Bio-inspired standing balance controller for a full-mobilization exoskeleton.

Area of Science:

• Robotics
• Biomechanics
• Assistive Technology

Background:

• Exoskeletons often require complex actuated ankles for balance.
• Existing passive exoskeletons provide insights into balance strategies.
• Human locomotion relies on sophisticated balance mechanisms.

Purpose of the Study:

• To develop a novel automatic standing balance method for a full mobilization exoskeleton.
• To enable balance stabilization without an actuated ankle joint.
• To biologically inspire a new control strategy for exoskeletons.

Main Methods:

• Exploiting the locked ankle and curved sole of the TWIICE exoskeleton.
• Utilizing knee-driven sole rolling to adjust the contact point with the floor.
• Developing a biologically inspired controller based on passive exoskeleton experiments and simulation.
• Implementing and experimentally verifying the controller on an actuated exoskeleton.

Main Results:

• A novel balance strategy was developed and simulated.
• The controller was successfully implemented on the TWIICE exoskeleton.
• The method allows for balance stabilization by leveraging knee movement and foot sole design.
• Experimental verification confirmed the basic operational feasibility of the controller.

Conclusions:

• A novel, biologically inspired method for automatic standing balance in exoskeletons has been presented.
• The proposed strategy effectively stabilizes the exoskeleton without requiring an actuated ankle.
• This approach offers a promising alternative for developing more accessible and potentially less complex assistive robotic devices.
• Future work will involve testing with human subjects to validate performance in real-world scenarios.