Adaptive control system for exoskeleton performing sit-to-stand motion

In this paper, an exoskeleton performing a sit-to-stand motion is studied. A new approach to control system design for this mechanism is proposed. Proposed control system uses information about currents in the motor´s armature cores to assess how much the system is loaded and change its behavior accordingly. It also uses ZMP (zero moment point) principle for assessing system´s balance. In the paper, some results of the numerical simulation are presented. On a few examples it was shown how changing duration of sit-to-stand motion influences dynamical behavior of the mechanical system.