The Exoskeleton Balance Assistance Control Strategy Based on Single Step Balance Assessment

Abstract

A novel balance assistance control strategy of a hip exoskeleton robot was proposed in this paper. The organic fusion of the human balance assessment and the exoskeleton balance assistance control strategy are the assurance of balance recovery. However, currently there are few human balance assessment methods that are suitable for detecting balance loss during standing and walking, and very little research has focused on exoskeleton balance recovery control. In this paper, a single step balance assessment method was proposed first, and then based on this method an "assist-as-needed" balance assistance control strategy was established. Finally, the exoskeleton balance assistance control experiment was carried out. The experiment results verified the effectiveness of the single balance assessment method and the active balance assistance control strategy.