An Implementation of Low-Cost Auto-Balancing Embedded System for Safety Mechanisms*

Auto-balancing systems have been introduced for decades and applied popularly in industry. However, applying auto-balancing systems in daily applications is still limited due to its high cost. This paper introduces an implementation of low cost auto-balancing embedded system toward typical applications such as safety chairs for kids, soft chairs for patients. To this end, we applies the 3-DOF Stewart model to design the balancing mechanism with the inverse Kinematics algorithm and Kalman filter for high accuracy of controlling. The implemented system is evaluated in different scenarios of object balancing with a relatively fast response, which shows the potential of this research for the targeted applications.