%0 Conference Proceedings %T Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies %+ Laboratoire de Robotique Interactive (LRI) %+ Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) %+ Laboratoire de Recherche en Informatique (LRI) %A Bidard, C. %A Chevallereau, Christine %A Huynh, Vaiyee %Z Conference of 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 ; Conference Date: 15 November 2016 Through 17 November 2016; Conference Code:125717 %< avec comité de lecture %Z REV_HCERES2020 %B 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) %C Cancun, Mexico %I IEEE Computer Society %P 483-488 %8 2016-11-15 %D 2016 %R 10.1109/HUMANOIDS.2016.7803319 %K Balance control %K Balance recoveries %K Motion planning %K Anthropomorphic robots %K External perturbations %K Healthy persons %K Human balance %K Joint torques %K Leg exoskeleton %K Underactuated %K Exoskeleton (Robotics) %Z Engineering Sciences [physics]Conference papers %X This paper presents a balance control for a powered lower limbs exoskeleton based on the instantaneous capture point concept and human balance strategies. Our goal is to implement it on the exoskeleton EMY-Balance (CEA-LIST). The control is inspired from biomechanic studies and aims at assisting a healthy person while preserving his comfort and his safety to the maximum. We first present briefly how the machine can balance itself according to external perturbations which can come from the user, and how it can imitate human balance strategies. Then, we present how we compute joint torques for the specific actuation of EMY-Balance. We suppose in this study, that the user and the exoskleton share the same control : 1) the proposed control assists stand leg(s) in order to facilitate the balance recovery, 2) the user is supposed to compensate efforts to overcome actuation issues. %G English %2 https://cea.hal.science/cea-01840419/document %2 https://cea.hal.science/cea-01840419/file/HUMANOIDS_vFINALE.pdf %L cea-01840419 %U https://cea.hal.science/cea-01840419 %~ CEA %~ UNIV-NANTES %~ CNRS %~ EC-NANTES %~ IRCCYN %~ UNAM %~ UMR8623 %~ CENTRALESUPELEC %~ DRT %~ CEA-UPSAY %~ UNIV-PARIS-SACLAY %~ CEA-UPSAY-SACLAY %~ CENTRALESUPELEC-SACLAY %~ LIST %~ GS-ENGINEERING %~ GS-COMPUTER-SCIENCE %~ NANTES-UNIVERSITE %~ UNIV-NANTES-AV2022 %~ NU-CENTRALE