Adaptive Switching Control Based on Dynamic Zero Moment Point for Versatile Hip Exoskeleton under Hybrid Locomotion

An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work.

The linear finite hysteretic state machine is designed to recognize hybrid motion phases.

The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion.

Experiments are carried out to verify the performance of the controller, confirming the stability and accuracy of the motion phase recognition, which also demonstrates excellent kinematic performance.

The net metabolic rate can be reduced by 5.75% while wearing the versatile hip exoskeleton.

Compared with existing research, the performance of the proposed controller has significant advantages.

The proposed controller is capable of multiple types of locomotion including flat walking, stair climbing, and lifting heavy objects with low complexity and energy consumption.

The Biological and Medical Ethics Committee of Beihang University has approved the experiments.