Print Email Facebook Twitter Gyroscopic Assistance for Human Balance Title Gyroscopic Assistance for Human Balance Author Lemus Perez, D.S. (TU Delft Biomechatronics & Human-Machine Control) Contributor Vallery, H. (promotor) van der Helm, F.C.T. (promotor) Degree granting institution Delft University of Technology Date 2019-06-18 Abstract Over the past few decades, there has been an increasing trend in the development of wearable robotics for rehabilitation and human augmentation. Although most such devices have been envisioned and realized to extend human capabilities, they do not primarily target balance control. For a wide range of physiotherapy recipients, impaired balance, rather than a lack of muscle strength, is the main impediment to functional recovery. Recently I proposed and realized a novel wearable robotic device, the GyBAR, that is capable of assisting balance during standing and walking without obstructing the lower extremities; this is achieved by exerting free torques on the upper body with a gyroscopic actuator that is worn like a backpack. This thesis presents a study into the feasibility of control moment gyroscopes (CMGs) as wearable devices for balance assistance in human beings. Here I identify and focus on sensing, actuation and control as the three main components of the GyBAR. Subject CMGBalance controlRehabilitation devices To reference this document use: https://doi.org/10.4233/uuid:97f225ec-4a10-4e10-a36e-576876fd3887 ISBN 978-94-6384-049-1 Embargo date 2020-03-31 Part of collection Institutional Repository Document type doctoral thesis Rights © 2019 D.S. Lemus Perez Files PDF dissertation.pdf 14.4 MB PDF propositions.pdf 96.83 KB Close viewer /islandora/object/uuid:97f225ec-4a10-4e10-a36e-576876fd3887/datastream/OBJ1/view