Proportional Hip Moment Controller

Description

Provides Hip assistance based on real-time estimate of the user’s hip joint moment Requires both toe and heel FSRs. NOTE: THIS CONTROLLER IS STILL UNDER DEVELOPMENT (Stay tuned for future updates).

Based on:

S.S.P.A. Bishe, L. Liebelt, Y. Fang, & Z.F. Lerner (2022). A Low-Profile Hip Exoskeleton for Pathological Gait Assistance. 2022 IEEE ICRA.

Parameters

Parameter index order can be found in ControllerData.h.

• extension_setpoint: Magnitude of peak extension torque (Nm)

• flexion_setpoint: Magnitude of peak flexion torque (Nm)