Automation of Development of Exoscellets and Anthropomorphous Robots With the Use of the Recurrent Method of Composition of Differential Equations of Motion

Borisov, A. V.; Розенблат, Г. М.

doi:10.14489/hb.2018.01.pp.025-031

Cited by 2 publications

(3 citation statements)

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“…A significant number of publications are devoted to modeling the dynamics of systems for various purposes and the construction of control algorithms, of which we mention, for example, the works [42][43][44][45][46][47][48][49][50][51][52][53][54][55]. In [56][57][58][59][60][61][62][63][64][65][66][67][68][69][70][71][72], various algorithms are proposed for compiling differential equations of motion for exoskeletons, anthropomorphic mechanisms, and rod systems, including systems with variable link lengths. The questions of controlling such systems are investigated.…”

Section: Main Directions Of the Use Of Exoskeletons In Medicinementioning

confidence: 99%

“…The matrix method and the recursive algorithm for composing differential equations are implemented in the environment of the system of computer mathematics "Mathematica" and an example of the application is given in the appendix to the article [69]. When compiling the Lagrange equations, 0.59 seconds were spent for the model with one moving link; 5.3, with two moving link; and 37, with three moving links.…”

Section: L M N a Mmentioning

confidence: 99%

“…Further, the multilink models composed of such links were studied, systems of differential equations of motion were obtained in a generalized vectormatrix form, and a recurrent method for composing systems of differential equations of motion was implemented for them. The mathematical modeling of the movement of exoskeletons and anthropomorphic robots was carried out using the developed models of links of variable length [57,[59][60][61][62][63][64][65][66][67][68][69][70][71].…”

Section: L M N a Mmentioning

confidence: 99%

See 2 more Smart Citations

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Borisov

Kaspirovich

Mukharlyamov

2021

J. Comput. Syst. Sci. Int.

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A review of well-known publications is given and some results of the authors' research on modeling the dynamics of systems of rigid bodies and exoskeletons are presented. Various approaches to the problem of modeling the dynamics of multilink systems are described, including the problems of constructing equations of motion and solving control problems. Matrix and recurrent methods of composing equations for the dynamics of anthropomorphic mechanisms and exoskeletons, as well as problems of modeling flat and spatial systems containing links of variable length, are considered. The results of the research on the analytical design of exoskeletons, anthropomorphic mechanisms, and their analogs seem to be relevant for the design of systems designed to enhance human motor functions and the development of robotic systems for various purposes.

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Section: Main Directions Of the Use Of Exoskeletons In Medicinementioning

confidence: 99%

Section: L M N a Mmentioning

confidence: 99%

Section: L M N a Mmentioning

confidence: 99%

See 1 more Smart Citation

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Borisov

Kaspirovich

Mukharlyamov

2021

J. Comput. Syst. Sci. Int.

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Energy Costs When Moving Two Links of Variable Length of the Supporting Leg of the Exoskeleton

Blinov¹,

Borisov²,

Borisova³

et al. 2022

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The article discusses a spatial model of two links of variable length of an active exoskeleton that simulate a supporting leg. The variable length link has the following construction. Two sections of constant length are located at the ends of the link. They are assumed to have mass. Between them, in the vicinity of the center of the link, there is a section of variable length. It is assumed to be weightless. On a weightless section, there is a drive that provides a controlled change in the length of the link when a person moves in an exoskeleton. Drives are installed in each hinge, providing the necessary turns with the relative rotational movement of the links. The difference between the proposed model and the previously studied ones lies in the use of the angles between the links, which corresponds to the real operation of electric drives. The paths of the links are set kinematically. The control forces are determined in the model from the compiled system of differential equations of motion. The calculation of energy consumption during the single-support phase of movement for one step is carried out. The application of the proposed model in the form of two links of variable length of the active exoskeleton can be found when selecting a battery for the autonomous operation of the exoskeleton.

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Automation of Development of Exoscellets and Anthropomorphous Robots With the Use of the Recurrent Method of Composition of Differential Equations of Motion

Cited by 2 publications

References 0 publications

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Energy Costs When Moving Two Links of Variable Length of the Supporting Leg of the Exoskeleton

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