Choopong Chauypen creator Manukid Parnichkun Chairperson Afzulpurkar, Nitin V. Examination Committee Pisut Koomsap Examination Committee National Science and Technology Development Agency (NSTDA), Thailand Scholarship Donor text series technical report th Pathum Thani, Thailand Asian Institute of Technology 2008 continuing eng 1 online resource (52 p.) : ill. In this thesis, the whole-body cooperate balancer is designed to control the balance of AIT's leg exoskeleton which it has 12 DOF. This balancer can achieve it purpose by extension the range of inverse kinematics by integrating the mass distribution information to whole-body and use it control the position of total COG. The combined end-effector manipulator improves corrected posture close to the original posture which before the exoskeleton agent the unknown external perturbation. Also P-controller can improve the time efficiency of disturbance rejection. The author use MATLAB software to implement and simulate this balancer. It can provide physical environments and many tools before implementation of real exoskeleton. A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology Thesis (M.Eng.) - Asian Institute of Technology, 2008 Balancing of machinery Skeleton Artificial legs Asian Institute of Technology. http://203.159.5.9/ait-thesis/detail.php?q=B03241 http://203.159.5.9/ait-thesis/detail.php?q=B03241 100807 20260817171016.0