Mathematical Models of Exoskeleton

Borisov, Andrey Valerievich; Чигарев, А. В.

doi:10.1007/978-3-030-97733-7

Cited by 10 publications

(9 citation statements)

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“…Using the method of programmatic motion control [14][15], solving the inverse problem of dynamics, we obtain laws describing the change in control moments (Figure 4), longitudinal forces (Figure 5) for models with four and five links of variable length, respectively, depending on time . These laws govern the movement of the four-link and five-link exoskeletons under consideration.…”

Section: Resultsmentioning

confidence: 99%

Comparative analysis of the dynamics of 3D electromechanical models of exoskeletons with 4 and 5 links of variable length and generalization to the case of an arbitrary finite number n of links

Borisov,

Konchina

2024

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

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The article discusses three spatial models of exoskeletons: with four, five and n links. In accordance with the biomechanics of the human musculoskeletal system, the models use cylindrical, combinations of two cylindrical hinges with mutually perpendicular axes of rotation, and spherical hinges. The change in angles between the links is controlled using electric drives located in the hinge area. Unlike those considered earlier, in this model, a section of variable length is assumed to be significant, and the drive that controls the change in the length of the link is located in this section. The models provide for the presence of a battery attached to the hip joint, simulated by a concentrated mass. In addition, the five-link model includes auxiliary elements that support the user's head in the form of a point mass. As a simplifying assumption, it is assumed that the entire mass of a section of variable length is concentrated in its middle. A drive that changes the length of a link can be implemented in the form of a rack or pinion gear with an electric motor. Using the method of software motion control, for the considered models with 4 and 5 links, the inverse problem of dynamics was solved and the influence of the body on the forces developed in the lower extremities of the exoskeleton was analyzed. The significant impact of adding a body on exoskeleton control has been established. Based on the analysis of the obtained systems of differential equations of motion, a generalization of the exoskeleton model to the case of an arbitrary finite number of links is proposed.

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Section: Resultsmentioning

confidence: 99%

Comparative analysis of the dynamics of 3D electromechanical models of exoskeletons with 4 and 5 links of variable length and generalization to the case of an arbitrary finite number n of links

Borisov,

Konchina

2024

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

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“…Let's select the values for the mechanism properties that correspond to the human shin. This information can be found in the monograph [9]. The length of the link is l 1 = 0.385 m, the mass of the link is m 1 = 2.91 kg, the moment of inertia of the link is calculated as that for the rod relative to the axis passing perpendicularly through its end I 1 = 0.144 kg•m 2 .…”

Section: Resultsmentioning

confidence: 99%

“…The proposed exoskeleton model differs from the previously created ones by Borisov A.V., Chigarev A.V. [9] by applying the angles between the links. These angles correspond to the operation of electric drives with reduction gears that change the relative angles between the links.…”

Section: Methodsmentioning

confidence: 99%

“…It suggests that the application of a more precise electromechanical model, taking into account the inertia properties of the drive, yields good results that are very close to the initial mechanism motion. This result indicates the need for building more precise models compared to the previously constructed ones [9].…”

Section: Fig 2 the Curves For The Current I 1 (A) And Voltage U 1 (V)...mentioning

confidence: 95%

“…These factors allow creating mechanisms with greater capabilities than the currently available devices, which provides the relevance of this study. The results of the development of exoskeletons and their individual components are presented in [1][2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

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Creation of an electromechanical model of an exoskeleton link in the form of Lagrange-Maxwell equations for agricultural mechanization

Blinov,

Borisov,

Konchina

et al. 2023

E3S Web of Conf.

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The electromechanical model of exoskeleton link has been developed for agricultural mechanization. First, a differential equation of link motion was compiled without taking into account electric drives in the form of the Lagrange equation of the second kind. For it, the inverse and direct problems of dynamics are solved. Then, this equation takes into account the influence of the rotating rotor and the gear ratio of the gearbox on the dynamics of the link. For this model, the direct problem of dynamics is solved. A significant influence on the results of the numerical solution for taking into account the rotating rotor of the electric drive has been established. Then the system of differential equations, describing dynamics of the controlled motion of the model, in the form of Lagrange-Maxwell equations has been composed. The local system of coordinates has been applied in the model, since the electric drive changes the angles between the links. Direct and inverse dynamics problems have been solved. The comparative analysis of the models with electric drive and without it has been made. It has been established that taking into account the electrical drive system allows achieving good results in modeling accuracy.

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