WALK-ASSISTING BALANCE SYSTEM OF THE EXOSKELETON ROBOT FOR DISABLED PEOPLE

摘要

A novel methodology for a walk-assisting balance system of the exoskeleton robot for disabled people is presented. The experiment on the walk-assisting balance system is implemented using a mini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model is built, and its control system based on PWM is developed. The emulations in Matlab and the results of experiments prove that this methodology is effective.