WEARABLE SCISSORS PAIR TYPE CONTROL MOMENT GYROSCOPE (SP-CMG) FOR HUMAN BODY BALANCE ASSISTANCE

摘要

PROBLEM TO BE SOLVED: To provide a device for assisting balance of a user (human).SOLUTION: A device for assisting balance of a user comprises: a first control moment gyroscope (CMG) 210A and a second CMG 210B which constitute a scissors pair. The first CMG 210A comprises: a first fly wheel 215A; a second fly wheel 215B; a first motor 220 for rotating the first and second fly wheels; a first gimbal 230A for supporting the first and second fly wheels; and a first gimbal servo 225 for rotating the first gimbal. The second CMG comprises: a third fly wheel; a fourth fly wheel; a second motor for rotating the third and fourth fly wheels; a second gimbal 230B for supporting the third and fourth fly wheels; and a second gimbal servo for rotating the second gimbal 230B. The device further comprises a gyroscope controller for controlling the first gimbal servo and second gimbal servo.