Dynamics of Mechanical Rods Systems With Variable Length Links Applicable to Endo-, Exoskelets and Anthropomorphic Robots on 2d-Space and 3d-Space

Borisov, Alexey V.; Розенблат, Г. М.

doi:10.14489/hb.supp.2019.10.pp.001-020

Cited by 4 publications

(6 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 dynamics of system n's links of variable length, shown in Fig. 5, are described by a system of nonlinear differential equations presented in vector-matrix form [71,72]: (4.11) Here κ = ϕ, ψ, l: ϕ = (ϕ 1 , …, ϕ n ) and ψ = (ψ 1 , …, ψ n ) are vectors of angular coordinates of lumped masses; l = (l 1 , …, l n ) is the vector of the lengths of the links; = diag( , …, ), = diag( , …, ) are diagonal matrices; M κ are generalized forces; A κ (ϕ, ψ, l), B κ (ϕ, ψ, l), D κ (ϕ, ψ, l), E κ (ϕ, ψ, l), and G κ (ϕ, ψ, l) are…”

Section: Passivementioning

confidence: 99%

“…A recursive algorithm for drawing up differential equations of motion has been developed. Earlier, generalizing formulas were obtained for the matrices included in the system of differential equations of motion, allowing it to be written for an exoskeleton with n movable links of variable length [72].…”

Section: Passivementioning

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: Passivementioning

confidence: 99%

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On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Borisov

Kaspirovich

Mukharlyamov

2021

J. Comput. Syst. Sci. Int.

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“…When passing to the multilink exoskeleton model, the above-described regularities allow one to obtain an algorithm for constructing systems of differential equations of motion for three-dimensional models of exoskeletons, similar to that described in [21] for links of variable length with concentrated masses.…”

Section: D Model Of An Exoskeleton With Five Links Of Variable Length In Spacementioning

confidence: 99%

“…The authors of the article [21][22][23][24][25][26] have analyzed many publications that were not included in this review. Based on analyses of the scientific literature and patents on exoskeletons, we have found out that there are no models of exoskeletons that are comfortable for humans and have a significant battery life.…”

Section: Introductionmentioning

confidence: 99%

3d Models of Controllable Hinged Mechanisms With Links of Variable Length for Human Exoskeletons

et al. 2021

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A spatial (3D) model of an exoskeleton with links of variable length is considered. The construction of a multi-link model is based on the analysis of a one-link model of with one fixed point in space and a two-link model of variable length. In connection with the difficulties arising in the construction of systems of differential equations of motion with a relatively large number of links that are associated with a long compilation time even when using modern computational systems and algorithms, a generalization for the mechanism for the case of an arbitrary finite number of links is considered and a high-speed method for constructing systems of differential equations of motion for the considered models of mechanisms is given. A five-link 3D model of an exoskeleton with of variable length that can be used to create a working exoskeleton or an anthropomorphic robot is presented. We propose a model with two solid weighty sections located at both ends of the link and a weightless section between them in the center of the link. Analytically synthesized trajectories of movement are obtained and the results of numerical simulation of the movement of a man-machine system in the form of a man in an exoskeleton are presented. Application of the proposed model allows one to reduce the load on the joints, increase strength, comfort and time of continuous use of the exoskeleton.

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Passive-Active Exoskelet With Variable Length Links and Spring Elements of Two Types

Borisov¹,

Volkova²,

Konchina³

et al. 2020

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The article considers a flat model of a passively active exoskeleton with links of variable length. The construction of a variable-length link, suitable for implementation in a robotic device in the form of a passively active exoskeleton, is as follows: at the ends of the link there are two sections of constant length having mass, between them there is a section of variable length, considered weightless. On a weightless area is a tension-compression spring, which ensures the maintenance of the link length and energy recovery during the movement of a person in the exoskeleton. A torsion spring is installed in each hinge, which provides energy recovery with relative rotational movement of the links. The application of the proposed model in the form of a passively active exoskeleton with spring elements will allow a person to reduce the load on the joints and increase strength, endurance due to energy recovery, increase comfort and time of continuous use. It is possible to use the proposed model in the rehabilitation process to restore impaired functions of the human musculoskeletal system.

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Dynamics of Mechanical Rods Systems With Variable Length Links Applicable to Endo-, Exoskelets and Anthropomorphic Robots on 2d-Space and 3d-Space

Cited by 4 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

3d Models of Controllable Hinged Mechanisms With Links of Variable Length for Human Exoskeletons

Passive-Active Exoskelet With Variable Length Links and Spring Elements of Two Types

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