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The Control System for Flexible Hip Assistive Exoskeleton

A novel wearable hip assistive exoskeleton is developed to provide comfortable and effective walking assistance. In this paper, we propose an alternate flexible joint control method, direct torque control, to reduce intrinsic mechanical impedance for fully compliant human-exoskeleton interaction. A new walking intention estimation approach based on gait synchronizer, which is just driven by hip angular velocity, is put forward. We utilize gait synchronizer to generate, recognize, synchronize and segment the actual walking gait, thus providing an indirect intention perceiving way. Besides, assistive hip torque trajectory is optimized based on the nominal biological hip moment. The mapping relationship between status and assistive torque trajectory is determined through lots of experiments. At last, the proposed control system has been implemented on the actual Flexible Hip Assistive Exoskeleton. And the results have confirmed the effectiveness of walking assistance, indicating up to 16.7% metabolic consumption reduction during walking.