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The lower limb exoskeleton is playing an increasing role in enabling individuals with spinal cord injury (SCI) to stand upright, walk, turn, and so on. Hence, it is essential to maintain the balance of the human-exoskeleton system during movements. However, the balance of the human-exoskeleton system is challenging to maintain. There are no effective balance control strategies because most of them can only be used in a specific movement like walking or standing. Hence, the primary aim of the current study is to propose a balance control strategy to improve the balance of the human-exoskeleton system in dynamic movements. This study proposes a new safety index named Enhanced Stability Pyramid Index (ESPI), and a new balance control strategy is based on the ESPI and the Dynamic Movement Primitives (DMPs). To incorporate dynamic information of the system, the ESPI employs eXtrapolated Center of Mass (XCoM) instead of the center of mass (CoM). Meanwhile, Time-to-Contact (TTC), the urgency of safety, is used as an automatic weight assignment factor of ESPI instead of the traditional manual one. Then, the balance control strategy utilizing DMPs to generate the gait trajectory according to the scalar and vector values of the ESPI is proposed. Finally, the walking simulation in Gazebo and the experiments of the human-exoskeleton system verify the effectiveness of the index and balance control strategy.

A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System