Estimation of the Centre of Mass Position, Linear Momentum, and Angular Momentum of a Human Wearing an Exoskeleton

In this research a method is designed to estimate the centre of mass (CoM) position and the linear and angular momentum of a human wearing an exoskeleton. The Statically Equivalent Serial Chain (SESC) method was used to predict the CoM postion. Inspired by the SESC, new methods were designed to estimate the CoM linear and angular momentum. Virtual experiments were conducted to test the proposed methods.