A parallel mechanism and pseudo-compliance control using on wearable power assist hips

Wearable power assist Hips (WPAH) [1]-[3] is designed for old people, patients with weak hips or normal humans power augmentation during walking. In this paper, we introduce a control method and a novel assisting mechanism which is used on WPAH. Different from conventional assisting systems, the adopted assisting mechanism is a 3UPS parallel mechanism which can realize assisting all human hip joint's degree of freedom (DOF) among mechanical workspace. To verify the effectiveness of the control method and the novel assisting mechanism, some correlative experiments have been made, and the experiment results show that WPAH can control WPAH effectively to offer assistive force to wearers.