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The aim of this paper was to investigate the behaviour of healthy subjects wearing a novel light-weight pelvis exoskeleton controlled in zero-torque mode while carrying out unperturbed locomotion and managing unexpected perturbations. Results showed that the proposed exoskeleton was unobtrusive and had a minimum loading effect on the human biomechanics during unperturbed locomotion. Conversely, it affected the movement of the trailing leg while subjects managed unexpected slipping-like perturbations. These findings support further investigations on the potential use of powered exoskeletons to assist locomotion and, possibly prevent incipient falls.<\/jats:p>","DOI":"10.1017\/s0263574714001568","type":"journal-article","created":{"date-parts":[[2014,6,20]],"date-time":"2014-06-20T13:52:23Z","timestamp":1403272343000},"page":"1317-1330","source":"Crossref","is-referenced-by-count":31,"title":["The effects on biomechanics of walking and balance recovery in a novel pelvis exoskeleton during zero-torque control"],"prefix":"10.1017","volume":"32","author":[{"given":"Dario","family":"Martelli","sequence":"first","affiliation":[]},{"given":"Federica","family":"Vannetti","sequence":"additional","affiliation":[]},{"given":"Mario","family":"Cortese","sequence":"additional","affiliation":[]},{"given":"Peppino","family":"Tropea","sequence":"additional","affiliation":[]},{"given":"Francesco","family":"Giovacchini","sequence":"additional","affiliation":[]},{"given":"Silvestro","family":"Micera","sequence":"additional","affiliation":[]},{"given":"Vito","family":"Monaco","sequence":"additional","affiliation":[]},{"given":"Nicola","family":"Vitiello","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,6,20]]},"reference":[{"key":"S0263574714001568_ref13","doi-asserted-by":"publisher","DOI":"10.2522\/ptj.20090070"},{"key":"S0263574714001568_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s002210050327"},{"key":"S0263574714001568_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2013.2241434"},{"key":"S0263574714001568_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/0167-9457(91)90046-Z"},{"key":"S0263574714001568_ref26","first-page":"342","volume-title":"Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society","author":"Cempini","year":"2013"},{"key":"S0263574714001568_ref22","first-page":"194","volume-title":"Proceedings of the 1st International Congress on Neurotechnology, Electronics and Informatics","author":"Giovacchini","year":"2013"},{"key":"S0263574714001568_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/BF00227520"},{"key":"S0263574714001568_ref5","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01272.2006"},{"key":"S0263574714001568_ref35","volume-title":"Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological","author":"Winter","year":"1991"},{"key":"S0263574714001568_ref1","doi-asserted-by":"publisher","DOI":"10.1093\/ageing\/30.suppl_4.3"},{"key":"S0263574714001568_ref17","first-page":"20120999","article-title":"Assessing the stability of human locomotion: A review of current measures","volume":"10","author":"Bruijn","year":"2013","journal-title":"Assessing the stability of human locomotion: A review of current measures"},{"key":"S0263574714001568_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2004.03.008"},{"key":"S0263574714001568_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2008.12.012"},{"key":"S0263574714001568_ref33","unstructured":"N. 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