Abstract
In this paper a full body assistive exoskeleton is considered. A mathematical model for the case of the frontal plane motion is given. The paper focuses on the question of push recovery, considering two different cases: when the exoskeleton is pushed as a result of an interaction with another moving object and the case when the exoskeleton stands on a platform that rapidly changes its speed. A push recovery algorithm is proposed that allows the exoskeleton to regain vertical balance by taking one step. The algorithm was tested via numerical simulation; the results are shown and analysed in the paper. The results of the simulation demonstrated the similarity of the exoskeleton motion to that of a human.
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The work is supported by RSF, Project â„– 14-39-00008.
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Jatsun, S., Savin, S., Yatsun, A. (2017). Motion Control Algorithm for Exoskeleton Push Recovery in the Frontal Plane. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_51
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DOI: https://doi.org/10.1007/978-3-319-49058-8_51
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