Investigation of Movements of Lower-Limb Assistive Industrial Device
The present paper deals with the topical issues of the control system development for electric drives of the powered (active) lower-limb exoskeleton device designed for industrial applications. The article explores ways to assist in walking and running modes. Use of special types of the measuring complex allowing to evaluate the operator’s activity and to form the driving signals for electric drives. Particular attention is paid to the simulation of non-linear properties of the electric drive and the measuring system. To assess the results of numerical simulations, a comprehensive criterion for evaluating the quality indicators of the control system, was developed and optimization possibilities for the control system parameters were studied. A comparative analysis of different modes of human moving in assistive industrial device has been presented, and a few proposals for their practical application have been outlined in the article.
KeywordsAssistive device Industrial assistive device Human-machine interaction Control system
The work supported by RFBR, research project No 19-01-00540.
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