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Simulation of the movement of the supporting leg of an exoskeleton with two links of variable length in 3D

A two-link model of exoskeleton with variable-length links for supporting the lower limbs of the human musculoskeletal system is proposed in the article. The researched model differs from the existing ones by the variable-length links, and by the angle calculation method. While in the existing models, the angles are calculated from the regular direction – from vertical, or from horizontal, – in the proposed research they are calculated between the links. As for practical exoskeleton implementation, the proposed method of angle calculation is appropriate to the actual working conditions of the electrical motors with the reduction gears installed in the hinges, which change the angles between the links. The construction of a variable-length exoskeleton link consists of two absolutely solid weighty sections located at both ends of the link and one weightless section between them in the center of the link. In the weightless section, there is a drive that creates a control longitudinal force, which realizes the increase or decrease in the length of the link in the required manner and provides the necessary maintenance of the length of the link when the person moves in the exoskeleton. The links are connected to each other using spherical hinges. Drives are installed in each hinge, creating control torques, which provide a relative rotational movement of the links. The jointly controlling longitudinal forces and moments realize the maintenance of the posture or the movement of the link in the required manner and, in relation to the exoskeleton, the repetition of the basic biomechanical properties of the human musculoskeletal system. The mathematical model in the form of the system of Lagrange differential equations of the second kind is obtained. The obtained mathematical model is examined for existence and uniqueness of the Cauchy solution. The kinematic trajectory of the link motion has been synthesized, which simulates the anthropomorphic movement of the supporting leg during the single-support phase of movement, and the control actions required for its implementation has been found. The significance of the results obtained in the process of modeling lies in the ability to create active exoskeletons, prostheses in medicine, anthropomorphic robots, and spacesuits that take into account the biomechanical features of the functioning of the human musculoskeletal system. Read more...

Modeling the dynamics of an exoskeleton link of variable length using the Lagrange – Maxwell system of differential equations of motion

The objective of the study is the development of 3D variable-length link model with electric drives to be used in designing of next-generation comfortable exoskeletons. The developed link model has two inertial absolutely rigid sections on its ends and a variable- length section, considered weightless, in between. The mechanical part of the variable-length link model has been implemented in the universal computer math "Wolfram Mathematcia 11.3" environment by building the system of Lagrange – Maxwell differential equations. The electro-mechanical link model with electric drives has been implemented in the MatLab Simulink environment. The implemented model includes the following units: the trajectory synthesis unit per each degree of freedom, the unit for controlling torques calculation based on differential equations of motion, the unit for selecting electric motors with gears, the unit for calculating electric current per each motor and implementing the control system. The electric motors, reducers, rack and pinion gears implementing the specified and programmed link motion have been selected. The inertial and geometrical variable-length link parameters corresponding to the human tibia in the period of the single-support step phase have been selected. The drives implementing the link rotation are situated in the bottom link point in the combination of two orthogonal cylindrical hinges. One of these hinges is fixed to the supporting surface, the other one is fixed to the link end. This hinge combination simulates human ankle joint in the single-support step phase. The drive controlling the link length change is situated at the end of the bottom absolutely rigid weighty link section. The programmed trajectories for generalized coordinates are specified based on the simulation requirements of the anthropomorphic tibia motion. As a result, the electro-mechanical model of a variable- length link with parameters corresponding to the average man’s tibia has been developed. The drives and gears that allow implementing the motion close to anthropomorphic one have been selected. The implementation of this motion based on the developed software in the computer math "Wolfram Mathematica 11.3" environment and in the MatLab Simulink system has been demonstrated. The numerical calculations are presented. Read more...

Mathematical modeling of electromechanical model of exoskeleton with three active controlled links

Mathematical modeling of an active exoskeleton in the form of an electromechanical model containing three movable, controlled links interconnected by hinges has been carried out. For the considered mathematical model of the active exoskeleton, differential equations of motion are proposed. Numerical methods are used to solve the inverse and direct problems of dynamics in the created software package in the environment of the universal system of computer mathematics. A comprehensive study has been carried out, considering the problems of exoskeleton control, in the form of solving inverse and direct problems of dynamics, in relation to the created mathematical model of three moving parts of the exoskeleton, taking into account electric drives, using modern methods of mathematical modeling. Analytically determined are the angles between the links that define the anthropoid movement. Solving the inverse problem of dynamics, the moments controlling the movement of the links are calculated for each electric drive. The found moments are approximated by stepwise piecewise-constant functions simulating the impulse control of the exoskeleton motion. Dependences of the angular coordinates describing the positions of the links of the active exoskeleton over time are found. A comparative analysis of the numerical solution of the Cauchy problem for the mathematical model of the exoskeleton in the form of differential equations with the initial, given movement of the links is carried out. A good agreement between the results of simulation with impulse control and the original motion is established. The total energy costs have been calculated. Modeling is carried out taking into account the presence of electric drives: dynamic equations for this model are compiled. The Cauchy problem for the system is numerically solved taking into account the presence of electric drives. As a result of applying qualitative, analytical and numerical methods for studying the created mathematical model of three moving parts of the exoskeleton, taking into account the presence of electric drives, the significance of the influence of electric drives on the dynamics of the mechanism was established. The implementation of the electromechanical model of the three links of the exoskeleton was carried out in the environment of the universal system of computer mathematics “Wolfram Mathematica 11.3”. Read more...

A model of a cyber-physical system of an exoskeletal mechanism consisting of seven movable links

When considering the motion of statically unstable objects, such as a cyberphysical system in the form of a seven-link exoskeleton mechanism, the problem of adhesion to the supporting surface plays a significant role during anthropoid walking. This is because operating conditions change during movement: gait phases alternate, the characteristics of the supporting surface change, and external disturbances occur. To improve stability and prevent slippage, it is necessary to consider the characteristics of foot motion. Therefore, the presence of weighty inertial feet ensures the novelty and relevance of the proposed model. This paper presents a model of a cyber-physical system for an exoskeleton mechanism moving in a vertical plane and creating the prerequisites for implementing a situational approach to movement control. The model includes seven moving links connected by hinges, ensuring the maximum approximation of the model to a real exoskeleton. The objective of the study is to develop and describe algorithms for designing motion control for an exoskeleton mechanism using a software method, taking into account situational parameters, applying a previously developed method for controlling a robotic anthropoid mechanism in the form of programmable movements. The testing of the developed algorithms was carried out in the Wolfram Mathematica environment using mathematical modeling tools, numerical methods and visualization. In the course of the work, a model of an exoskeletal mechanism with seven movable links was developed, including weighty feet moving in a vertical plane. The originality of the development lies in the use of angles between the links when describing the model and the use of rotation matrices of the coordinate axes when composing a system of differential equations. A mathematical model of the presented link of the exoskeletal mechanism and algorithms for solving direct and inverse dynamics problems for it have been developed. A motion visualization routine has been created that allows you to demonstrate the motion process of the model in question in accordance with the specified functions. The necessity of taking into account situational parameters when using an exoskeleton is shown. The relevance of using fuzzy logic methods and neural networks to optimize modeling while adapting to environmental uncertainty is described. Read more...