scholarly journals Load Lifting in the Exoskeleton with Gravity Compensation

2019 ◽  
Vol 23 (2) ◽  
pp. 8-17 ◽  
Author(s):  
S. F. Yatsun ◽  
V. M. Antipov ◽  
A. Ye. Karlov ◽  
M. Al Manji Hamil Hamed
Keyword(s):  
Mathematical Modeling ◽  
System Analysis ◽  
Sagittal Plane ◽  
Knee Joints ◽  
Energy Costs ◽  
Gravity Compensation ◽  
Human Capabilities ◽  
Electric Drives ◽  
Software Products ◽  
Planning And Design

Purpose of research. Currently, exoskeletons are getting widespread use. They enhance human capabilities in terms of ease of movement, carrying loads and different types of activities that require considerable effort. Especially effective are those exoskeletons that make it possible to make complex types of movement of both for the lower and upper limbs, which significantly expands the capabilities of a person when performing loading and unloading operations. Relatively recently, they have started the development of exoskeletons which use the elements of gravity compensation. Therfore, the study of energy costs in the process of load lifting and the study of gravitational compensators influence on the magnitude of moments made by the electric drives of the femoral and knee joints, is relevant and is revealed in this paper.Methods. Methods of system analysis, design of biotechnical systems, control theory, theory of mechanisms and machines, methods of mathematical modeling of dynamic systems, methods of optimal planning and design were used to solve the problems. Mathematical packages Matlab/Simulink were used to make software products.Results. The study shows that the use of gravity compensators can significantly reduce the load on electrodrives. The movement of load is due to the operation of engines located in the area of ankle, knee and thigh joints. Since the movement of the exoskeleton occurs in the sagittal plane during load lifting, the position of the exoskeleton links in space is determined by four independent parameters.Conclusion. The mathematical model of load lifting by a man in an exoskeleton has been developed. Mathematical modeling of the process of load lifting with the help of exoskeleton electric drives has been made. A special attention is paid to the study of gravitational compensators influence on the magnitude of moments created by the electric drives of femoral and knee joints. It shows that the use of gravity compensators can significantly reduce the load on electric drives. Also, the study of energy costs in the process of load lifting has been conducted.

About the Operator’s Gaits in the Passive Exoskeleton of the Lower Extremities when Using the Fixed Knee Mode

2020 ◽  
Vol 21 (1) ◽  
pp. 34-42
Author(s):  
E. K. Lavrovsky ◽  
E. V. Pismennaya
Keyword(s):  
Sagittal Plane ◽  
Lower Extremities ◽  
Gait Pattern ◽  
Point Load ◽  
Human Operator ◽  
Knee Joints ◽  
Energy Costs ◽  
Locked Knee ◽  
Passive Exoskeleton ◽  
Additional Point

A dynamic model of motion in the sagittal plane of the passive exoskeleton of the lower extremities, integrated with a similar model of a human operator that determines the movement of the whole structure, is considered. The exoskeleton is designed to help the operator to move additional point load, placed in the "backpack" on the back. The design of the exoskeleton does not have active propulsive elements in the joints; it is endowed with only a semi-automatic system for locking or releasing the knee joints at certain stages of movement, which, however, affect the overall gait pattern. The energy costs and peak values of the control torques that the human operator applies in the process of moving the exoskeleton on certain types of regular, flat, single-support walkings are studied. The results obtained allow us to estimate the effectiveness of the mode of locking-releasing the knee joint used by such devices. Both cases of impact-free transitions to the locked knee mode and transitions accompanied by the occurrence of shock effects in a dynamic system were investigated. In mathematical modeling, the mass inertial characteristics of the human body were taken into account in accordance with the data adopted in anthropology.

Industrial Exoskeletons With Gravity Compensation Elements

2021 ◽  
pp. 198-216
Author(s):  
Sergey Fedorovich Jatsun ◽  
Andrey Yatsun
Keyword(s):  
Mathematical Model ◽  
Energy Consumption ◽  
Elastic Element ◽  
Knee Joints ◽  
Gravity Compensation ◽  
Electric Drives ◽  
Compensation Systems ◽  
Gravity Compensator ◽  
Prototype Design

The chapter approaches the issues of modeling the process of load lifting by a person while wearing an exoskeleton. The classification of existing gravitational compensation systems for industrial exoskeletons is shown, as well as examples of its use. A mathematical model of lifting a person's load in the exoskeleton is presented, as well as numerical parameters are calculated. It is shown that the introduction of an elastic element reduces the level of energy consumption during work, and can also facilitate the level of the worker. Industrial exoskeleton prototype design is presented. A particular focus is given to studying the influence of the gravity compensator on the magnitude of the moments generated by the electric drives of the hip and knee joints. It is shown that the use of gravity compensators enables to reduce significantly the load on electric drives.

Industrial Exoskeletons With Gravity Compensation Elements

2020 ◽  
pp. 28-51
Author(s):  
Sergey Fedorovich Jatsun ◽  
Andrey Yatsun
Keyword(s):  
Mathematical Model ◽  
Energy Consumption ◽  
Elastic Element ◽  
Knee Joints ◽  
Gravity Compensation ◽  
Electric Drives ◽  
Compensation Systems ◽  
Gravity Compensator ◽  
Prototype Design

The chapter approaches the issues of modeling the process of load lifting by a person while wearing an exoskeleton. The classification of existing gravitational compensation systems for industrial exoskeletons is shown, as well as examples of its use. A mathematical model of lifting a person's load in the exoskeleton is presented, as well as numerical parameters are calculated. It is shown that the introduction of an elastic element reduces the level of energy consumption during work, and can also facilitate the level of the worker. Industrial exoskeleton prototype design is presented. A particular focus is given to studying the influence of the gravity compensator on the magnitude of the moments generated by the electric drives of the hip and knee joints. It is shown that the use of gravity compensators enables to reduce significantly the load on electric drives.

scholarly journals The system analysis and mathematical modeling road accidents in the metropolis

2019 ◽  
pp. 4-8
Author(s):  
A. G. Davidovsky ◽  
A. M. Linnik
Keyword(s):  
Mathematical Modeling ◽  
Traffic Safety ◽  
System Analysis ◽  
Safety Management ◽  
Road Traffic ◽  
Time Of Day ◽  
Road Accidents ◽  
Traffic Incidents ◽  
Day Of The Week ◽  
Pedestrian Collisions

The article presents the results of correlation analysis of the causes of road accidents in such a modern metropolis as Minsk. Has been identified the most frequent causes of road accidents, including pedestrian collisions caused by drivers, collisions at intersections, incidents at controlled and unregulated pedestrian crossings, as well as on the roadway. The dependence of transport incidents on the time of day, day of the week and month of the year was investigated. Shows the periods when road traffic incidents occur from 3.00 to 6.00 h, from 15.00 to 18.00 and from 21.00 to 24.00 on Monday, Friday and Sunday in January, March, June, September, October and November. Methods of correlation and multiple regression analysis can be the basis of preventive traffic safety management in a modern metropolis.

A New Lower Extremity Modeling of Human Body With Variable Feet Links

2000 ◽  
Author(s):  
Nader Arafati ◽  
Jean Yves Lazennec ◽  
Roger Ohayon
Keyword(s):  
Ground Reaction Force ◽  
Sagittal Plane ◽  
Reaction Force ◽  
Human Movement ◽  
Knee Joints ◽  
Foot Pressure ◽  
Ankle Joints ◽  
Reaction Forces ◽  
Human Movement Modeling ◽  
Force Vectors

Abstract Human movement modeling has been the object of much research for the past 30 years. In these models the position of foot link was fixed on the ground. We propose to model the feet links as variable, since the position of foot pressure center changes from heel to toes. The ground reaction forces could also be analyzed in real time. We examined this model for some static postures. In standing anatomical position, the maximum articular forces are localized in hip and knee joints. In sagittal plane, the ground reaction force vectors are positioned nearly under ankle joints. The pathological postures like body with pes cavus or with global spine kyphosis increase the articular and muscular forces. In these cases, the position of ground reaction force vectors is moved toward the toes.

System analysis of the assessment of the influence of multiplicative interference on the Conditions signal resolutions based on statistical criteria using mathematical modeling

2020 ◽  
pp. 82-95
Author(s):  
В.И. Воловач
Keyword(s):  
Mathematical Modeling ◽  
Frequency Shift ◽  
Delay Time ◽  
System Analysis ◽  
Statistical Characteristics ◽  
Statistical Criterion ◽  
Multiplicative Interference ◽  
Statistical Criteria

Проведен системный анализ влияния мультипликативных помех на условия разрешения сигналов на основе статистического критерия с помощью математического моделирования. Показано, что интервалы разрешения по времени запаздывания и частотному сдвигу при известных статистических характеристиках сигналов, аддитивных и мультипликативных помех однозначно определяются вероятностями правильного и ложного разрешения. A system analysis of the influence of multiplicative interference on the signal resolution conditions based on a statistical criterion using mathematical modeling is performed. It is shown that the resolution intervals for delay time and frequency shift with known statistical characteristics of signals, additive and multiplicative interference are uniquely determined by the probabilities of correct and false resolution.

scholarly journals Information Technologies in Education: Forming the Competences of the Future

2018 ◽  
Vol 7 (4.7) ◽  
pp. 276 ◽  
Author(s):  
Sergey A. Averin ◽  
Evgenii A. Alisov ◽  
Natalia S. Murodhodjaeva ◽  
Igor A. Noskov ◽  
Olga V. Tsaplina ◽  
...  
Keyword(s):  
Information Technologies ◽  
System Analysis ◽  
Effective Means ◽  
Preschool Education ◽  
Preschool Age ◽  
Analysis Method ◽  
Educational Module ◽  
Software Products ◽  
The Creation ◽  
Imaginative Thinking

Specialists in the field of programming create a huge flow of software, which is mainly aimed at attracting children to specific software products that have a developing effect, rather, as a side effect. The developing effect is not diagnosed in such programs, but it is often declared by the developers. Scientific and methodological response of the pedagogical community to information challenges in the field of preschool education was the creation of the methodology of author's children's animation and the corresponding educational module. In the article two important competences of preschool children are considered, which are basic in relation to many other competences formed at an older age: developed imaginative thinking and developed research abilities. The development of these competences projects as a methodical waymark for the technical development of the methodology of author's children's animation.Thereby, the purpose of the article is to justify the creation of methods for author's children's animation that determines the development of imaginative  thinking and research abilities of preschool-age children, taking into account the requirements of the modern information society.To achieve this goal, the following methods were used: content analysis; method of contrastive-comparative analysis of scientific and methodical materials; method of system analysis; method of mathematical and statistical data processing; expert appraisement, generalization of research results.Based on the results of the study, the theoretical foundations of the preschool-age child's competence were determined, a pilot study of the development of preschoolers' competencies, the development and introduction of the educational module "Multstudio I CREATE THE WORLD" into the practice of pre-school pedagogy as a potentially effective means of developing imaginative thinking and research abilities of children, development of recommendations for software providing multstudios in kindergarten. 

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