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KIAM Preprint  37, Moscow, 2021
Authors: Chumichev M.A., Martianov D.M., Aliseychik A.P., Gribkov D.A., Podoprosvetov A.V., Orlov I.A.
Motion control methods of the pneumatic artificial muscle and upper body exoskeleton based on it
Abstract:
This article presents the synthesis of the control strategy for an active drive. The authors considers an upper body exoskeleton for lessening the strain on shoulder joint muscles, which happens during any long-range operation with hands above ones head or at a breast height. At the first the optimal control problem for a pneumatic artificial muscle is solved in order to provide the traction force function, which is given in advance, taking into account given mechanical limits. At the second stage stage the optimal control problem for raising the weight from area A to area B, using the impulse control structure, is posed. This research provides analysis and capacities to the optimal trajectory control process for the exoskeleton to reduce thr total energy consumption both inclusing the operator force effect and without it.
Keywords:
exoskeleton, motion control, quality functional, optimal control, boundary value problem, pneumatic artificial muscle
Publication language: russian,  pages: 24
Research direction:
Theoretical and applied problems of mechanics
Russian source text:
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About authors:
  • Chumichev Mikhail Alekseevich,  orcid.org/0000-0001-6551-1598,  Lomonosov Moscow State University
  • Martianov Dmitrii Mikhailovich,  orcid.org/0000-0002-0252-3337,  Lomonosov Moscow State University
  • Aliseychik Anton Pavlovich,  orcid.org/0000-0002-1756-5396KIAM RAS
  • Gribkov Dmitry Aleksandrovich,  orcid.org/0000-0001-7304-9487KIAM RAS
  • Podoprosvetov Aleksei Valerievich,  orcid.org/0000-0002-3608-7895KIAM RAS
  • Orlov Igor Aleksandrovich,  orcid.org/0000-0002-5634-9426KIAM RAS