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Climbing and Walking Robots Conference

CLAWAR 2022: Robotics in Natural Settings pp 584–593Cite as

Comparative Analysis of Walking in the Lower Limbs’ Exoskeleton with Various Strategies for Constructing the Ankle Joint’ Trajectories

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Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

Abstract

The paper explores various approaches to obtaining the trajectories of the ankle joint’ movements of a exoskeleton walking machine. One of the options for setting the movement of the exoskeleton foot is the use of piecewise polynomial laws that provides a shockless cyclic mode of movement of the links during walking. The second option considered in the work is the use of natural movement characteristics obtained during the analysis of walking videos with subsequent approximation of the results by an artificial neural network. As part of the work, a mathematical model is proposed that allows a comparative analysis of the characteristics of the controlled movement of the executive links with different strategies for setting the trajectory of the movement of the ankle joint of the exoskeleton. The article shows the assessment of the positioning error during the development of trajectories, as well as an assessment of the energy efficiency of the methods and an assessment of their applicability in real rehabilitation devices.

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References

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Acknowledgments

The work was supported by RSF, research project No. 22-21-00464.

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Authors and Affiliations

  1. Southwest State University, Kursk, 305040, Russia

    Sergey Jatsun, Andrei Malchikov, Andrey Yatsun & Andres Santiago Martinez Leon

Authors
  1. Sergey Jatsun
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  2. Andrei Malchikov
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  3. Andrey Yatsun
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  4. Andres Santiago Martinez Leon
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Corresponding author

Correspondence to Andrei Malchikov .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Jatsun, S., Malchikov, A., Yatsun, A., Martinez Leon, A.S. (2023). Comparative Analysis of Walking in the Lower Limbs’ Exoskeleton with Various Strategies for Constructing the Ankle Joint’ Trajectories. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_53

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