. The results show that the proposed control method ensures the stability of the human-exoskeleton system when walking on a swinging surface in the presence of momentary disturbances.

Keywords: medical exoskeleton, huamnoid robot, stability control