Development of the Lower Extremity Exoskeleton Dynamics Model Using in the Task of the Patient Verticalization

Autor:	Yu Yu Zuev, M R Saypulaev, G R Saypulaev
Rok vydání:	2021
Předmět:	History medicine.medical_specialty Physical medicine and rehabilitation Computer science Dynamics (music) medicine Verticalization Computer Science Applications Education Task (project management) Exoskeleton
Zdroj:	Journal of Physics: Conference Series. 2096:012042
ISSN:	1742-6596 1742-6588
DOI:	10.1088/1742-6596/2096/1/012042
Popis:	The object of the study is an exoskeleton of the lower extremities with a rigid structure of the power frame, which has 7 degrees of freedom. The movement of the exoskeleton in the sagittal plane is considered with the assumption of symmetrical movement of the right and left legs. The aim of the study is to develop a mathematical model of the dynamics of the exoskeleton, taking into account the forces of viscous friction in the joints. The equations of motion are obtained under the condition that there is no slippage of the points of contact with the supporting surface. Based on the results of numerical simulation, the control moments were obtained, which must be created by the drives to provide program movement.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::efcabb2590727f0165b05813a41c1f9a https://doi.org/10.1088/1742-6596/2096/1/012042 Zobrazit plný text záznamu