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Modeling Quasi-static Gait of a Person Wearing Lower Limb Exoskeleton

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Proceedings of the 4th International Conference on Industrial Engineering (ICIE 2018)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

The paper presents the results of lower limb assistive exoskeleton walking modeling. The authors consider a new spatial model of human motion in an exoskeleton with 10 electric drives, which allows providing a stable walk with no crutches needed. The kinematics of quasi-static gait in frontal and sagittal plane is discussed taking into account the condition for stability of motion. Various types of trajectories of motion of the foot and a numerical simulation of the gait of the exoskeleton are presented. The trajectories of the center of mass of the walking exoskeleton with time function of each joint angle could be used to design a control system of a walking robot. The obtained results are employable to synthesize a digital control system for walking robots and exoskeletons.

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Acknowledgements

This research was carried out with the support of the Presidential Grant for Young Scientist MК-2701.2017.8.

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Authors and Affiliations

  1. Robotics Laboratory, South-West State University, 94, 50 let Oktyabrya, Kursk, 305040, Russia

    A. Yatsun

  2. Mechanical Engineering Research Institute of the Russian Academy of Sciences, 4, M. Kharitonyevskiy Per., Moscow, 101990, Russia

    S. Jatsun

Authors
  1. A. Yatsun
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  2. S. Jatsun
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Corresponding author

Correspondence to A. Yatsun .

Editor information

Editors and Affiliations

  1. South Ural State University, Chelyabinsk, Russia

    Andrey A. Radionov

  2. Platov South-Russian State Polytechnic University, Novocherkassk, Russia

    Oleg A. Kravchenko

  3. South Ural State University, Chelyabinsk, Russia

    Victor I. Guzeev

  4. South Ural State University, Chelyabinsk, Russia

    Yurij V. Rozhdestvenskiy

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Yatsun, A., Jatsun, S. (2019). Modeling Quasi-static Gait of a Person Wearing Lower Limb Exoskeleton. In: Radionov, A., Kravchenko, O., Guzeev, V., Rozhdestvenskiy, Y. (eds) Proceedings of the 4th International Conference on Industrial Engineering. ICIE 2018. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-95630-5_59

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  • DOI: https://doi.org/10.1007/978-3-319-95630-5_59

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95629-9

  • Online ISBN: 978-3-319-95630-5

  • eBook Packages: EngineeringEngineering (R0)

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