Laws of Motion of the Lower Extremities and Structural-parametric Synthesis of Electro-hydraulic Executive Modules of the Active Exoskeleton According to the Criterion of Energy Suffiency

Zuev, Yu Yu; Saypulaev, M R; Doni, V

doi:10.1088/1742-6596/2096/1/012044

Cited by 2 publications

(5 citation statements)

References 6 publications

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“…Для программного управления значения управляющих воздействий P i M можно рассчитать по формулам [7]: M M cos φ μ φ J φ J φ cos φ φ φ sin φ φ J φ cos φ φ φ sin φ φ , M M cos φ μ J φ J φ cos φ φ φ sin φ φ…”

Section: механика 207unclassified

“…-смену положения из сидячего в стоячее [7]; -стабилизацию вертикального положения экзоскелета при начальных отклонениях звеньев от вертикали. Результаты исследования.…”

Section: механика 207unclassified

“…Результаты исследования. Для численного моделирования системы возьмем параметры математической модели экзоскелета из [6,7]. Рассмотрим частный случай, выбрав одинаковые коэффициенты ПИД регулятора для каждого привода: Pi Вертикальное положение экзоскелета неустойчиво без управления, поэтому возмущающие факторы могут обусловить отклонения от равновесия вплоть до падения экзоскелета.…”

Section: механика 207unclassified

“…-формирование скелетной схемы; -математическое моделирование движения экзоскелета [4-6]; -оптимизация движения звеньев на основе математической модели кинематики и динамики 1 ; -рациональное построение двигательной системы [7,8]; -разработка алгоритмов управления [9][10][11] и оценивания [13,14]. Все перечисленные задачи связывает проблема поиска управляющих воздействий для программного движения.…”

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Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Saypulaev

Merkuryev

et al. 2022

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

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Introduction. The problem of controlling the lower-extremity powered exoskeleton motion was investigated. To solve it, it was proposed to use a program control and feedback control. The formation of control in the form of feedback required an assessment of the state of the exoskeleton (rotation angles, angular velocities, and accelerations of the links). The possibility of using an inertial measuring unit to estimate angular velocities and accelerations of exoskeleton links was considered. The work objective was to develop laws for the formation of the exoskeleton motion control, which could provide the stability of the program motion and use the measurements of encoders, micromechanical gyroscopes and accelerometers.Materials and Methods. Previously performed mathematical modeling of the exoskeleton dynamics was used to form a program control. It was proposed to equip the exoskeleton with inertial sensor units. This solution made it possible to evaluate the state vector of the exoskeleton and to use these estimates in a feedback loop. A mathematical model of measurements of these sensors was described. The proposed version is suitable for control systems of three-link exoskeletons of the lower extremities and can be expanded to the case of multi-link exoskeleton designs.Results. New laws of exoskeleton motion control based on a mathematical model of the system dynamics and using measurement information from encoders and inertial information sensors were proposed. Numerical simulation of exoskeleton motion was performed in the Wolfram Mathematica mathematical package. Its results confirmed the operability of the proposed control and the possibility of using an inertial sensor unit to assess the exoskeleton state. The numerical simulation results for the following program movements were presented: lifting the exoskeleton from a sitting position to a vertical position, and stabilization of the vertical equilibrium position.Discussion and Conclusions. The proposed control can be applied in exoskeletons for medical purposes, e.g., in the task of verticalization of patients with dysfunctions of the musculoskeletal system. The possibility of using measurement information obtained from inertial measurements units in the problem of estimating the state of exoskeleton links was demonstrated. The use of inertial sensors will make it possible to determine the angular acceleration of the exoskeleton links, avoiding numerical differentiation of the measurement information received from the encoders. The obtained estimates of angular acceleration allow us to introduce feedback on angular accelerations into the control system, which opens up the possibility of improving transients in controlling the exoskeleton motion.

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Section: механика 207unclassified

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Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Saypulaev

Merkuryev

et al. 2022

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

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“…The issues of exoskeleton design and their applications in various domains are addressed in the studies [11][12][13]. The studies [14][15][16][17] consider application of electro-hydraulic drives, which are softer compared to regular electric drives. The application of variable-length links with adjustable stiffness is the further development of exoskeletons with link compliance.…”

Section: Introductionmentioning

confidence: 99%

3D refined model of exoskeleton link with adjustable stiffness and actuator capabilities and accuracy estimation of its performance in comparison with the previously created models

Blinov,

Borisov,

Konchina

et al. 2024

Third International Conference on Optics, Computer Applications, and Materials Science (CMSD-III 2023)

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A fairly detailed exoskeleton variable-length link model with adjustable stiffness is considered in the article. The refinement of the previously created models in terms of discretization is made. The geometrical dimensions of the top and bottom rods, the cylinder, the cylinder covers, the piston that moves inside the cylinder with magneto-rheological fluid, as well as their masses and moments of inertia relative to coordinate axes are refined. The payload mass at the end of the link, resulting under the effect of other links or the attached actuator, is simulated by a homogeneous ball. The change of the mass in the bottom and top parts of the cylinder, and the change of the moment of inertia of the link as the magneto-rheological fluid flows inside the cylinder from one part to another through the piston with micro-channels are made more precise. All these made it possible to bring the model closer to the real technical device. The mathematical model of a more accurate link model is compiled. The possible model of actuator, functioning based on the proposed refined model of the exoskeleton link with magneto-rheological fluid, is described. The possibility of its functioning and the options to control it are studied. The accuracy estimation for the refined model in comparison to the previously created models is made. All the results presented were obtained in a program created in the universal software environment "Wolfram Mathematica". The links of the proposed model can be used in designing next-generation exoskeletons, which are more comfortable comparing to the existing models

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Laws of Motion of the Lower Extremities and Structural-parametric Synthesis of Electro-hydraulic Executive Modules of the Active Exoskeleton According to the Criterion of Energy Suffiency

Cited by 2 publications

References 6 publications

Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

3D refined model of exoskeleton link with adjustable stiffness and actuator capabilities and accuracy estimation of its performance in comparison with the previously created models

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