Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance

摘要

GyBAR prototype wearable gyroscopic actuator. ( ) Model wearing the prototype GyBAR used in the experiments. ( ) Simplified gyroscopic moment, , is proportional to the angular momentum, , of a spinning mass and the angular rate, , at which the motorized frame is gimballed (Eq.  ). ( ) The GyBAR-fixed coordinate frame is initially aligned with the human-fixed frame prior to rotation by the gimbal angle, , about the axis . This angle is controlled to orient in the direction of interest: the blue region for assistance in the sagittal plane, or the yellow region for assistance in the frontal plane. ( ) Example use of a moment to restore upright posture in the sagittal plane.