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.研发鲁棒的基准测试方法，对于评估双足系统（包括人形机器人与外骨骼）的站立稳定性至关重要。本文提出一种基于线性倒立摆模型（Linear Inverted Pendulum Model）与捕获点（Capture Point）概念的标准化基准测试流程，用于归一化机器人失稳前的最大角动量。对该类变量进行归一化后，可建立绝对与相对基准，从而实现不同双足系统间的全面对比。研究团队在COMAN与WALK-MAN两款人形机器人上开展仿真实验以验证该方法，结果表明其适用于不同尺寸与配置的机器人。此外，该基准测试方法还被应用于康复外骨骼H3，展现了其在优化机械设计与康复性能方面的应用潜力。实验结果表明，该标准化流程可为评估与改进拟人机器人系统的稳定性提供极具价值的工具，同时可为硬件性能与控制策略的优化提供参考思路。

搜集汇总

背景与挑战

背景概述

该数据集提供了基于H3外骨骼的标准化基准测试力数据，用于评估双足系统（如人形机器人和外骨骼）的站立稳定性。数据包含测量力实验，采样率为0.001毫秒（力变化以10毫秒采样），格式为MATLAB和Excel，适用于稳定性分析和机械设计优化。