Abstract
The paper considers the modeling of the movements of human-machine systems in the form of multi-link spatial anthropomorphic mechanisms with variable-length links, the configuration changes of which occur due to control actions and controlled changes in the link lengths. The presented task is fundamental, having many practical applications. The scientific novelty of the study is the creation of mechanical core systems with the controlled links of variable length, as applied to the biomechanics of human movements, exoskeletons and anthropomorphic robots. The significance of the study lies in the development of a new class of transport robotic devices of an anthropomorphic structure, the creation of their spatial models and the synthesis of new algorithms for controlling targeted movement, the study of the movements of mechanisms on the surface, the study of the joint functioning of the human-machine system. As a result of the study, a model of the human musculoskeletal system in the form of a spatial mechanism with the controlled links of variable length was developed, the algorithms for controlling their movements, which are implemented using friction forces that provide communication with the supporting surface, are proposed, and numerical simulation is carried out.
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References
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Acknowledgements
The reported study was funded by RFBR and Smolensk region, project number 19-48-670002.
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Borisov, A.V., Konchina, L.V., Maslova, K.S. (2021). Synthesis of Controlled Multi-link Models for Musculoskeletal System of Person with Links of Variable Length to Be Used in Exoskeleton Making. In: Radionov, A.A., Gasiyarov, V.R. (eds) Proceedings of the 6th International Conference on Industrial Engineering (ICIE 2020). ICIE 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-54814-8_15
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