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This paper considers a lower limbs exoskeleton carrying a mannequin which has hips and knees actuated, torso and a support feet; it presents the design and implementation of a control strategy for static balance of the exoskeleton and mannequin, this involves a low-level distributed control for joints angular position and a high level centralized control for balance. For angular positioning control in actuated joints, PID controllers are designed; this control allows to follow joints position trajectories, generated by the high level control strategy. Based on the horizontal deviation calculation of the total system mass center, a static balance control manipulates the joints to compensate small signal disturbances in the posture of the exoskeleton-mannequin. It is presented the protocol to obtain the parameters for the control law and the system initialization, the experimental results under different operating conditions and the performance analysis of the controlled system.

Diseño e implementación de una estrategia de control para equilibrio estático de un exoesqueleto de miembros inferiores