47-60

UDC 621.85-52; 531/534
DOI: 10.15350/2306-2819.2017.3.47

COPUTER SIMULATION OF REGULAR WALKING BASED ON THE KINEMATIC ANALYSIS OF MOVEMENTS AND THE SYNTHESIS OF EXOSKELETON CONTROL ALGORITHMS

Yu. V. Loskutov, A. V. Kapustin, K. S. Klyuzhev, A. I. Kudryavtsev,
M. Yu. Loskutov, A. M. Fadeev
Volga State University of Technology,
3, Lenin Square, Yoshkar-Ola, 424000, Russian Federation
E-mail: loskutovyv@volgatech.net

ABSTRACT

Introduction. An exoskeleton as a device can be used for amplifying abilities of a healthy man or for assisting the sick with musculoskeletal system disorders. The major elements of exoskeletons are a mechanical skeleton with drives, a programmable control system and a power source. And the problems of the creation and development of each element are equivalent. The purpose of the work is the development of the mathematical model of the regular walking of a man and the synthesis of exoskeleton control algorithms. The tasks are the following: the development of the computed mathematical model of man’s walking; the kinematic analysis of locomotion while walking; the computer simulation of the walking process; the synthesis of the laws of motion for the exoskeleton servodrive control system. Results. Simplifying assumptions and changes in the design diagram were determined. The design kinematic diagram is a six degree-of-freedom binary flat open kinematic chain. In order to control the motion we’ll use controlled rotary actuators in the points of the suspension of legs D (hip joint), A₁, A₂(knee joints). There are elastic links with rigidities c₁, c₂in points B₁, B₂(ankle joints). The characteristics of the gait, necessary for the construction of the kinematic model of motion were described. Design ratios for linear and angular coordinates, rates and the acceleration of key points (the point of the suspension of legs, a knee and a heel) and bar elements (a hip, a shin, a body) of man’s locomotor apparatus, considering comfortable and uncomfortable walking were obtained. The dependencies of coordinates, rates and acceleration of the centers of gravity from the angles of rotation of mechanism links for the construction of the dynamic model of motion were determined. Practical significance. Later on the obtained results can be used for the creation of the dynamic model of two-legged walking. The model will consider control moments in the knee and coxofemoral joints of the exoskeleton with a man and the reactions of supports.

KEYWORDS

exoskeleton; human locomotion; mathematical modeling; computer simulation; synthesis and analysis of mechanisms

FULL TEXT (pdf)

ACKNOWLEDGMENT

The work was carried out in the framework of the comprehensive project aimed at setting up the high-tech production «Setting up the high-tech production of a multifunction robotic exoskeleton for medicinal purposes» («REM»), cipher 2017-218-09-1807, approved by the decree of the Government of the Russian Federation № 218 dated April 9, 2010.

REFERENCES

1.   Raytheon XOS 2 Exoskeleton, Second-Generation Robotics Suit, United States of America [Electronic resource]. URL: http://www.army-technology.com/projects/raytheon-xos-2-exoskeleton-us/ (reference date 10.07.2017).
2.   NASA's Ironman-Like Exoskeleton Could Give Astronauts, Paraplegics Improved Mobility and Strength [Electronic resource]. URL: http://www.nasa.gov/offices/oct/home/feature_exoskeleton.html (reference date 10.07.2017).
3.   Eksobionics [Electronic resource]. URL: http://eksobionics.com/ (дата обращения 10.07.2017)
4.   Introducing the: ReWalk Personal 6.0 System: The sixth generation ReWalk Personal Exoskeleton [Electronic resource]. URL: http://rewalk.com (reference date 10.07.2017).
5.   Walking Assisthttp://world.honda.com/Wal-king-Assist/ back [Electronic resource]. URL: http://world.honda.com/Walking-Assist/ (reference date 10.07.2017).
6.   Panasonic Power Loader Light exoskeleton takes a load off your back [Electronic resource]. URL: http://newatlas.com/panasonic-power-loader-light-exoskeleton/25682/ (reference date 10.07.2017).
7.   Cyberdyne [Electronic resource]. URL: http://www.cyberdyne.jp/english/index.html (reference date 10.07.2017)
8.   France’s slender Hercule exoskeleton is no lightweight [Electronic resource]. URL: http://www.army-technology.com/features/feature-french-hercule-robotic-exoskeleton (reference date 10.07.2017).
9.   Ekzoatlet [ExoAtlet]. [Electronic resource] –URL: https://www.exoatlet.com/ru (reference date 10.07.2017).
10. Andrianov Yu.S., Kudryavtsev I.A., Nekhoroshkov P.A. Ekzoskelet – tekhnologii budushchego [Exoskeleton is Technologies for the Future]. Vestnik Povolzhskogo gosudarstvennogo tekhnologicheskogo universiteta. Ser. Radiotekhnicheskie i infokommunikatsionnye sistemy [Vestnik of Volga State University of Technology. Ser. Radio Engineering and Infocommunication Systems]. 2017. No 1 (33). Pp. 79-84.
11. Dubrovsky, V.I., Fedorova V.N. Biomekhanika [Biomechanics]. Мoscow: VLADOS, 2003. P. 388.
12. Kapandzhi A.I. Nizhnyaya konechnost: Funktsional’naya anatomiya [Lower Limb: Physiological Anatomy] / A.I. Kapandzhi; preface Prof. Thierry Judet; [Translation from French G. Abeleva, E. Kishenevsky]. Moscow: Publishing house «E»2017. 352 p.
13. Beletsky, V.V. Dvunogaya hod’ba: model’nye zadachi dinamiki i upravleniya [Two-Legged Walking: Model Problems of Dynamics and Control]. Moscow: Nauka, 1984. 288 p.
14. Vorobiev A.A., Petrukhin A.V., Zasypkina O.A., Krivonozhkina P.S. Ekzoskelet – novye vozmozhnosti abilitatsii i reabilitatsii (analitichesky obzor) [Exoskeleton is New Possibilities of Habilitation and Rehabilitation (Analytical Survey).] Voprosy rekonstruktivnoy i plasticheskoy khirurgii [Problems of Reconstructive and Plastic Surgery]. 2015. Vol. 18. No 2 (53). Pp. 51-62.
15. Bernshtein N.A. Biomekhanika i fiziologiya dvizheniy [Biomechanics and Dynamic Physiology] / edited by V.P. Zakharchenko. Moscow: Publishing house «Institute of Practical Psychology», Voronezh: Scientific Production Association «MODEK»1997. 608 p .
16. Vitenzon A.S., Petrushanskaya K.A. K fazovomy analizu hod’by i nekotorykh ritmicheskikh dvizheniy cheloveka [Phase Analysis of Walking and Some Rhythmical Movements of a Man]. Rossiyskiy zhurnal biomekhaniki [Russian Journal of Biomechanics]. 2005. Vol. 9, No 1. Pp. 19-35
17. Zatsiorsky V.M., Aruin A.S., Seluyanov V.N. Biomekhanika dvigatel’nogo apparata cheloveka [Biomechanics of Human Motor Apparatus]. Moscow: Fizkul'tura i sport, 1981. 143 p.
18. Apaleeva A.M. Razrabotka algoritma issledovaniya kinematiki dvizheniya cheloveka [Development of the Research Algorithm of Human Motion Kinematics]. Vestnik Amurskogo gosudarstvennogo universiteta. Seriya: Estestvennye i ekonomicheskie nauki [Vestnik of Amur State University. Series: Natural and Economic Sciences]. 2012. No 59. Pp. 12-17.
19. Kolesnikova G.P., Formalsky A.M. Ob odnom sposobe modelirovaniya pokhodki cheloveka [About One Method of Human Gait Modeling]. Inzhenernyy zhurnal: nauka i innovatsii [Engineering Journal: Science and Innovations] 2014. No 1 (25). P. 11. http://engjournal.ru/catalog/eng/teormech/1181.html. (reference data 10.07.2017).
20. Efimov A.P. Informativnost’ biomekhanicheskikh parametrov pokhodki dlya otsenki patologii nizhnikh konechnostey [Informativeness of Biomechanical Parameters of the Gait for the Estimation of the Low Limb Pathology]. Rossiyskiy zhurnal biomekhaniki [Russian Journal of Biomechanics]. 2012. Vol. 16, No 1 (55). Pp. 80–88.
21. Shevtsov V.I., Shchyurov V.A., Dolganova T.I. and others. Osobennosti biomekhanicheskikh parametrov hod’by u sportsmenov razlichnoy spetsializatsii [Features of Biomechanical Parameters of Different Specialization Sportsmen Walking]. Rossiyskiy zhurnal biomekhaniki [Russian Journal of Biomechanics]. 2007. Vol. 11, No 2. Pp. 41–49.

For citation: Loskutov Yu. V., Kapustin A. V., Klyuzhev K. S., Kudryavtsev A. I., Loskutov M. Yu., Fadeev A. M. Coputer Simulation of Regular Walking Based on the Kinematic Analysis of Movements and the Synthesis of Exoskeleton Control Algorithms. Vestnik of Volga State University of Technology. Ser.: Radio Engineering and Infocommunication Systems. 2017. No 3 (35). Pp. 47-60. DOI: 10.15350/2306-2819.2017.3.47