Abstract
Exoskeletons are the mechanical systems whose operation is carried out in close cooperation with the human body. In this paper, the authors describe a mathematical model of the hydraulic exoskeleton of a lower limb. The coordinates of characteristic points of the exoskeleton in the sagittal plane as a function of user height are presented. The mathematical models, kinematics, and kinetics equations were determined. The masses of the actuators and their dimensions were selected based on catalog data. The force distribution in the wearable system during the squat is shown. The proposed models allowed us to determine the trajectory of individual points of the exoskeleton and to determine the forces in hydraulic cylinders that are necessary to perform a specific displacement. The simulation results show that the joint moments depend linearly on actuator forces. The dynamics equations of the wearable system are non-linear. The inertia of the system depends on the junction variables and it proves that there are dynamic couplings between the individual axes of the exoskeleton.
Highlights
The development of robotics and computing power allows the design of devices for amplifying human power
The proposed mathematical models are built as a function of human height
This method allows for determining the location of characteristic points of the wearable system
Summary
The development of robotics and computing power allows the design of devices for amplifying human power. This subject area is a present-day problem when we observe the processes of socio-cultural changes and the issues of society aging. We become less able in terms of the body. The advantages of using modern devices can be seen in many areas of human performance. Exoskeletons are applied in medicine and rehabilitation by physiotherapists and patients. Some replicable movements with high precision can be made by machines which are applied in surgery or operating rooms. Mobile anthropomorphic robots are examples of the abovementioned machines which assist in the operation of human muscles and are called exoskeletons [1,2]
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