Towards Balance Recovery Control for Lower Body Exoskeleton Robots with Variable Stiffness Actuators: Spring-Loaded Flywheel Model

This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional spring-loaded flywheel model is presented to encapsulate both approximated angular momentum and variable physical stiffness, which are crucial parameters in describing the postural balance. In particular, the incorporation of physical compliance enables us to provide three main contributions: i) A mathematical formulation is developed to express the relation between the dynamic balance criterion ZMP and the physical ankle joint stiffness. Therefore, balancing control can be interpreted in terms of ankle joint stiffness regulation. ii) 'Variable physical' stiffness is utilized in the bipedal robot balance control task for the first time in the literature, to the authors' knowledge. iii) The variable physical stiffness strategy is compared with the optimal constant stiffness strategy by conducting experiments on our exoskeleton robot. The results indicate that the proposed method provides a favorable balancing control performance to cope with unperceived perturbations, in terms of center of mass position regulation, ZMP error and mechanical power.