Simulation of Exoskeleton Sit-To-Stand Movement

被引：5
|
作者：
Panovko, G. Ya. [1 ]
Savin, S. I. [2 ]
Yatsun, S. F. [2 ]
Yatsun, A. S. [2 ]
机构：
[1] Blagonravov Inst Machine Sci, Moscow, Russia
[2] Southwest State Univ, Kursk, Russia
来源：
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY | 2016年 / 45卷 / 03期
基金：
俄罗斯科学基金会;
关键词：
D O I：
10.3103/S1052618816030110
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：206 / 210
页数：5
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