Working Paper Article Version 1 This version is not peer-reviewed

Two Link’s Motion Simulation of Exoskeleton Supporting Leg in 3-D

Version 1 : Received: 28 December 2020 / Approved: 29 December 2020 / Online: 29 December 2020 (17:08:12 CET)

How to cite: Borisov, A. Two Link’s Motion Simulation of Exoskeleton Supporting Leg in 3-D. Preprints 2020, 2020120740 Borisov, A. Two Link’s Motion Simulation of Exoskeleton Supporting Leg in 3-D. Preprints 2020, 2020120740

Abstract

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 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. The controlling actions required for its implementation have been found.

Keywords

exoskeleton; hinge; variable-length link; human musculoskeletal system; angle between links; local system of coordinates; controlling forces and torques

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