Abstract
Improving efficiency and productivity is an important factor in the development of robotic devices that can solve many human problems. Complex and monotonous actions that require precision and accuracy when moving large objects or performing technological processes can be carried out by redistributing part of the load on the robotic system. An example of such a system is an exoskeleton device. Active exoskeletons are referred to robotic human-machine systems. The interaction of operator and exoskeleton determines the quality of the functioning of such systems.
Practical purpose of research and development of active exoskeleton device for the human limbs is the reallocation of labor-intensive, monotonous activities on mechatronic system of exoskeleton.
This paper discusses the dynamic model of interaction between exoskeleton system and operator.
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Acknowledgments
This study was partly supported by FASO Russia (Project No. AAAA-A17-117021310384-9).
This study was partly supported by the Program №.29 “Advanced Topics of Robotic Systems” (Project No. AAAA-A17-117121120021-9) of the Presidium of the Russian Academy of Sciences.
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Gradetsky, V., Ermolov, I., Knyazkov, M., Semenov, E., Sukhanov, A. (2018). The Dynamic Model of Operator-Exoskeleton Interaction. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2018. Lecture Notes in Computer Science(), vol 11097. Springer, Cham. https://doi.org/10.1007/978-3-319-99582-3_6
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DOI: https://doi.org/10.1007/978-3-319-99582-3_6
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