Modelling of operator walking with a load of industrial exoskeleton

Abstract

The proposed article is based on mathematical models of study and development setting up computational experiments of a person using an exoskeleton walking with a load process. The development and study of anthropomorphic robots’ dynamics involves the systematic approach and use of mathematical modelling methods, the automatic control theory apparatus, which makes it possible to study a complex object as a whole and also consideration of the totality of human-machine system elements, united by diverse and multi-level types of connections, as an integral object. The research objectives are the development of mathematical models describing the process of operator-exoskeleton interaction, as well as the development of a three-link mathematical model of the exoskeleton - operator system. The development of a motion control strategy when walking allows obtaining time dependences of state vector parameters changes. Mathematical models describing the process of operator and the exoskeleton interaction are being developed. The research is based on the original three-link mathematical model of the exoskeleton-operator system proposed in the paper. The original method based on interpolation, experimentally obtained data and dynamic analysis of the operator-exoskeleton system behaviour is applied. In the course of numerical modelling, time diagrams of the hinge-mechanical system torques in the process of lifting loads were obtained. Basing on the results of mathematical modelling of an operator’s walking with a load in an industrial exoskeleton, the conclusions about the possibilities of an active gravitational compensator in the hip joint are obtained.