Istrazivanja i projektovanja za privreduJournal of Applied Engineering Science


DOI: 10.5937/jaes17-20921
This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions. 
Creative Commons License

Volume 17 article 627 pages: 439- 442

Yuri Andrianov
Volga State University of Technology,Russian Federation

Pyotr Fishchenko
Volga State University of Technology,Russian Federation

Alexander Kapustin
Volga State University of Technology,Russian Federation

In medical exoskeletons, it is necessary to support a stable vertical position of a person. Based on the use of mathematical modeling and theoretical mechanics methods, estimation of the moment of stability is performed while ensuring the frontal (lateral) stability of a person in a medical exoskeleton. This will allow to receive the maximum allowable safe speed, eliminating the fall in the frontal plane. Recommendations for providing frontal (lateral) stability are given.

View article

The work was performed as part of the implementation of a comprehensive project to create high-tech production "Creating high-tech production of multifunctional robotic exoskeleton for medical purposes ("REM")", code 2017- 218-09-1807, approved by the government decree of the Russian Federation No. 218 of 9 April 2010.

1. Kapustin, A.V., Loskutov, Yu.V., Kudryavtsev, I.A., & Belogusev, V.N., (2018). Methods to realize stable walking of rehabilitation exoskeleton. Vestnik of the Volga State University of Technology. Ser.: Materials. Constructions. Technologies, 3, 44-54.

2. Formal’sky, А.М., (2014). Motion control of unstable objects. Moscow: PHYSMATLIT.

3. Zhang, T., Tran, M., & Huang, H. (2018). Design and Experimental Verification of Hip Exoskeleton with Balance Capacities for Walking Assistance. IEEE/ASME Transactions on Mechatronics, 23(1), 274-285. doi:10.1109/TMECH.2018.2790358

4. Martínez, A., Lawson, B., & Goldfarb, M. (2018). A Controller for Guiding Leg Movement During Overground Walking With a Lower Limb Exoskeleton. IEEE Transactions on Robotics, 34(1), 183-193. doi:10.1109/TRO.2017.2768035

5. Andrianov, Yu.S., Kapustin, A.V., Egorov, A.V., & Fishchenko, P.A., (2018). The effect of a sequence of conditions on the transformation of the state of the system. Innovations in life, 2, 69-83.

6. Kapustin, A.V., Loskutov, Yu.V., Skvortsov, D.V., Nasybullin, A.R., Klyuzhev, K.S., & Kudryavtsev, A.I., (2018). Circuitry of the system for controlling a rehabilitation exoskeleton for medicinal purposes. Vestnik of the Volga State University of Technology. Ser.: Radio Engineering and Infocommunication Systems, 2, 77-86.

7. Loskutov, Y.V., Kapustin, A.V., Klyuzhev, K.S., Kudryavtsev, A.I., Loskutov, M.Y., & Fadeev, A.M. (2017). Computer simulation of regular walking based on the kinematic analysis of movements and the synthesis of exoskeleton control algorithms. Vestnik of the Volga State University of Technology. Ser.: Radio Engineering and Infocommunication Systems, 3, 47-60.

8. Andrianov, D.Yu., & Fishchenko, P.A., (2018). Calculation of the volume of the body by the method of splitting into elementary pyramids. U: Creativity of the young to scientific progress, 2018, Yoshkar-Ola. VSUT.53-55.

9. Andrianov, D.Yu., Kudryavtsev, A.I., & Fishchenko, P.A., (2018). Estimation of the coordinates of element barycenter of rotation gear. U: Proceedings of the Volga State University of Technology. Ser.: Technological, 2018. Yoshkar-Ola: VSUT.52-56.

10. Jatsun, S.F., Savin, S.I., Jatsun, A.S., & Malchikov, A.V., (2016). Study of controlled frontal plane motion of an exoskeleton in the vertical balance recovery regime. Extreme robotics, 1, 236-245.

11. Barbareschi, G., Richards, R., Thornton, M., Carlson, T., & Holloway, C. (2015). Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human. U: 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 6728-6731. doi:10.1109/EMBC.2015.7319937

12 Hof A.L., Gazendam M.G.J., & Sinke W.E., (2005). The condition for dynamic stability. Journal of Biomechanics, 38(1), 1-8.