The article deals with the task of lifting a weight by a person using an exoskeleton. It is proposed to consider lifting in the form of three successive stages. A mathematical model of the exoskeleton, describing movement in various modes of movement, has been developed. The inverse task of kinematics was solved, which allows finding the rotation angles of the exoskeleton links at the preparatory stage. The method for determining the driving moments at the stages of lifting the load is proposed.

Authors present results of the theoretical modeling and experimental tests of the low-cost DС- motors, used in lower limb powered exoskeleton. Actuators work in difficult regime and it is important to achieve desired parameters, even for not robust motors. Results give us information and methods and means of experimental determination of the main characteristics of the robot‘s actuators. It gives possibility to tune control system and the whole system to achieve optimal walking regime.

Purpose of research. Development of a mathematical model of an exoskeleton equipped with a hybrid linear gravity compensator (HLGC), dynamic analysis on the example of a typical exoskeleton application scenario (in the process of lifting a load), obtaining time patterns of changes in system parameters, including electric drive torques allowing assessment of power plan power consumption and energy efficiency. The article deals with the challenging issue of improving the efficiency of the exoskeletal suit by means of HLGC. The use of a hybrid approach makes it possible to increase the efficiency of assisting the exoskeletal suit when performing various technological operations, for example, when lifting a load, when tilting and holding. Methods. When developing a mathematical model, an original approach was used to form the motion trajectory of the exoskeleton sectors during operation, based on the use of seventh-order polynomials. The paper uses a mathematical model represented by a system of second-order differential equations that connects the moments acting on the operator and the exoskeleton, the angular accelerations of the operator's back and the exoskeleton. Results. During numerical simulation, time diagrams of changes in system parameters, angles of rotation of exoskeleton hinges, moments that occur in a hybrid LGC, as well as graphs of current consumption of engines when performing lift and tilt with a load are obtained. Conclusion. In the course of the research, a kinematic model of an exoskeleton suit equipped with a GLGC was developed, second-order differential equations describing the dynamic behavior of the electromechanical system were written, and numerical simulation was performed to estimate the forces and energy consumption in the exoskeleton hinges and the drive of the hybrid linear gravity compensator.

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