Load carrying assistance devicepogo suitWearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance making it necessary to have correct timing with the user. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on a range of different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.autWheeler, ChasethsSugar, Thomas G.thsRedkar, SangramdgcArtemiadis, PanagiotispblArizona State UniversityengPartial requirement for: M.S., Arizona State University, 2014Includes bibliographical references (p. 39-41)Field of study: Mechanical engineeringby Chase Wheelerhttps://hdl.handle.net/2286/R.I.2743000Masters ThesisAcademic thesesv, 65 p. : ill. (some col.)114227958101630348291153189adminIn CopyrightAll Rights Reserved20142016-12-01T03:51:33TextMechanical EngineeringroboticsPhase OscillatorPhase Plane ControlRobotic BackpackRobotic exoskeletonsGait in humans