Fig. 1 A supernumerary tail aims to prevent a user from falling when their CoM exceeds the BoS. The parameter assignment of the human is shown on the right with the CoM of segments indicated as ⊗. More about this image found in A supernumerary tail aims to prevent a user from falling when their CoM exc...

Fig. 2 The manipulability ellipsoid associated with a weight matrix W that has bounds on maximum torques of the actuators. The ability of the actuators to accelerate the system in the direction v is shown as the distance δ while the major and minor axes of the ellipsoid associated with eigen... More about this image found in The manipulability ellipsoid associated with a weight matrix W that has b...

Fig. 3 The three one-DoF SRTs with their associated kinematic parameters, where q 1 represents the ankle angle and q 2 the controlled variable of the tail. CoM of the individual segments and overall system are indicated as light and dark ⊗, respectively. ( a ) LCM SRT: linear motion of a sli... More about this image found in The three one-DoF SRTs with their associated kinematic parameters, where q...

Fig. 4 Ankle (top) and global Cartesian system CoM (middle–bottom) profiles stabilized with the LCM, RW, and Arc SRTs More about this image found in Ankle (top) and global Cartesian system CoM (middle–bottom) profiles stabil...

Fig. 5 Comparison of the displacement and trajectory orbits of the three one-DoF SRT systems. Top–bottom: LCM, RW, and Arc. From (left to right): displacement orbit of the global CoM; sagittal plane trajectory of global CoM; displacement orbit of the tail CoM; sagittal plane trajectory of tail CoM... More about this image found in Comparison of the displacement and trajectory orbits of the three one-DoF S...