Simulation of exoskeleton sit-to-stand movement

G. Ya. Panovko; S. I. Savin; S. F. Yatsun; A. S. Yatsun

doi:10.3103/S1052618816030110

Simulation of exoskeleton sit-to-stand movement

Authors: Panovko G.Y.¹, Savin S.I.², Yatsun S.F.², Yatsun A.S.²
Affiliations:
1. Blagonravov Institute of Machine Science
2. Southwest State University
Issue: Vol 45, No 3 (2016)
Pages: 206-210
Section: Mechanics of Machines
URL: https://journals.rcsi.science/1052-6188/article/view/192731
DOI: https://doi.org/10.3103/S1052618816030110
ID: 192731

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Abstract

Problems of simulating the processes of exoskeleton sit-to-stand movement are considered. A mathematical model of the device is described. The diagram of an automatic control system is proposed, based on the ZMP method. The results of the mathematical simulating are given. It is shown that the proposed control system makes verticalization possible without falling from a wide range of initial conditions.