Directional singularity-robust torque control for gyroscopic actuators

Gyroscopic actuation is appealing for wearable applications due to its ability to impart free moments on a body without exoskeletal structures on the joints.We recently proposed an unobtrusive balancing aid consisting of multiple parallelmounted control moment gyroscopes (CMGs) contained within a backpack-like orthopedic corset. Using...

Torque control design for minimalistic gyroscopic balance assistance

A minimalistic robotic device for aiding persons with degraded balancing ability was recently proposed, employing a number of single-gimbal control moment gyroscopes (CMGs) mounted to a backpack-like orthopedic corset. Once a fall is detected, the device must track a predefined moment profile to bring the subject upright or else slow the fall...