Abstract
The operator is an important component of the Operator-Exoskeleton system. He is a source of signals and he controls the result of the motion of the actuators. The main source that drives the links of the human skeleton is the force of muscle contraction. A series of control algorithm tests were carried out to determine the efficiency of the exoskeleton when performing the task of positioning the exoskeleton link in different control modes. In the experimental studies, the time spent on the operation to achieve the target position was measured. In the Laboratory of Robotics and Mechatronics of the Ishlinsky Institute for Problems in Mechanics RAS a physical model of the arm, exoskeleton was made for experimental investigation. As a result of the experiments, the biopotential data of the operator muscle groups in the performance of various actions were obtained. The exoskeleton drive control will depend on the parameters of the controller and biopotential sensor. The choice of the parameters of these elements will significantly affect the dynamics of the exoskeleton. In this work, we have proposed the interaction model of the exoskeleton system with the operator modeled via biceps brachii action. The study simulated the effect of system parameters variations on the dynamics of the Operator-Exoskeleton system.
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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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Gradetsky, V., Ermolov, I., Knyazkov, M., Semenov, E., Sukhanov, A. (2020). Features of Human-Exoskeleton Interaction. In: Kravets, A. (eds) Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms. Studies in Systems, Decision and Control, vol 272. Springer, Cham. https://doi.org/10.1007/978-3-030-37841-7_7
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