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A novel active balance assistive control strategy based on virtual stiffness model of XCoM

Wei Guo (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China)
Shiyin Qiu (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China)
Fusheng Zha (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China and Shenzhen Academy of Aerospace Technology, Shenzhen, China)
Jing Deng (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China)
Xin Wang (Shenzhen Academy of Aerospace Technology, Shenzhen, China)
Fei Chen (Department of Advanced Robotics, Istitute Italiano di Tecnologia, Genova, Italy)

Assembly Automation

ISSN: 0144-5154

Article publication date: 5 June 2019

Issue publication date: 18 February 2020

286

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

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