Abstract
This article discusses aspects of the operators static walking in a human–machine exoskeletal system increasing the physical capabilities of a person. The development of BTWS models and algorithms, the control strategy implemented by the human–machine interface (HMI) and ensuring the human functionality expansion, is an urgent scientific and technical task. The most important element of BTWS, providing high precision control of the links of the exoskeleton system, is the HMI. In this article, BTWS is considered as a collection of elements, united by heterogeneous and multilevel types of links, as an integral object. The development of control algorithms for the BTWS exoskeleton, using a systematic approach, methods of decomposition, analysis and synthesis, the apparatus of the theory of automatic control and related modern methods of mathematical modeling, allows to explore a complex object as a whole. At the framework of this article, the following results are achieved. The mathematical model of a human exoskeleton during static walking is developed. A model of the system center of mass movement and also a model foot plane-parallel movement during walking on a horizontal rough surface has been developed, which ensures a stable vertical position during walking. Diagrams and trajectories of ankle joint and the center of mass movement during walking were built. The method for determining the force effect on the human–machine system at the interaction of the foot and lower leg is proposed.
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The work was supported by Russian Federation President grant for young scientists, candidates of sciences MK-901.2020.8
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Jatsun, S., Yatsun, A., Fedorov, A., Saveleva, E. (2022). Simulation of Static Walking in an Exoskeleton. In: Ronzhin, A., Shishlakov, V. (eds) Electromechanics and Robotics. Smart Innovation, Systems and Technologies, vol 232. Springer, Singapore. https://doi.org/10.1007/978-981-16-2814-6_5
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