Motion control algorithm for exoskeleton push recovery in the frontal plane

Abstract

In this paper a full body assistive exoskeleton is considered. A mathematical model for the case of the frontal plane motion is given. The paper focuses on the question of push recovery, considering two different cases: when the exoskeleton is pushed as a result of an interaction with another moving object and the case when the exoskeleton stands on a platform that rapidly changes its speed. A push recovery algorithm is proposed that allows the exoskeleton to regain vertical balance by taking one step. The algorithm was tested via numerical simulation; the results are shown and analysed in the paper. The results of the simulation demonstrated the similarity of the exoskeleton motion to that of a human.