Obstacle Awareness Subsystem for Higher Exoskeleton Safety

Blažek, Pavel; Bydžovský, Josef; Griffin, Robert J.; Mls, Karel; Peterson, Brandon

doi:10.1007/978-3-030-63872-6_3

Cited by 7 publications

(5 citation statements)

References 11 publications

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“…The exoskeletons and anthropomorphic robots are actively developed, as evidenced by the large number of publications in this domain [5][6][7][8][9][10]. Since some simulation difficulties emerge with the models with large number of freedom degrees, it is suggested to use the smart motion control models that can be further extensively applied in designing actually working controlled robotic devices, such as an active exoskeleton for a human, or an anthropomorphic industrial robot.…”

Section: Introductionmentioning

confidence: 99%

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

Konchina,

Kulikova,

Maslova

et al. 2024

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

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The software, implementing mathematical models of 2D and 3D active exoskeletons with electric drives, has been developed in the environment of universal computer mathematical system "Wolfram Mathematica". Each model has the same structure and includes five mobile links. Generalization of these models for the case of arbitrary finite number of n links is made. The angles, calculated between the links of the models, are used in the software described in the article, which differ these models from the existing ones. Cylindrical hinges are used for the articulated interconnection of the links in the 2D model. As for the 3D model, the spherical hinges perfectly implement all mobility degrees available in the human musculoskeletal system. This fact also differ the proposed 3D model from the existing ones, which have limited mobility and use not only spherical, but also cylindrical hinges to join some links in order to reduce dimension of the system of differential equations of motion. The comparative analysis of the obtained mathematical models for the two mechanisms in the form of Lagrange equations of the second kind is made. The system of electromechanical equations for the model using asynchronous AC motor is listed. The solution of direct and inverse dynamics problems is given for 2D model. As for the 3D model, no numerical solution of the Cauchy problem has been obtained due to large dimension of the system of differential equations of motion and limited computing power. Therefore, the idea about exoskeleton motion control model based on artificial intelligence that needs to be developed is suggested.

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Section: Introductionmentioning

confidence: 99%

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

Konchina,

Kulikova,

Maslova

et al. 2024

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

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“…The application of bar systems to machine-building practice can be observed everywhere: in general machine-building, highway engineering and industrial engineering, extractive and processing industries, and medicine [1]. For example, mathematical models and studies of modern external skeletons can be found in [2][3][4]. A detailed survey of the possibilities of military application of the above-mentioned bar systems is presented in [5].…”

Section: Introductionmentioning

confidence: 99%

Singularities of the Dynamics of Some Bar Systems with Unilateral Constraints

Розенблат¹,

Grishakin²

2023

Nelin. Dinam.

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This paper deals with a formulation and a solution of problems of the dynamics of mechanical systems for which solutions that do not take into account the unilateral nature of the constraints imposed on the objects under study have been obtained before. The motive force in all the cases considered is the gravity force applied to the center of mass of each body of the mechanical system. Since unilateral constraints are imposed on all systems of bodies considered in the above-mentioned problems, their correct solution requires taking into account the unilateral action of the constraint reaction forces applied to the bodies of the systems under study. A detailed analysis of the motion of the systems after zeroing out the constraint reaction forces is carried out. Results of numerical experiments are presented which are used to construct motion patterns of the systems of bodies illustrating the motions of the above-mentioned systems after they lose contact with the supporting surfaces.

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“…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%

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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Obstacle Awareness Subsystem for Higher Exoskeleton Safety

Cited by 7 publications

References 11 publications

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

Comparative analysis of exoskeleton mechanical models with mobile links having maximal mobility degrees, and their generalization for the case of n links

Singularities of the Dynamics of Some Bar Systems with Unilateral Constraints

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

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