Modeling the Dynamics of an Exoskeleton with Control Torques in the Joints and a Variable Length of the Links Using the Recurrent Method for Constructing Differential Equations of Motion

Borisov, Andrey Valerievich; Розенблат, Г. М.

doi:10.1134/s1064230718020041

Cited by 22 publications

(8 citation statements)

References 5 publications

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“…The second problem is the significant expenditure of computer resources when composing equations of motion for multilink spatial models of exoskeletons, especially with links of variable length [1][2]. The use of relative angles between the links [3][4][5], rather than angles measured from a fixed directionvertical or horizontal, also increases time and labor intensity.…”

Section: Materials and Methods Of Researchmentioning

confidence: 99%

Using neural-fuzzy inference to control the functioning of a human-machine system in the form of an exoskeleton with links of variable length, taking into account the effects of lag and synchronization of electric drives

Blinov,

Kulikova

et al. 2024

Third International Scientific and Practical Symposium on Materials Science and Technology (MST-III 2023)

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The article describes the technical problems that arise when modeling exoskeletons with variable length links and electromechanical drives:the delay of the executive mechanisms of the exoskeleton with increased movements of the human musculoskeletal system, which has a negative effect on the dynamics of the joint movement of a person inside the exoskeleton. The consequence is the lack of synchronization in the joint work of the human-exoskeleton cyborgic system. This reduces the comfort of using exoskeletons. An analysis of the prospects for improving the technologies for controlling electromechanical models of exoskeletons based on neuro-fuzzy networks is presented. The prospects for autonomization of exoskeleton control with the help of neural networks are determined. An analysis of possible problems associated with the introduction of intelligent control of the exoskeleton was carried out, solutions were proposed for the use of a neuro-fuzzy network to control the electromechanical model of the exoskeleton.

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Section: Materials and Methods Of Researchmentioning

confidence: 99%

Using neural-fuzzy inference to control the functioning of a human-machine system in the form of an exoskeleton with links of variable length, taking into account the effects of lag and synchronization of electric drives

Blinov,

Kulikova

et al. 2024

Third International Scientific and Practical Symposium on Materials Science and Technology (MST-III 2023)

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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%

“…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%

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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“…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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Modeling the Dynamics of an Exoskeleton with Control Torques in the Joints and a Variable Length of the Links Using the Recurrent Method for Constructing Differential Equations of Motion

Cited by 22 publications

References 5 publications

Using neural-fuzzy inference to control the functioning of a human-machine system in the form of an exoskeleton with links of variable length, taking into account the effects of lag and synchronization of electric drives

Using neural-fuzzy inference to control the functioning of a human-machine system in the form of an exoskeleton with links of variable length, taking into account the effects of lag and synchronization of electric drives

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

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