Assist force control of Smart Suit for horse trainer considering motion synchronization and postural stabilization

This paper describes the assist force control of semi-active assist system ldquosmart suitrdquo for horse trainer. We developed a soft and flexible power assist device named ldquosmart suitrdquo for reducing horse trainers´ physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. In order to gain the suitable assist force for periodical horse trainers´ motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP) which is the dynamic stable point.