Controlling a quasistatic gait of an exoskeleton on the basis of the expert system

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.