iipp publishingJournal of Applied Engineering Science

SYNTHESIS OF EXOSKELETON CONTROL ALGORITHMS BASED ON KINEMATIC ANALYSIS OF LOCOMOTIONS AND HUMAN GAIT MODELLINg


DOI: 110.5937/jaes16-17230
This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions. 
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Volume 16 article 568 pages: 583 - 591

Yury Loskutov
Volga State University of Technology, Russian Federation

Alexandr Kapustin
Volga State University of Technology, Russian Federation

Alexandr Kudryavtsev
Volga State University of Technology, Russian Federation

Albert Nasibullin
Joint stock company “Volzhsky Electromechanical Factory”

Alexandra Lebedeva
Joint stock company “Semiconductor device plant”

The article considers a mathematical model of human gait. Gait parameters necessary to build an analytical model of motion are defined. Calculated ratio to define the coordinates of key points of legs at any moment of time is obtained and a kinematic analysis of locomotions is performed. The results of computer modelling of walking process are given. The calculated ratio and the mathematical model can be used for design process and programming of the operation of control systems of exoskeleton developed for medical purposes.

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The work was carried out in the framework of the comprehensive project aimed at setting up the high-tech production «Setting up the high-tech production of a multifunction robotic exoskeleton for medicinal purposes» («REM»), cipher 2017-218-09-1807, approved by the decree of the Government of the Russian Federation № 218 dated April 9, 2010. 

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