ZMP-CMP 편차 기반 힙 엑소스켈레톤의 외란 대응 제어

초록

Research on hip exoskeletons for fall prevention has progressed; however, conventional high- impedance trajectory control can generate excessive resistive torque, which may hinder a user’s natural balance recovery. This study proposes a compliant impedance control strategy based on the deviation between the Zero Moment Point (ZMP) and the Centroidal Moment Pivot (CMP). The proposed controller uses the ZMP-CMP deviation as a feedback variable during perturbation-induced angular momentum changes to generate assistive hip torque. To evaluate the controller under controlled perturbation conditions, a MATLAB-OpenSim closed- loop forward dynamics simulation environment was established. Simulation results suggest that the proposed controller suppresses postural divergence and helps maintain the ZMP-CMP deviation within a bounded range under perturbation.

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