title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð½Ð¾Ð²Ð¾Ð³Ð¾ Ð±Ð¸Ð¾Ð½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð° Ð°ÐºÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ ÑÐºÐ·Ð¾ÑÐºÐµÐ»ÐµÑÐ° Ð½Ð¸Ð¶Ð½Ð¸Ñ ÐºÐ¾Ð½ÐµÑÐ½Ð¾ÑÑÐµÐ¹
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a new bionic principle of active exoskeleton of the lower limb
Creators: name: ÐÐ°ÑÑÐ½ÐºÐ¸Ð½, ÐÐ²Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÑÐºÐ·Ð¾ÑÐºÐµÐ»ÐµÑ
Ð±Ð¸Ð¾Ð¼ÐµÑ Ð°Ð½Ð¸ÐºÐ°
Ð¼Ð¸Ð¾Ð³ÑÐ°ÑÐ¸Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
ÐºÑÐ¸ÑÐµÑÐ¸Ð¹ ÐºÐ°ÑÐµÑÑÐ²Ð°
exoskeleton
biomechanics
myography
systems of control
quality criterion

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description: This work discusses the mechanical and bionic processes of human walking to create a theoretical basis for constructing an active exoskeleton of the lower extremities. A description of the design of the exoskeleton prototype is given and a general design scheme of the system is given, which is a person integrated with the exoskeleton. Based on observations of human walking, a number of insignificant degrees of freedom are discarded and a simplified calculation scheme is compiled that takes into account only three main degrees of freedom. Using the Lagrange equations of the second kind, the equations of motion of the system are constructed, taking into account the control moments of the drives in the articulations. In addition, a description of the main electrical components of the system is given: a microcontroller, electric drives and their control boards, a battery, angle sensors and bionic sensors. It also provides an overview of the main human pelvic and femoral muscle groups and discusses their work during flexion and extension of the joints. A description of the operation of myographic sensors and an algorithm for processing signals is given, and the case of simultaneous operation of antagonist muscles is also considered. An error minimization algorithm is compiled, which serves as the main idea of device control. Criterion for the quality of the control algorithm is introduced, which is based on the bionic features of the work of the human musculature. In addition, screenshots of the software and information software required to display sensor data on the screen, as well as to draw the exoskeleton configuration in real time in the form of a simplified 3D model, are provided. In conclusion, conclusions are drawn on the work done, and ideas are given regarding the modernization of the mechanical, electrical and computing systems of the exoskeleton.