Switching Operation Modes Algorithm for the Exoskeleton Device

  • Valery G. Gradetsky
  • Ivan L. ErmolovEmail author
  • Maxim M. KnyazkovEmail author
  • Eugeny A. Semenov
  • Artem N. Sukhanov
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 261)


Problem statement: For the organization of feedback in the control system of the exoskeleton, information-measuring modules, sensors are essential elements. They allow monitoring the state of the system, to obtain information about the environment, objects of manipulation. Sensors are necessary elements of the master devices that allow evaluating the control signals of the operator. In this paper we propose our algorithm based on mathematical model of human skeletal muscle. Purpose: The movement of the exoskeleton with low speed is necessary to perform any technological operations and it requires increased accuracy of the desired movement. This is especially important when holding or moving heavy cargo or fragile objects. The mode of movement at high speeds allows operator to move quickly the links of the exoskeleton to the desired position in space. This mode is essential for application in situations where frequent changes of direction of movement are taking place and high speeds are required. A feature of this mode is the requirement for a short transition time of the position and speed of the links of the exoskeleton. Results: The algorithm for recognizing the desired action of the operator and selecting the desired mode of operation of the exoskeleton with the adjustment of the characteristics of the task generator was proposed. To obtain reliable experimental data SEMS system was used. The simulation shows that this algorithm improves the quality of control of the exoskeleton drive, using different control formation laws for the corresponding tasks. Practical significance: The field of exoskeleton devices application is determined by the scientific and technical tasks assigned to such systems. The use of exoskeletons is relevant in emergency situations where they are performing tasks related to the movement of heavy loads, ammunition suspension and the implementation of power support while debris removing, repair of agricultural machinery. The carried out researches allows revealing requirements to quality of drive system control of the exoskeleton device applied for any human activity. Various modes of operation of the exoskeleton device were proposed. Each mode should meet the requirements of operations that the operator should perform in the exoskeleton.


Control algorithms Exoskeleton Biopotentials Situational control EMG Biocontrol SEMS 



The present work was supported by the Ministry of Science and Higher Education within the framework of the Russian State Assignment under contract No. AAAA-A17-117021310384-9.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Valery G. Gradetsky
    • 1
  • Ivan L. Ermolov
    • 1
    Email author
  • Maxim M. Knyazkov
    • 1
    Email author
  • Eugeny A. Semenov
    • 1
  • Artem N. Sukhanov
    • 1
  1. 1.Ishlinsky Institute for Problems in Mechanics of the Russian Academy of SciencesMoscowRussia

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