Displacement energy of the two variable-length element biomechanical exoskeleton supporting leg
- International Journal of Biosensors & Bioelectronics
Blinov AO,1 Borisov AV2
The article discusses a spatial model of two links of variable length of an active biomedical exoskeleton that simulate a supporting leg. Each hinge has drives that provide the necessary turns with the relative rotational movement of the links. The difference between the proposed model and those previously studied is the use of the angles between the links, which corresponds to the real operation of the drives. The paths of the links are set kinematically. The control forces are determined in the model from the compiled system of differential equations of motion. The calculation of energy consumption during the single-support phase of movement for one step is carried out. The application of the proposed model in the form of two links of variable length of the active biomedical exoskeleton can be found when selecting a battery for the autonomous operation of the biomedical exoskeleton.
active biomedical exoskeleton, link of variable length, angles between links, differential equations of motion, control, force, moment of force, drive