benchmark on H3 Exoskeleton, force data

Developing robust benchmarking methods is crucial for evaluating the standing stability ofbipedal systems, including humanoid robots and exoskeletons. This paper presents a standardized benchmarkingprocedure based on the Linear Inverted Pendulum Model and the Capture Point concept to normalizethe maximum angular momentum before falling. Normalizing these variables establishes absolute and relativebenchmarks achieving comprehensive comparisons across different bipedal systems. Simulations wereconducted on two humanoid robots, COMAN and WALK-MAN, to validate the approach, demonstratingits applicability to robots of various sizes and configurations. Furthermore, the same benchmarking methodwas applied to the therapeutic exoskeleton H3, illustrating its potential to optimize mechanical design andtherapeutic performance. The results indicate that this standardized procedure provides a valuable tool forassessing and improving the stability of anthropomorphic robotic systems, providing insights into bothhardware capabilities and control strategies.