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

Autores: Panovko G.Y.¹, Savin S.I.², Yatsun S.F.², Yatsun A.S.²
Afiliações:
1. Blagonravov Institute of Machine Science
2. Southwest State University
Edição: Volume 45, Nº 3 (2016)
Páginas: 206-210
Seção: 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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Resumo

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.