Electromechanical Model of Variable-Length Link for Exoskeleton or Prosthesis

Blinov, А. О.; Borisov, Andrey Valerievich; Kaspirovich, I. E.; Mukharlyamov, R. G.; Filippenkov, Konstantin D.

doi:10.1007/978-3-031-21219-2_150

Cited by 2 publications

(4 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The generalized control forces, applied to movable joints of the horse rider model, are found based on the specified kinematic relations. The coordinates of the foot mounting point on the movable base, and the angles between the links are specified by periodic differentiable functions synthesizing the anthropoid motion of the horse rider, similar to the studies [5,[9][10]. The numerical parameters of the model also were drawn from these papers.…”

Section: Resultsmentioning

confidence: 99%

“…The first link of the horse rider simulates a foot, the second one simulates a shin, the third one simulates a hip, and the fourth one simulates the rider's corps with head and hands. The controlled inertia feet, and the angles between the links used for describing in local systems of coordinates, as well as the consideration of start-up operations instead of steady motion, differ this model from the ones presented in the papers [5,[9][10]. The horse rider is simulated by homogeneous rods, the mass centers of which are in their centers.…”

Section: Methodsmentioning

confidence: 99%

“…As for the mobile base, the axis х0 is directed horizontally to the right, the axis y0 is directed vertically upwards (Figure 1). The system of Lagrange equations has the pattern similar to the one of the equations presented in the papers [5,[9][10], and owing to its cumbersomeness is not listed here.…”

Section: Methodsmentioning

confidence: 99%

“…The papers by Mukharlyamov R.G, Borisov A.V., Kaspirovich I.E. [5,[9][10] propose various algorithms and methods of composing motion equations of anthropomorphic structures, their research, control, and motion simulation. *robgar@mail.ru; phone 7 916 959-4081…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Simulation of horse rider motion during start from the state of rest

Badyaeva,

Kaspirovich,

Mukharlyamov

2024

Third International Conference on Optics, Computer Applications, and Materials Science (CMSD-III 2023)

View full text Add to dashboard Cite

The software, implementing the mathematical model of a horse rider with four links, is presented in the article. The rider is on the horse, which is a mobile base. Unlike to the previously compiled models, this research considers the start-up operations and the accelerated motion of the horse. The local systems of coordinates are used in the software for describing dynamics of the rider on the mobile horse. These systems are more suitable for specifying the angles between the links, which corresponds to the rider's biomechanics, whose musculoskeletal system changes these angles, applying internal efforts. The algorithm of compiling the system of equations of motion using the Lagrange equations of the second kind is implemented in the software. The programmed motion control is applied to the model. The accelerated motion of the mobile base in the form of horse as well as the angles between the rider's links are specified by analytical differentiable functions, synthesizing the mechanical system motion resembling that of a real horse rider. Using the created software, the inverse dynamics problem has been solved. The control torques, changing the angles between the links, and the reactions of mobile base are found. The presented software, the mathematical model of the system, and the results of the research can be used for formulating recommendations for designing programming exercise machines with various working modes, which allow for rider training regardless of environment and weather conditions, horse fatigue, stable remoteness, and other aspects. It will allow horsemen to practice complex skills without fear of possible injury.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Simulation of horse rider motion during start from the state of rest

Badyaeva,

Kaspirovich,

Mukharlyamov

2024

Third International Conference on Optics, Computer Applications, and Materials Science (CMSD-III 2023)

View full text Add to dashboard Cite

show abstract

PATENT ANALYSIS OF EXOSKELETON MECHANISMS AND WAY TO IMPROVE THEIR COMFORT. Continuation*

Borisov,

Arshinenko,

Blinov

et al. 2024

View full text Add to dashboard Cite

The issue of creating robotic anthropomorphic mechanisms called exoskeletons for humans is relevant. The exoskeleton design became practically possible due to technological developments, creating powerful computers, sensors, and detectors, collecting info about human movements, and advances in control theory. Introduction of available achievements in the domain of exoskeleton engineering and design, as well as exoskeleton parts and their control methods, protected by patents, to a general audience is the objective of the article. The research methods are analysis of patents and scientific publications on the topic of exoskeletons, and graphical processing of research results. The result of the conducted research is the survey of the patented exoskeletons available in the scientific world. It has been found that the available exoskeleton models are still not user-friendly enough. Therefore, the authors of the article developed and patented a model of an exoskeleton with variable-length links. The model of practical implementation of variable-length link based on using magneto-rheological fluid and adjusting the link stiffness by applying an external magnetic field has been proposed. The proposed model augments the exoskeleton user experience. It has been found that intense publication growth in scientific journals on researched topics started after 2011. The number of published exoskeleton patents increased almost tenfold in the past ten years by 2021. All these demonstrate significant interest in exoskeletons design.

show abstract

Electromechanical Model of Variable-Length Link for Exoskeleton or Prosthesis

Cited by 2 publications

References 10 publications

Simulation of horse rider motion during start from the state of rest

Simulation of horse rider motion during start from the state of rest

PATENT ANALYSIS OF EXOSKELETON MECHANISMS AND WAY TO IMPROVE THEIR COMFORT. Continuation*

Contact Info

Product

Resources

About