Abstract
This paper discusses the hardware structure of the human–machine interface of industrial exoskeletons and the corresponding mathematical models for selecting the optimal parameters of the human–machine interface and for developing the control algorithms. A four-stage algorithm for planning the angle of rotation of the operator’s back when performing a load lifting operation using polynomials of the seventh order is proposed. The movement of the human–exoskeleton system with a focus on the hip joint and lumbar spine was simulated. The effect of the parameters of the mathematical model of the human–exoskeleton system, including the operator’s muscular system, on the accuracy of reproducing operator’s movements by the exoskeleton is shown.
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This work was supported by the Russian Foundation for Basic Research, project no. 18-08-00773-a.
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Translated by K. Lazarev
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Yatsun, S.F., Yatsun, A.S., Savel’eva, E.V. et al. Simulation of Interaction between an Operator and an Exoskeleton. J. Mach. Manuf. Reliab. 49, 490–499 (2020). https://doi.org/10.3103/S1052618820060102
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DOI: https://doi.org/10.3103/S1052618820060102