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

Borisov, Alexey V.; Volkova, Yu. E.; Konchina, L. V.; Maslova, K. S.

doi:10.14489/hb.2020.09.pp.054-064

Cited by 2 publications

(2 citation statements)

References 3 publications

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“…To assess the stiffness of the springs, let us determine the control moments in the hinges required for the mechanism during anthropomorphic movement. To this end, we use an algorithm for controlling the movement of the exoskeleton based on periodic functions that ensure the anthropomorphic gait of the device [25,27]. Let us set the functions for changing the angles and lengths of the links of the mechanism as follows:…”

Section: Numerical Example Of Determining Control Actions When Exoskeleton Moves With a Person Inside Along A Given Trajectorymentioning

confidence: 99%

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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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Section: Numerical Example Of Determining Control Actions When Exoskeleton Moves With a Person Inside Along A Given Trajectorymentioning

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

Cited by 2 publications

References 3 publications

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

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

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

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