Study of the dynamics of the exoskeleton actuating unit

Abstract

A person has more than 300 degrees of mobility, but it is practically impossible to recreate such a kinematic scheme. In this article, a kinematic scheme ofthe exoskeleton is proposed that is most necessary for human movement. A 3D model of the exoskeleton actuating unit with an electrohydraulic drive has been developed in the CAD system and the values of masses, coordinates of mass centers, inertia tensors of the links of the exoskeleton actuating unit have been calculated. A launch file has been developed in the MATLAB environment for modeling the dynamics of the exoskeleton actuating unit. The control laws in the degrees of mobility of the actuating unit ofthe exoskeleton are selected. As a result of the theoretical study, the ranges of changes in the generalized coordinates for the joints under study are determined. The dependences of the power and the moment in the joints 9, 10 on time are obtained. The conducted studies have shown that lifting the leg will require more energy and this makes it necessary to develop power plants, explore various types of drives and ways to control them energy-efficiently. The obtained data can serve in the development of a medical exoskeleton.