Abstract:
The article discusses the design of an expert system and a control algorithm of a quasistatic gait of an exoskeleton, which guarantees the stability of the device in the vertical position, on the basis of which mathematical modelling of the object’s motion is carried out. In this work we present an analytical scheme of the device in the form of an eleven-link mechanism, whose links are connected with each other by single-coordinate hinges, which describes the exoskeleton’s motion in two planes: sagittal and frontal. The position of the center of mass, whose coordinates change depending on the position of the legs and body, has been determined. We have developed logical rules that form the expert system and ensure a stable gait of the exoskeleton by placing the center of mass inside the support polygon. Results of numerical modelling of the system step in a specially designed virtual simulator have been obtained.
Keywords:
lower-limb exoskeleton; expert system; spatial multi-link system; centre of mass; control system; stability margin; support surface; range of vertical equilibrium.
Bibliographic databases:
Document Type:
Article
UDC:
621.865.8
Language: Russian
Citation:
L. Yu. Vorochaeva, A. S. Yatsun, S. F. Jatsun, “Controlling a quasistatic gait of an exoskeleton on the basis of the expert system”, Tr. SPIIRAN, 52 (2017), 70–94
Linking options:
https://www.mathnet.ru/eng/trspy945
https://www.mathnet.ru/eng/trspy/v52/p70
This publication is cited in the following 12 articles:
M R Saypulaev, Yu Yu Zuev, G R Saypulaev, “Development of the Lower Extremity Exoskeleton Dynamics Model Using in the Task of the Patient Verticalization”, J. Phys.: Conf. Ser., 2096:1 (2021), 012042
Ildar Kagirov, Alexander Kapustin, Irina Kipyatkova, Konstantin Klyuzhev, Alexander Kudryavcev, Igor Kudryavcev, Yury Loskutov, Dmitry Ryumin, Alexey Karpov, “Medical exoskeleton “Remotion” with an intelligent control system: Modeling, implementation, and testing”, Simulation Modelling Practice and Theory, 107 (2021), 102200
Igor Ryadchikov, Semyon Sechenev, Nikita Mikhalkov, Andrey Biryuk, Alexander Svidlov, Aleksandr Gusev, Dmitry Sokolov, Evgeny Nikulchev, Smart Innovation, Systems and Technologies, 154, Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 2020, 431
Sergey Jatsun, Andrei Malchikov, Andrey Yatsun, Smart Innovation, Systems and Technologies, 154, Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 2020, 63
Yuri Andrianov, Alexandr Kapustin, Igor Kudryavtsev, Petr Fishchenko, “Transformations of a system state under the sequence of conditions”, J Appl Eng Science, 17:1 (2019), 93
S. F. Yatsun, V. M. Antipov, A. Ye. Karlov, M. Al Manji Hamil Hamed, “Load Lifting in the Exoskeleton with Gravity Compensation”, Proceedings of the SWSU, 23:2 (2019), 8
Sergey Jatsun, Andrei Malchikov, Andrey Yatsun, Lecture Notes in Computer Science, 11659, Interactive Collaborative Robotics, 2019, 226
Artem Kovalev, Nikita Pavliuk, Konstantin Krestovnikov, Anton Saveliev, Lecture Notes in Computer Science, 11659, Interactive Collaborative Robotics, 2019, 170
Roman Iakovlev, Vladislav Sakuta, Alexander Denisov, Ryhor Prakapovich, A. Ronzhin, V. Shishlakov, “Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics”, MATEC Web Conf., 113 (2017), 02002
Andrei Malchikov, Andrei Yatsun, Petr Bezmen, Oleg Tarasov, A. Ronzhin, V. Shishlakov, “Control features of the electromechanical system with end-effector considering the regulated torque”, MATEC Web Conf., 113 (2017), 02001
Sergei Savin, Sergey Jatsun, Lyudmila Vorochaeva, A. Ronzhin, V. Shishlakov, “Trajectory generation for a walking in-pipe robot moving through spatially curved pipes”, MATEC Web Conf., 113 (2017), 02016
Alexander Denisov, Roman Iakovlev, Ilhshat Mamaev, Nikita Pavliuk, A. Ronzhin, V. Shishlakov, “Analysis of balance control methods based on inverted pendulum for legged robots”, MATEC Web Conf., 113 (2017), 02004
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