Adaptive Switching Control Based on Dynamic Zero Moment Point for Versatile Hip Exoskeleton under Hybrid Locomotion
preprintposted on 2022-05-02, 17:24 authored by Yinan MiaoYinan Miao, Xingjian Wang, Shaoping Wang, RUFEI LI
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.
National Basic Research Program of China (Grant No. JCKY2018601C107)
National Natural Science Foundation of China (Grant No. 51620105010)
Email Address of Submitting Authormiaoyinanjack@sina.com
ORCID of Submitting Author0000-0002-2832-4651
Submitting Author's InstitutionBeihang University
Submitting Author's CountryChina
Read the peer-reviewed publication
in IEEE Transactions on Industrial Electronics