Simulation of Interaction between an Operator and an Exoskeleton

Autor:	A. E. Karlov, S. F. Yatsun, E. V. Savel’eva, A. S. Yatsun
Rok vydání:	2020
Předmět:	Angle of rotation Control algorithm Operator (computer programming) Mathematical model Computer science Mechanical Engineering Interface (computing) Lumbar spine Safety Risk Reliability and Quality Focus (optics) Industrial and Manufacturing Engineering Simulation Exoskeleton
Zdroj:	Journal of Machinery Manufacture and Reliability. 49:490-499
ISSN:	1934-9394 1052-6188
DOI:	10.3103/s1052618820060102
Popis:	This paper discusses the hardware structure of the human–machine interface of industrial exoskeletons and the corresponding mathematical models for selecting the optimal parameters of the human–machine interface and for developing the control algorithms. A four-stage algorithm for planning the angle of rotation of the operator’s back when performing a load lifting operation using polynomials of the seventh order is proposed. The movement of the human–exoskeleton system with a focus on the hip joint and lumbar spine was simulated. The effect of the parameters of the mathematical model of the human–exoskeleton system, including the operator’s muscular system, on the accuracy of reproducing operator’s movements by the exoskeleton is shown.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::2c1721b67a8eb0b502f5519a536bb52d https://doi.org/10.3103/s1052618820060102 Zobrazit plný text záznamu Full text from SpringerLink