In order to analyze different human brain states related to perception and maintaining of body posture, we implemented an experiment with a balance platform. It is known the cerebral cortex regulates subcortical postural centers to maintain upright balance and posture and balance demands. However, the cortical mechanisms that support standing balance remain elusive. In this work, we present an EEG-based analysis during execution of balance responses with distinct postural demands. The results suggest the existence of common features in the EEG structure associated with distinct activity during balance maintaining. This may give new directions for future research in the field of brain activity, and for the development of brain-computer interfaces.
Abstract. In this article a study of algorithms for human movement in the lower limbs exoskeleton is presented. Human-machine system is considered, the classification of the existing exoskeletons by type of power distribution, the features of stable motion of the mechanism are presented. The law of the necessary trajectory of the center of mass of the exoskeleton is shown in the sagittal and frontal planes to maintain stability. The synchronous motion scheme of the centre of mass and the foot is described.
Purpose of research. Currently, exoskeletons are getting widespread use. They enhance human capabilities in terms of ease of movement, carrying loads and different types of activities that require considerable effort. Especially effective are those exoskeletons that make it possible to make complex types of movement of both for the lower and upper limbs, which significantly expands the capabilities of a person when performing loading and unloading operations. Relatively recently, they have started the development of exoskeletons which use the elements of gravity compensation. Therfore, the study of energy costs in the process of load lifting and the study of gravitational compensators influence on the magnitude of moments made by the electric drives of the femoral and knee joints, is relevant and is revealed in this paper.Methods. Methods of system analysis, design of biotechnical systems, control theory, theory of mechanisms and machines, methods of mathematical modeling of dynamic systems, methods of optimal planning and design were used to solve the problems. Mathematical packages Matlab/Simulink were used to make software products.Results. The study shows that the use of gravity compensators can significantly reduce the load on electrodrives. The movement of load is due to the operation of engines located in the area of ankle, knee and thigh joints. Since the movement of the exoskeleton occurs in the sagittal plane during load lifting, the position of the exoskeleton links in space is determined by four independent parameters.Conclusion. The mathematical model of load lifting by a man in an exoskeleton has been developed. Mathematical modeling of the process of load lifting with the help of exoskeleton electric drives has been made. A special attention is paid to the study of gravitational compensators influence on the magnitude of moments created by the electric drives of femoral and knee joints. It shows that the use of gravity compensators can significantly reduce the load on electric drives. Also, the study of energy costs in the process of load lifting has been conducted.
The article deals with the task of lifting a weight by a person using an exoskeleton. It is proposed to consider lifting in the form of three successive stages. A mathematical model of the exoskeleton, describing movement in various modes of movement, has been developed. The inverse task of kinematics was solved, which allows finding the rotation angles of the exoskeleton links at the preparatory stage. The method for determining the driving moments at the stages of lifting the load is proposed.
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