Assisting walking balance using a bio-inspired exoskeleton controller.

Area of Science:

• Robotics
• Biomechanics
• Neuroscience

Background:

• Exoskeleton research traditionally prioritizes metabolic efficiency over balance control.
• Maintaining balance is crucial for mobility, yet current exoskeletons often neglect this aspect.
• This study addresses the need for exoskeletons that actively support walking balance.

Purpose of the Study:

• To develop and evaluate a biomimetic exoskeleton controller that enhances walking balance.
• To reduce muscle activity during both steady-state walking and balance recovery.
• To mimic human neural control strategies for balance and locomotion.

Main Methods:

• A controller was designed to replicate human steady-state walking and balance recovery responses.
• The controller integrates ankle kinematics feedback and center of mass velocity feedback.
• Control parameters were derived from human walking data under perturbation.

Main Results:

• Exoskeleton support reduced calf muscle activity by 19% during steady-state walking.
• Center of mass velocity feedback improved balance support, reducing muscle activity by 10-16% during perturbations.
• Center of mass deviations were reduced by 9-18% with the proposed controller.

Conclusions:

• The biomimetic exoskeleton controller effectively supports steady-state walking and balance.
• This technology has significant potential to improve mobility for individuals with balance impairments.
• The controller's ability to reduce muscle activity highlights its practical application.