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Abstract

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 Denavit-Hartenberg 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.

First Page

49

Last Page

54

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