Adding and Subtracting Energy to Body Motion: Phase Oscillator

We are developing methods to add a bounded amount of energy to assist body motion. Energy is added based on the phase angle of the limb to create a “phase oscillator.” The energy is added assisting motion creating an oscillatory behavior. An anti-phase angle can be used to subtract energy from body motion as well. Using a “phase oscillator” controller, a powered hip exoskeleton assisted a runner and demonstrated a reduction in metabolic cost.Copyright © 2014 by ASME