Modeling the Dynamics of an Exoskeleton with Control Torques in the Joints and a Variable Length of the Links Using the Recurrent Method for Constructing Differential Equations of Motion

Abstract

The process of modeling the dynamics of an exoskeleton is considered (from a description of the model and the formulation of differential equations of motion to numerical calculations with the given control torques). For the first time, a new recurrent method for constructing the differential equations of motion of an exoskeleton that makes it possible to reduce labor and time costs is proposed and described. A comparison with well-known methods is carried out. The novelty of the approach is to take into account the variation in the lengths of the links of the exoskeleton. The problem of determining the control torques is solved experimentally. The urgency of the research lies in the possibility of restoring the motor functions of a person using an exoskeleton based on an empirical solution of the inverse problem of dynamics. The problem of determining the angles of rotation, angular velocities, angular accelerations of the links, and coordinates of the center of mass of the exoskeleton with a given control is solved. Only the plane motion is considered.