Investigation of the dynamical characteristics of the lower-limbs exoskeleton actuators

Abstract

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.

Studying of Copying Control System with Nonlinear Measurer

“…In addition to the P H force described by Eqs. ( 4) and ( 7), the movement of the exoskeleton link is affected by the drive force [13]:…”