Modelling of the Exoskeleton Control System with a Linear Gravity Compensator

This paper presents investigation results in a field of industrial exoskeleton modelling. Integrated human-machine system with an exoskeleton in the article is shown as the biotechnical walking system. General scheme of the exoskeleton with the combined linear gravity compensator system and block diagram of HMI are presented. The consideration of the combined type linear gravity compensator, which uses the positive properties of the passive and active compensators is shown. Solution algorithm which allows for designing such a HMI that will ensure the most efficient operation of the walking system is listed. Mathematical model of the load lifting for the system includes an exoskeleton, a human, and the HMI and results of numerical simulation are shown. It is figured out that the use of linear gravity compensators significantly increases the efficiency of the exoskeleton.

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