Exoskeleton Dynamics Simulation with the System of Three Variable-Length Links of Adjustable Stiffness

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Abstract

The article proposes a spatial model of an exoskeleton for the human musculoskeletal system, represented by three movable links of variable length and two-point masses. The stiffness of the links is controlled by changing the voltage supplied to the magnetic rheological fluid, which fills sections of variable length. The model can be used to develop comfortable exoskeletons, the kinematic characteristics of which are close to the kinematic characteristics of the human musculoskeletal system. The model dynamics equations are constructed using local coordinate systems.

The required laws of change of generalized coordinates are specified by the equations of program connections that determine the dependence of differentiable periodic functions on time. Control moments and longitudinal forces are determined by methods of solving inverse dynamics problems and are realized by changing the magnetic field strengths, which affect the change in the stiffness of the magnetic-rheological fluid. The magnetic field strengths that control the stiffness of the link are implemented by step functions. An animation of the movement of the mechanism has been synthesized, showing the adequacy of the proposed modeling procedure. The connections of the links are modeled by joints and motors that implement the necessary rotational motion. The dynamics of the model is controlled by changing the lengths of the links and the angles between the links.

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About the authors

A. O. Blinov

Smolensk Branch, Moscow Power Engineering Institute

Author for correspondence.
Email: alex-blinov67@yandex.ru
Russian Federation, Smolensk, 214013

A. V. Borisov

Smolensk Branch, Moscow Power Engineering Institute

Email: borisowandrej@yandex.ru
Russian Federation, Smolensk, 214013

R. G. Mukharlyamov

People’s Friendship University of Russia (RUDN)

Email: robgar@mail.ru
Russian Federation, Moscow, 117198

M. A. Novikova

Smolensk Branch, Moscow Power Engineering Institute

Email: mar.novikova@ro.ru
Russian Federation, Smolensk, 214013

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Supplementary files

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2. Fig. 1. Spatial model of three links of an exoskeleton of variable length with adjustable stiffness (the state with an applied external magnetic field is shown when magnetic particles are oriented along the field lines).

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3. Fig. 2. Dependencies of generalized coordinates set by formulas (4.1)–(4.9) on time.

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4. Fig. 3. The dependence of generalized velocities on time.

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5. Fig. 4. Time dependence of generalized accelerations.

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6. Fig. 5. The dependence of the control moments in the joints of the exoskeleton on time.

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7. Fig. 6. The dependence of the control longitudinal forces in the links of the exoskeleton on time.

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8. Fig. 7. Dependence of the control stiffness of the external magnetic field strength link.

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9. Fig. 8. Animation frames of the movement of the mechanism.

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