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Simulation of exoskeleton sit-to-stand movement

  • Mechanics of Machines
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Abstract

Problems of simulating the processes of exoskeleton sit-to-stand movement are considered. A mathematical model of the device is described. The diagram of an automatic control system is proposed, based on the ZMP method. The results of the mathematical simulating are given. It is shown that the proposed control system makes verticalization possible without falling from a wide range of initial conditions.

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Author information

Authors and Affiliations

  1. Blagonravov Institute of Machine Science, Moscow, Russia

    G. Ya. Panovko

  2. Southwest State University, Kursk, Russia

    S. I. Savin, S. F. Yatsun & A. S. Yatsun

Authors
  1. G. Ya. Panovko
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  2. S. I. Savin
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  3. S. F. Yatsun
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  4. A. S. Yatsun
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Corresponding author

Correspondence to G. Ya. Panovko.

Additional information

Original Russian Text © G.Ya. Panovko, S.I. Savin, S.F. Yatsun, A.S. Yatsun, 2016, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2016, No. 3, pp. 19–24.

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Panovko, G.Y., Savin, S.I., Yatsun, S.F. et al. Simulation of exoskeleton sit-to-stand movement. J. Mach. Manuf. Reliab. 45, 206–210 (2016). https://doi.org/10.3103/S1052618816030110

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  • DOI: https://doi.org/10.3103/S1052618816030110

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