Fig. 12From: Mobile Robotic Balance Assistant (MRBA): a gait assistive and fall intervention robot for daily livingTop: An FE_SL trial that involved FIMP to trigger slip by pulling the subject’s left ankle forward when the left foot struck the sliding sheets. Middle: An FE_KB trial that involved FIMP to trigger knee buckling by pulling the subject’s left knee forward during left mid-stance. Bottom left: An FS_RO trial in which the subject fell when reaching out to grab an object. Bottom right: An FS_W trial in which the subject fell when walkingBack to article page