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

Abstract

<div>An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work.</div><div>The linear finite hysteretic state machine is designed to recognize hybrid motion phases.</div><div>The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion.</div><div>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.</div><div>The net metabolic rate can be reduced by 5.75% while wearing the versatile hip exoskeleton.</div><div>Compared with existing research, the performance of the proposed controller has significant advantages.</div><div>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.</div><div><br></div><div>The Biological and Medical Ethics Committee of Beihang University has approved the experiments.<br></div>