A novel active balance assistive control strategy based on virtual stiffness model of XCoM
ISSN: 0144-5154
Article publication date: 5 June 2019
Issue publication date: 18 February 2020
Abstract
Purpose
This paper aims to propose a novel balance-assistive control strategy for hip exoskeleton robot.
Design/methodology/approach
A hierarchical balance assistive controller based on the virtual stiffness model of extrapolated center of mass (XCoM) is proposed and tested by exoskeleton balance assistive control experiments.
Findings
Experiment results show that the proposed controller can accelerate the swing foot chasing XCoM and enlarge the margin of stability.
Originality/value
As a proof of concept, this paper shows the potential for exoskeleton to actively assist human regain balance in sagittal plane when human suffers from a forward or backward disturbing force.
Keywords
Acknowledgements
This work was supported by Natural Science Foundation of China (No.61773139, No.61473105 and No.U1713222), Shenzhen special fund for future industrial development (No.JCYJ20160425150757025) and Shenzhen Peacock Plan (No.KQTD2016112515134654). The authors would like to thank Xiwen Meng, Shengguang Li and Feng Zhu for they participated in experiments.
Conflict of interest statement: None of the authors had any conflict of interest with regard to this study.
Citation
Guo, W., Qiu, S., Zha, F., Deng, J., Wang, X. and Chen, F. (2020), "A novel active balance assistive control strategy based on virtual stiffness model of XCoM", Assembly Automation, Vol. 40 No. 1, pp. 132-142. https://doi.org/10.1108/AA-10-2018-0159
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited