Designing modern rehabilitation exoskeleton systems requires a comprehensive study
of human-machine interactions. In this process, creating kinematic and dynamic mathematical models
of the system is extremely important. In this paper, we develop mathematical models that describe
rehabilitation exoskeleton systems' kinematic and dynamic properties. Based on the DenavitHartenberg method we construct kinematic model of the exoskeleton system. The method gave us to
determine the coordinate system for each joint. Furthermore, we also study the motion range of joints
of the exoskeleton. Modeling the dynamic properties of the system performed with the second-order
Lagrange equation. The exoskeleton construction consisting of knee, thigh, ankle components and
anthropometric data dynamically model the movement of a person's leg. Control parameters, energy
indicators and motion trajectory also calculated using the Lagrange equation. The developed models
enable the selection of optimal drive and control strategies for each joint of the exoskeleton.
Identification of main parameters of system conducted on MatLAB software package using established
conditions. The obtained results can be applied to design and optimize the use of rehabilitation
exoskeletons.
Designing modern rehabilitation exoskeleton systems requires a comprehensive study
of human-machine interactions. In this process, creating kinematic and dynamic mathematical models
of the system is extremely important. In this paper, we develop mathematical models that describe
rehabilitation exoskeleton systems' kinematic and dynamic properties. Based on the DenavitHartenberg method we construct kinematic model of the exoskeleton system. The method gave us to
determine the coordinate system for each joint. Furthermore, we also study the motion range of joints
of the exoskeleton. Modeling the dynamic properties of the system performed with the second-order
Lagrange equation. The exoskeleton construction consisting of knee, thigh, ankle components and
anthropometric data dynamically model the movement of a person's leg. Control parameters, energy
indicators and motion trajectory also calculated using the Lagrange equation. The developed models
enable the selection of optimal drive and control strategies for each joint of the exoskeleton.
Identification of main parameters of system conducted on MatLAB software package using established
conditions. The obtained results can be applied to design and optimize the use of rehabilitation
exoskeletons.
| № | Author name | position | Name of organisation |
|---|---|---|---|
| 1 | TAKABAEV U.A. | PhD, | Andijan State Technical Institute |
| 2 | JURAEV Z.B. | teacher | Andijan State Technical Institute |
| № | Name of reference |
|---|---|
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