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Файл:The design of the exoskeleton. Monograph
.pdf
О.V. Malyuga
The design of the exoskeleton
Monograph
Saratov
2019
UDC 62
BBK 32.81
Recommended for publication by the Department of Economics and
management of the Moscow University of Finance and law (Protocol No. 4
of 22.11.2018).
Reviewers:
Reshetnikova Irina Ilyinichna-doctor of Economics, Professor,
Department of strategic planning, management and forecasting, Moscow
University of Finance and law.
Sergey Gusev-doctor of Economics, Professor, Department of
Economics and management, Moscow University of Finance and law.
Malyuga, O. V.
The design of the exoskeleton: monograph / О.V. Malyuga. –
Saratov: IPR-media, 2019. 180 p.
ISBN 978-5-4497-0117-6
Standard methods of drug treatment are aimed at restoring adirect connection
between the brain and the muscles of the limbs. However, there is not a single drug
that is able to restore feedback. In this case, the official medicine refers to
physiotherapeutic methods of treatment and physiotherapy exercises, which patients
receive in short courses, practically unable to use them at home, with the exception of
active, but more often passive, exercises that require outside help. This type of
treatment should be available to patients every day, is low in production, simple and
easy to use, which plays a key role in the adaptation of children with disabilities and
allows them to become full members of society and take an active part in all aspects of
social life. The solution of this problem in many respects becomes possible due to the
innovative direction of bioengineering - the design and implementation of the
exoskeleton of the upper limb.
Published in the author's edition.
ISBN 978-5-4497-0117-6
© О.V. Malyuga, 2019
© IPR-media, 2019
Contents
INTRODUCTION .................................................................................................. 6
1. INFORMATIONAL-ANALYTICAL REVIEW ....................................................... 7
1.1. Exoskeleton: a historical perspective .................................................... 7
1.2. Overview of existing structures in the world ...................................... 20
1.3. Current trends : areas of development and problems that arise .... 24
1.4. The main provisions of the biomechanics of the walk ...................... 30
1.5. Exoskeleton control structure .............................................................. 33
Summary ........................................................................................................ 38
2. ACTUATORS OF THE EXOSKELETON .......................................................... 39
2.1. Mechanical design of the five-stage exoskeleton .............................. 39
2.1.1. Subject and methods of research .................................................. 39
2.1.2. Мodeling Methods and motion study of the dynamics of the
exoskeleton suffrage .................................................................................. 41
2.1.3. Equation of motion and dynamic characteristics ........................ 41
2.2. Mathematical model of the actuator of the exoskeleton ................. 44
2.3. Formation of the General model of the exoskeleton ........................ 48
2.3.1. Features of mechanics and electric drives of the exoskeleton
robot ............................................................................................................. 48
2.3.2. Building a common model .............................................................. 50
Summary ........................................................................................................ 51
3. THE FORMATION AND DEFINING OF REQUIREMENTS ............................ 52
3.1. Determination of the required operating parameters and limitations
of the exoskeleton ......................................................................................... 52
3.2. Formation of requirements for the operating parameters of the
joints ............................................................................................................... 53
3.2.1. The angles of rotation ...................................................................... 53
3.2.2. Torque ............................................................................................... 54
3.2.3. The performance of movements ................................................... 55
3.2.4. Supply system ................................................................................... 55
Summary ........................................................................................................ 58
4. SELECTION DESIGN OF IMPLEMENTATION OF THE GIVEN FUNCTIONS 59
4.1. Methods of transmission of torques in swivel joints ........................ 59
4.2. Selection of components ...................................................................... 60
4.2.1. Electromotors ................................................................................... 60
4.2.2. Methods of control and their implementation ............................. 62
4.2.3. Development of control systems ................................................... 66
4.2.4. Stepper motor. Features of stepper motors ................................ 67
4.3. Noise and its elimination on the example of the car ........................ 70
4.3.1. Sound source .................................................................................... 70
4.3.2. Materials for desiccation ................................................................. 71
4.3.3. Selection of materials ...................................................................... 72
4.3.4. Cable .................................................................................................. 72
4.3.5. Couplings ........................................................................................... 73
Summary ........................................................................................................ 75
5. SIMULATION OF THE MOTION OF BIPEDAL EXOSKELETON WITH FIVE
AXES .................................................................................................................... 76
5.1. Control of the electric drive of the exoskeleton based on a high-
torque motor with permanent magnets .................................................... 76
5.2. Computer simulation of five-stage exoskeleton motion .................. 86
Summary ........................................................................................................ 94
6. PROJECT IMPLEMENTATION ........................................................................ 95
6.1. Designed modules. Travel units ........................................................... 95
6.2. Designed hinges ..................................................................................... 97
6.2.1. Pelvis: ................................................................................................. 97
6.2.2. Knee ................................................................................................... 98
6.2.3. Foot .................................................................................................... 99
6.2.4. Joint rotation of the foot relative to the axis of the tibia ........... 100
6.2.5. Frame ............................................................................................... 100
6.2.6. Parts testing .................................................................................... 100
6.2.7. Hip .................................................................................................... 101
6.2.8. Litka. Design of components ........................................................ 103
Summary ...................................................................................................... 107
7. SPECIAL SECURITY ISSUES ......................................................................... 109
7.1. International standard ISO 13482:2014 ............................................ 109
7.2. Hazards to the operator of the exoskeleton .................................... 113
Summary ...................................................................................................... 115
CONCLUSION .................................................................................................. 117
REFERENCES .................................................................................................... 118
THE LISTING OF THE PROGRAM (FULL CODE) ............................................. 123
6
INTRODUCTION
To date, there is an acute shortage of scientific and technical
developments in the field, as the analysis of the dynamics of complex
movements of the exoskeleton (such as walking), and in the construction
of control systems for active exoskeletons, taking into account the features
of modern gearless electric drives.
The aim of the work is to create a model of high detail active
exoskeletons equipped with high-torque electric drives.
Achieving this goal involves several tasks:
1. Analysis of the basic requirements for exoskeletons;
2. The choice of mathematical apparatus for constructing a model
of the dynamics of the exoskeleton;
3. Construction of a mathematical model of the dynamics of a fivestage exoskeleton, taking into account the interconnection of the dynamics
of the links and the dependence of the electrical parameters of the electric
drive on the coordinates of the mechanical structure, and its
implementation by means of Matlab;
4. Computer study of the dynamics of the exoskeleton motion
using the constructed model;
Checking the efficiency of the exoskeleton electric drive control.
7
1. INFORMATIONAL-ANALYTICAL REVIEW
1.1. Exoskeleton: a historical perspective
Exoskeleton [1] (from Greek. έξω-external and σκελετος - skeleton) - a
device designed to increase human strength due to the external frame. The
exoskeleton follows the biomechanics of human rights to a proportional
increase in effort during the movements. There should be sensors that
monitor the state of the human body, the movement of his legs, arms,
muscles (and in the future, perhaps his thoughts). That is, from the point
of view of implementation, it is a mechanical skeleton with a system of limb
drives and a computer program that works on the basis of a mathematical
model of the movement of the human body, which on the basis of data
from sensors controls all this exoskeleton.
Exoskeleton [1] ‒ the external type of skeleton is typical for most
invertebrates, in which it is presented in the form of shells (many protozoa,
mollusks) or cuticles (chitinous shell of arthropods) in some invertebrates.
Before arthropods include insects, crustaceans, arachnids and millipedes,
and this group can be considered the most prosperous group of living
organisms. The number of arthropod species exceeds the number of
species of all other animals combined.
Based on these data, we can conclude: the exoskeleton was invented
by Nature. He invented and uses it very actively in his works. And man, at
some point decided, based on his intelligence, to follow the path of nature,
also creating an exoskeleton for himself. Such a device, in addition to
increasing the possibilities of a healthy person, can help patients with
disorders of the musculoskeletal system, on which even the leading
companies of the world are working.
Science and technology [3] is, without exaggeration, the most intense
race of human ingenuity and nature. Throughout its history, people are
trying to remake the world around them for their needs. Where she could,
often not without harm to the environment. Somewhere you have to peek
8
at her. And if most invertebrates in one form or another have an external
skeleton, a person does not. But no wings?
Nowadays, the term "exoskeleton" refers to a mechanical suit or part
of it up to 2-2.5 meters high.
Like so much else in our lives, exoskeletons are gradually crossing the
line between bold dreams and everyday life. Being at first just ideas,
concepts, myths and legends of science fiction, today almost every week
there are new versions of this creation.
The first inventor of the exoskeleton is the Russian "mechanical
engineer" Nikolai ferdinandovich Yagn, who in the 1890s registered a
number of patents on this topic. He lived in America, where, in fact, he
patented his miracles, showed them at exhibitions, and after returning to
his native land again invented. His exoskeleton was supposed to facilitate
walking, running and jumping in the first place, soldiers. Even then, the
Russian genius foresaw the potential military power of such devices.
We will not deny, gigantic and immense contribution to the
development of exoskeletons made fiction. In 1959, after a high-profile
novel by Robert Heinlein's "Starship troopers" it became clear that the
external frame suits − the future of military action and not only.
The first attempt to create an exoskeleton design was made in the
1960s. Created by "General electric" together with the us Department of
defense prototype "Hardiman" had its own weight of 680 kg. Thanks to the
exoskeleton, the operator could lift loads of up to 340 kg. it was Planned to
use the exoskeleton to work on military arsenals, work with large-caliber
aviation ammunition, for work under water and in space, as well as for
operation at nuclear power plants. Unfortunately, trials in 1965, the suit
was not the best in the series did not go.
Power was supplied via an external cable. The system was equipped
with computer control, which did not work very well both because of the
imperfection of the computers themselves and because of the lack of, at
that time, an adequate mathematical model. As a result, attempts to use a
full set of exoskeletons led to uncontrolled movements of the latter
9
(falling), although some of its elements (for example, the hand) worked
successfully. Hardiman has never been tested with a man inside.
But the beginning was made. There was an experience that allowed
the following developers to move on, not to start from scratch. The
Hardiman project was closed in 1971 due to the lack of prospects for its
development.
In 1968, Miomir Vukobratovich from Yugoslav Belgrade showed the
first power walking exoskeleton, whose task was to enable people to walk
with paralysis of the lower extremities. The device was based on a
pneumatic actuator. Soviet scientists from the Central Institute of
traumatology and orthopedics named after M. M. Priorov showed the first
initiatives to develop exoskeletons together with Yugoslav colleagues on
the basis of the work of Vukobratovich. But with the beginning of
perestroika projects were closed, and about the secret underground
development of exoskeletons no data. However, space exploration was
good.
Then there were two decades not that stagnation, research and
development, of course, were conducted, but there were no big
breakthroughs, probably through small funding. But experience and
knowledge, no matter what, accumulated. In parallel with this, there were
changes in related areas: computer technology, batteries, materials,
control systems, etc. All this came in handy when a breakthrough in this
area began. And it happened when the exoskeleton was again
remembered by the military.
Program – "exoskeletons for people". In 2001, the Agency Defense
Advanced Research Projects Agency (DARPA − Defense Advanced Research
Projects Agency) of the Ministry of defense the beginning of the seven-year
program, Exoskeletons for Human Performance Augmentation Program,
highlighting her $ 75 million. Projects from 14 companies and universities
were considered. In the first phase of the project were selected: Sarcos
Research Corporation, University of California at Berkeley and Oak Ridge
national Laboratory. Sarcos and the University of Berkeley remained in the
second phase of the project. At the final stage of the program, which began
10
in 2004, Sarcos Research Corporation was chosen as the main contractor
for the development and development of fast, armored and powerful
exoskeleton systems. Soon Sarcos was acquired by a larger company
Raytheon, engaged in the implementation of various defense orders.
However, work on the exoskeletons were continued, and according to
reports, very successfully [3].
Research into the creation of active exoskeletons began in the late
1960s, almost in parallel between several research groups in the United
States and in the former Yugoslavia. [1] There were differences in the
intended use: strengthening the capacity of able-bodied people, often for
military purposes, and the development of assistive technologies for
persons with disabilities. Despite these differences, the two development
areas faced the same challenges and limitations, closely related to
portability and human-operator interaction.
Exoskeletons that increase productivity are designed to provide
healthy people with the ability to more easily perform complex tasks and
tasks that otherwise can not be performed.
Most of the first works in the field of performance-enhancing
exoskeletons were only developments that never left the drawing Board,
and several prototypes that were built and tested – were ineffective.
The earliest mention of a device resembling an exoskeleton is a set of
us patents granted in 1890 by Nicholas Yagn. This invention was intended
to increase the speed of running and jumping. However, this device has
not been built or successfully demonstrated. The device represented in the
patents is shown in figure 1.1.
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