Bio-inspired standing balance controller for a full-mobilization exoskeleton

Abstract

The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to produce corrective movements in the actuated degrees of freedom, wherein an estimation of the center of mass of the system comprising user and exoskeleton is made and the controller applies corrective measures on the actuated degrees of freedom to influence the position of the center of mass with respect to a center of pressure with the ground on which the exoskeleton is standing. The invention also concerns a device using the method according to the invention.