Abstract
The paper considers the urgent problem of human-machine interaction organizing when controlling the of industrial assistive exoskeleton suit links movement. A method that implements device’s drives copy control, which ensures the operator and the exoskeleton movement synchronization is proposed. This method allows transfer the load from operator to exoskeleton mechanical frame, thereby facilitating the industrial workers manual labor. The article describes the human-machine interaction mathematical model and the results of the described system dynamics numerical modeling. The analysis of stiffness of the elastic suspension and controller coefficients influence of the on the assisting device control quality is carried out, and is made on the basis of complex criteria that take into account both positioning accuracy and device usage comfort.
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Acknowledgments
The work was supported by RFBR, research project № 19-08-00440, Andrei Malchikov was supported by the President grant, project MK-780.2020.8.
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Jatsun, S., Malchikov, A., Loktionova, O., Yatsun, A. (2020). Modeling of Human-Machine Interaction in an Industrial Exoskeleton Control System. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2020. Lecture Notes in Computer Science(), vol 12336. Springer, Cham. https://doi.org/10.1007/978-3-030-60337-3_12
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DOI: https://doi.org/10.1007/978-3-030-60337-3_12
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