A new wearable power assist device for lower back support is proposed in this paper. The waist power assist suit is designed to relieve lower back pain and it is equipped with four push rods to realize the three-dimensional rotation around the human waist joint. Mathematical model of the device including the kinematics and the dynamics is presented on the basis of the freedom analysis. A kind of lumbar rehabilitation movement is put forward. To ensure the coordination work of the four motors, an improved mean deviation coupling control strategy is proposed in this paper. To demonstrate the effectiveness of the proposed synchronous control strategy, simulation is carried out in Matlab/Simulink and the simulation results show better performances than the compared deviation coupling cooperative control.
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