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Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" pp 259–268Cite as

Modeling of the Exoskeletal Human-Machine System Movement Lifting a Load

Part of the Smart Innovation, Systems and Technologies book series (SIST,volume 187)

Abstract

The mechanization and automation are introduced in various industries for loading and unloading operations. However, the manual labor continues to be widespread in a number of industries. One of the ways to improve the quality of working conditions due to the transition from extreme to comfortable conditions is using of exoskeletons. The technological operations of lifting and transfer of goods implementation by a person can be considered in two aspects: from the point of view of the workload performed by a person with this type of work, and on the other hand, the functional stress of the body as an integral response to the load. The study of the human-machine system (HMS) elements interaction allows us to identify new opportunities for providing a cooperative solution to technological problems by obtaining the exoskeleton’s links movement given accuracy. The article is devoted to the HMS motion kinematic model development, as well as the determination of the dependence of the linear gravity compensator (LGC) length change on the magnitude of the exoskeleton’s back rotation angle for various geometric dimensions that determine the position of the LGC. The determination of this dependence allows us to construct an algorithm for the HMI, including the LGC functioning. For this, the vector method of mathematical modeling is used.

Keywords

  • Human-machine system (HMS)
  • Linear gravity compensator (LGC)
  • Human-machine interface (HMI)
  • Biotechnical walking system (BTWS)

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Acknowledgements

The work of the group of authors was supported by RFBR, research project № 18-08-00773-A.

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Authors and Affiliations

  1. Department of Mechanics, Mechatronics and Robotics, Southwest State University (SWSU), Kursk, Russian Federation

    Andrey Karlov, Ekaterina Saveleva, Andrey Yatsun & Aleksey Postolny

Authors
  1. Andrey Karlov
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  2. Ekaterina Saveleva
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  3. Andrey Yatsun
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  4. Aleksey Postolny
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Corresponding author

Correspondence to Ekaterina Saveleva .

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Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Dr. Andrey Ronzhin

  2. Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

    Dr. Vladislav Shishlakov

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Karlov, A., Saveleva, E., Yatsun, A., Postolny, A. (2021). Modeling of the Exoskeletal Human-Machine System Movement Lifting a Load. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings". Smart Innovation, Systems and Technologies, vol 187. Springer, Singapore. https://doi.org/10.1007/978-981-15-5580-0_21

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