Abstract
The paper studies the problem of movement of a two-legged walking machine on a movable base. This task is relevant for design rehabilitation and mechanotherapy complexes for people with impaired functions of the musculoskeletal system. Presents a mathematical model that allows obtaining the kinematic and dynamic parameters of the movement of the executive units of the device under study. The paper presents a method for planning the trajectory of exoskeleton links, its algorithmic and software implementation. The paper proposes the structure of the automatic link position control system, which ensures the movement of the executive links along a given trajectory. A mathematical apparatus is proposed for studying the dynamics of the controlled movement of the links of the human-machine system of the exoskeleton. The article presents the results of numerical experiments on the movement of the low-limb exoskeleton leg in the one step mode and analyzes them.
Highlights
Exoskeletal devices are widely used for rehabilitation of patients with disorders of the musculoskeletal system [1,2,3,4,5,6,7,8]
The maximum effect is achieved when the patient and the exoskeleton form an integrated human-machine system (HMS), the effectiveness of which is determined by the degree of consistency of the elements of this system, including the human and active exoskeleton [9,10,11,12]
The bio-electromechanical system (BEMS) structure consists of an exoskeleton, a human-machine interface (HMI), a patient, and a support surface
Summary
Exoskeletal devices are widely used for rehabilitation of patients with disorders of the musculoskeletal system [1,2,3,4,5,6,7,8]. The maximum effect is achieved when the patient and the exoskeleton form an integrated human-machine system (HMS), the effectiveness of which is determined by the degree of consistency (synchronicity) of the elements of this system, including the human and active exoskeleton [9,10,11,12]. To meet this requirement, the system contains a human-machine interface (HMI), which is a technical means that provides interaction between the patient and the exoskeleton. − the numerical modeling results, proving the proposed methods applicability in the exoskeleton practical implementation
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