Matrix method of constructing the differential equations of motion of an exoskeleton and its control

Borisov, Alexey V.; Розенблат, Г. М.

doi:10.1016/j.jappmathmech.2018.03.002

Cited by 22 publications

(13 citation statements)

References 3 publications

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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%

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%

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Borisov

Kaspirovich

Mukharlyamov

2021

J. Comput. Syst. Sci. Int.

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“…As a result, we aim to create a mathematical model of a spatial exoskeleton and simulate human movement in the exoskeleton. To solve this problem, it is required to adapt the methods developed earlier [23,24] and to compose a system of differential equations of motion for the model under consideration. In this regard, it is required to analyze one-link and two-link models, to reveal the general patterns of construction of the matrices included in these equations, and to synthesize an anthropomorphic trajectory of motion for an exoskeleton model with five links of variable length.…”

Section: Statement Of the Problemmentioning

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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“…Відмітимо деякі з них, присвячені задачам динаміки та керування рухом екзоскелетів. У серії статей [8][9][10] запропоновано оригінальний підхід до моделювання динаміки екзоскелета, де його представляють як систему стрижнів змінної довжини. Маса кожного стрижня зосереджена у трьох точках: дві -на кінцях стрижня, третя -між ними.…”

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“…Також їх можна побудувати за методикою, наведеною у праці [15]. Для досліджуваної біомеханічної системи приймемо таке означення: переміщення системи називатимемо антропоморфним, якщо закон руху системи () t    задовольняє умови (5)- (10).…”

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Mathematical modeling and human gait recovering with electromechanical exoskeleton

Demydyuk¹,

Lytvyn²

2019

Prykl. Probl. Mekh. Mat.

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Побудовано математичну модель для динамічного аналізу та відновлення ходи людини за допомогою електромеханічного екзоскелета. Опорно-руховий апарат людини змодельовано плоскою системо дев'яти твердих тіл, екзоскелет -парою триланкових шарнірних важелів, закріплених на нижніх кінцівках. Керування екзоскелетом відбувається за допомогою електромеханічних приводів: електрична напруга, яку подано на вхід електродвигунів, забезпечує формування необхідних зусиль у шарнірах системи. За припущення, що рівень м'язових сил в основних суглобах (тазостегновому, колінному, гомілковостопному) ніг людини є малим і недостатнім для виконання локомоторних функцій, сформульовано задачу пошуку таких керувань екзоскелета, які забезпечать антропоморфність руху біотехнічної системи. Розроблено алгоритм наближеного розв'язання задачі, який ґрунтується на процедурах параметризації узагальнених координат механічної системи сімейством кубічних згладжувальних сплайнів, концепції обернених задач динаміки та числових методах нелінійного програмування. Ключові слова: хода людини, електромеханічний екзоскелет, математичне моделювання, оптимальне керування, сплайн-апроксимація, параметрична оптимізація, нелінійне програмування.

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Matrix method of constructing the differential equations of motion of an exoskeleton and its control

Cited by 22 publications

References 3 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

Mathematical modeling and human gait recovering with electromechanical exoskeleton

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