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.