Abstract
The mathematical model for dynamical analysis and recovering of the human gait by the electromechanical exoskeleton is built. Human locomotor apparatus is modeled by planar system of nine rigid bodies, and exoskeleton by pair of three-link hinge levers, connected to the lower extremities. The exoskeleton is controlled by electromechanical devices: the electrical power, which is supplied to the electric motor input, provides generating of the necessary torques in the system’s joints. Assuming, that the level of the muscle forces in the primary human legs joints (hip, knee and ankle) is small and not sufficient for performing locomotor functions, the problem for determining exoskeleton control, which provide for biotechnical system anthropomorphic movement is formulated. The algorithm for construction of approximate solution, based on a procedure of parameterization of generalized coordinates of the mechanical system by a set of cubic smoothing splines, conception of reverse dynamic problems and numerical methods of nonlinear programming is built. Cite as: M. V. Demydyuk, B. A. Lytvyn, “Mathematical modeling and human gait recovering with electromechanical exoskeleton,” Prykl. Probl. Mekh. Mat. , Issue 17, 147–159 (2019) (in Ukrainian), https://doi.org/10.15407/apmm2019.17.147-159
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