Fractional Kelvin-Voigt based Viscoelastic Control for self-Balancing Exoskeleton.

Self-balancing exoskeleton robots enable hands-free walking for the wearer, and the problem of its stable walking has been a challenge. In this paper, to achieve compliant and stable walking of a self-balancing exoskeleton robot and reduce the shock between the robot and the ground, we propose a new fractional kelvin voigt viscoelastic controller (FKVC). The proposed FKVC incorporates the advantages of fractional order and the kelvin voigt viscoelastic to endow the self-balancing exoskeleton with stable and dynamic walking capabilities. Simulation results show that the actual CoM position of the exoskeleton well tracks the reference CoM position, and the actual ZMP converges to the reference ZMP position. The ZMP is always within the effective support region of the biped. Therefore, we experimentally proved the practicality and effectiveness of the FKVC method, and the self-balancing exoskeleton successfully realizes stable dynamic walking.