A Cable-Driven Hip Exoskeleton with a Postural Control Strategy for Reinforcing Human Balance

Balance loss in older adults often leads to severe consequences, and wearable exoskeletons may help restore postural stability. This paper presents a novel hip cable-driven exoskeleton designed to support balance recovery. The proposed postural control strategy implemented on the device is based on maintaining balance by reducing the center of mass displacement from its equilibrium condition. Loss of balance is analyzed using multibody human models both with and without the exoskeleton. Simulation results evaluating static and dynamic balance demonstrate the effectiveness of the proposed control strategy and support its feasibility for implementation in a real system. The simulations presented in this study will be compared with experimental results from human subjects in future work.