Paper
Twelve-Link Exoskeleton with Biological Endoskeleton Properties
- Authors:
- A.V. Borisov; L.V. Konchina; A.V. Chigarev
- Abstract
- A model of a novel twelve-link exoskeleton, which allowed body torsion in space, was proposed. The equations of motion in regards to deformability of the exoskeleton links, i.e. biological properties of the endoskeleton, were composed based on theoretical mechanics. A matrix form of the differential equations of motion was used. Generalizations for the matrix elements were also obtained for the first time. The obtained results allowed for an approximation of exoskeletal motions in regards to the endoskeleton, and calculations of separate links as well as of the whole system were carried out, which had a practical value for approximating exoskeletal motions to human bodies.
- Keywords
- Matrix; Nonlinear Differential Equations; A Single-Support Phase; A Human Locomotorium; Exoskeleton; Endoskeleton
- StartPage
- 23
- EndPage
- 37
- Doi