Gyroscopic Assistance for Human Balance

Research output: ThesisDissertation (TU Delft)

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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.
Original languageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • Delft University of Technology
  • Vallery, H., Supervisor
  • van der Helm, F.C.T., Supervisor
Thesis sponsors
Award date18 Jun 2019
Print ISBNs978-94-6384-049-1
Publication statusPublished - 2019


  • CMG
  • Balance control
  • Rehabilitation devices


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