A parallel mechanism and a control strategy based on interactive force using on hip joint power assist

Abstract

In this paper, hip joint power assist (HJPA) system is given to offer assistive power to human hip joint. This paper introduces a parallel assisting mechanism and a control strategy based on interactive force between human thigh and the HJPA exoskeleton, and pseudo-compliance control. Different from conventional assisting systems, the assisting mechanism is a 3UPS parallel mechanism which can give its assist to all degrees of freedom (DOFs) of hip joint within its joint workspace. To verify the effectiveness of the parallel mechanism and the control strategy, an experimental platform is constructed, and some correlative experiments have been made. The experimental results show that the proposed HJPA system can work effectively to offer assistive effect to wearers.