I.A. Orlov
PhD in Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Programmer, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(965)433-87-36, This email address is being protected from spambots. You need JavaScript enabled to view it.
A.P. Aliseychik
PhD in Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Programmer, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(909)646-92-64, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.E. Pavlovsky
Doctor of Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Professor, Leading Research Scientist, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(495)250-79-27, This email address is being protected from spambots. You need JavaScript enabled to view it.
A.K. Platonov
Doctor of Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Professor, Leading Research Scientist, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(910)439-02-50, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.S. Zamkovoy
Lomonosov Moscow State University, Student, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(968)945-75-52, This email address is being protected from spambots. You need JavaScript enabled to view it.
A.V. Podoprosvetov
Lomonosov Moscow State University, Student, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(915)345-91-88, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The paper considers a two-legged model of lower limb exoskeleton with hybrid pneumatically assisted electric drive. The main objective of the work – the study of dynamics and the motion laws of control system, realizing human stepping patterns. This research is supported by the Russian Foundation for Basic Research. The work describes the stage of research grant № 13-01-12037-ofi_m RFBR «Improvement and experimental study of a biomechatronic training complex for research and medical tasks of motor rehabilitation».
Key words
Exoskeleton dynamic model, bionic simulator complex, inverse kinematics, walking machines motion control, anthropomorphic device.
Year 2015 Issue number 3 Consecutive issue number 8 Pages 16-21
UDC identifier: 007.51:621.542-5
