System for Compensating for Leg Length Discrepancy Based on the Estimation of the Centre of Mass of a Human Body

This paper presents a system for compensating for leg length discrepancy (LLD) based on the estimation of the centre of mass of a human body. The system consists of two 3- RPS parallel manipulators with a moving force plate, control and measuring electronics and a graphical user interface (GUI). Force plates are equipped with force sensors that estimate the centre of mass (CoM) of a human body. Patients with LLD have a displaced CoM. By increasing the height of the force plate that measures a greater load, the CoM of a human body returns into the correct position. The height of the force plate is regulated by means of the 3- RPS parallel manipulator. LLD is compensated for by the difference in heights of the force plates. This paper presents the preliminary experimental results of the system for compensating for LLD.