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CIRCUITRY OF THE SYSTEM FOR CONTROLLING A REHABILITATION EXOSKELETON FOR MEDICINAL PURPOSES

A. V. Kapustin¹, Yu. V. Loskutov¹, D. V. Skvortsov², A. R. Nasybullin³, K. S. Klyuzhev¹,
A. I. Kudryavtsev^1
1Volga State University of Technology,
3, Lenin Square, Yoshkar-Ola, 424000, Russian Federation
E-mail: LoskutovYV@volgatech.net
²Pirogov Russian National Research Medical University,
1, Ostrovityanova Street, Moscow, 117997, Russian Federation
E-mail: skvortsov.biom@gmail.com
³JSC « Volzhsky Electromechanical Plant»,
1, Frunze Street, Volzhsk, 425008, Russian Federation

ABSTRACT

Introduction. The design of an exoskeleton for medicinal purposes is the set of mechanical and electrical elements, connected with each other in a certain manner. They perform movements according to laws, made by the control system. Unlike exoskeletons, designed for ease of movement or the improvement of human functional capabilities, the exoskeleton for medicinal purposes must replace human locomotion completely. Thus the control system has specific features, considered in the article. The purpose of the work is to create the system for controlling the exoskeleton, providing mechanism operation in all usage modes. The tasks are the following: to consider the overall design of the exoskeleton for medicinal purposes, to describe the operation of the electrical block diagram, provide an overview and choose the optimum alternative of the electromechanical component of the exoskeleton, to consider the operation principle of the electromechanical component of the control system. Results. The experimental model of the exoskeleton was developed. The composition of the mechanical component of the exoskeleton was described. The features of the design that are not a commercial secret were shown. The general electrical block diagram of the exoskeleton is presented; its connection to the mechanical component is shown. The justification of the elements of the electrical circuit is given. The principle of the operation of electrical circuit elements: a power-supply system, the block of controlling electrical drives, the block of electrical drives with vector control, the system of reference sensors, the block of functional electrostimulation and electromyography is described and considered. Several qualitative and quantitative characteristics of the circuit elements are presented, their mutual operation is explained. The work of the security system with the feedback an electrical drive- a reference sensor is considered, the logical description of the operation principle is presented.

KEYWORDS

exoskeleton; human locomotion; the block diagram of an exoskeleton; the electrical circuit of an exoskeleton; exoskeleton control.

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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.

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For citation: Kapustin A. V., Loskutov Yu. V., Skvortsov D. V., Nasybullin A. R., Klyuzhev K. S., Kudryavtsev A. I.Circuitry of the System for Controlling a Rehabilitation Exoskeleton for Medicinal Purposes. Vestnik of Volga State University of Technology. Ser.: Radio Engineering and Infocommunication Systems. 2018. No 2 (38). Pp. 77-86. DOI: 10.15350/2306-2819.2018.2.77