Publication: Computational and experimental evaluation of control torques and responses in drives of medical exoskeleton while walking
Дата
2023
Авторы
Kapustin, A. V.
Loskutov, Yu.V.
Pushkarenko, N. N.
Vasiliev, A. O.
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Аннотация
The article describes simulation of walking process locomotion for ReMotion medical exoskeleton. The simulation was carried out in RecurDyn – specialized software, designed to calculate dynamics of various bodies. The model description and preset software parameters are given. The technique of the exoskeleton jointing to ensure stable position in the model is described, kinematic pairs parameters are set. The study results are given as graphs of changes in responses and moving torques in the exoskeleton drives. The simulation results can be used to evaluate power indicators of movement (walking). These results are included to the input parameters for the synthesis of the exoskeleton kinematic pairs framework and the exoskeleton drives.
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Computational and experimental evaluation of control torques and responses in drives of medical exoskeleton while walking / Kapustin, A. V. [et al.] // AIP Conference Proceedings. - 2023. - 2700. - 10.1063/5.0138029