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