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Файл:The design of the exoskeleton. Monograph
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111
various industries and the construction sector and the need to introduce
fundamentally new safety standards.
Specialists of robotics from the Japanese company Cyberdyne created
a prototype of the exoskeleton, which was called HAL (Hybrid Assistive Limb),
and are currently testing it. HAL is a robotic suit powered by batteries [13].
An example of such an exoskeleton is shown in figure 4.2. He responds to
the contraction of the muscles of the person wearing it. At the same time,
the exoskeleton not only helps a person to move, but also increases the
muscular strength of its operator. The electronics built into it can read and
analyze the signals of the human brain and convert them into various
movements with the help of certain drives. The HAL exoskeleton is the first
of its kind in terms of the depth of integration between man and machine,
and therefore the most important task that Cyberdyne's engineers have to
solve is to ensure its safety. All possible risks are considered by experts in
the process of developing the device, but there are no relevant laws and
regulations that can protect users.
In this situation, international standards can increase user confidence
in new devices. Cyberdyne was one of the first companies in the world to
introduce the new ISO 13482:2014 standard "Robots and robotic devices.
Safety requirements for robots for personal care". The company introduced
this standard at a time when work on it was at the stage of the project.
The introduction of the new ISO 13482:2014 standard was extremely
important in terms of creating a new market for robotic systems for
personal care, as well as ensuring the safety of such devices. The main
advantage of ISO 13482:2014 is that this document is able to open the
market for a new generation of robots. Until now, manufacturers of robotic
devices have been required to comply with the stringent safety rules
applied in the medical industry, but such rules are not always suitable for
this technology. Thus, market barriers were created. But active
dissemination of the new standard should change the situation for the
better.
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Figure 7.2 – Hal-3 Exoskeleton
In the international standard ISO 13482:2014 "Robots and robotic
devices. Safety requirements for robots performing personal care"
establishes requirements and guidelines to the inherently more secure
design, are measures to ensure security and information on the use of
robots, carrying out personal care, namely the following three types of
robots: a mobile service robot, a robot that helps to perform physical work;
the robot carrying human [14].
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Such robots usually perform tasks to improve the quality of life of the
intended users, regardless of their age and abilities. This document
describes the hazards associated with the use of such robots and the
requirements to eliminate or eliminate the risks caused by such hazards at
an acceptable level. Here we consider the possibility of using the physical
contact of a person with a robot.
This standard presents significant risks and describes how to deal with
them for each type of robot. This document is limited to robots that walk
on the ground.
This standard does not address:
1. Robots with a movement speed of more than 20 km/h;
2. Robot toys;
3. Floating or flying robots;
4. Industrial robots that are described in ISO 10218;
5. Robots as a medical device;
6. Military robots and robots using force.
7.2. Hazards to the operator of the exoskeleton
The operator of the exoskeleton is exposed to danger when jumping
from an impressive height due to damage to the internal organs due to the
fact that the energy of the impact is not extinguished [15].
There are statistics on the strength of the blows that can withstand
a person, his skeleton, joints and internal organs. According to these data
it is necessary to extinguish all other energy. The following are some ways
of energy dissipation:
1. Insert special damping materials that will extinguish most of the
energy;
2. Increased reliability due to the layout of the plates vertically and
horizontally. This method provides improved performance and increased
freedom of movement in the process uses.
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In the developed model of the exoskeleton it is necessary to consider
the following hazard factor for the operator: failure of the control system.
This factor is fraught with injuries of any severity of the operator, from
fracture and stretching up to death. The operator receives these injuries
due to the fact that in case of failure of the control system, all components
of the working design of the exoskeleton can begin to act without
interaction with the pilot, not obeying his commands and make
movements that the human body is not capable of, and therefore it is
necessary to integrate additional ways to ensure safety. This problem is
solved by limiting the range of changes in the generalized coordinates of
the joints in the kinematic scheme of the exoskeleton. Removed the degree
of mobility, which is not capable of people. For example, the frame of the
knee will not be able to bend more than 180 degrees. If the frame moved
further, it would cause damage to the knee joint.
This security system can be implemented in several ways:
1. The introduction of mechanical restrictions. The method is the
most logical and easy to implement means of security. It lies in the fact that
the Executive mechanism of the exoskeleton laid rotation angles equal to
the limit values of rotation angles for human joints. This system provides a
fairly high safety performance of the pilot in the exoskeleton, but it has a
significant disadvantage. Reaching the limit values of the angles with some
force, the elements of the mechanism wear out and eventually fail. Based
on the disadvantages of the mechanical method of safety, it should be used
as a backup;
2. The introduction of restrictions imposed by the control program
on the degree of human mobility. This method is optimal for the normal
operation of the exoskeleton design. It provides a smooth limiting, without
introducing actuators and actuator in boundary positions and not giving
them undue stress. But it is worth remembering that such a security
system, although it is the main one, should not be the only one, due to the
fact that it is not as reliable as mechanical, and needs insurance, which
consists in the synchronous interaction of the two systems.
115
Summary
In this work has been processed:
- technologies that exist today and are used in robotics and many
related industries.
- the concept of creating elements, parts and components of the
structure for the implementation of the task.
- development of the mechanical part of the structure, namely all
parts and assemblies necessary to ensure the operability of the device with
a test test of the suitability of the proposed design solutions.
- directions for further work on the establishment of power systems
and control systems that will meet the conditions and constraints.
In the development of the system, the parameters were achieved:
The speed of the user's movement with the help of the system is
estimated at 6-7 km / h.
The weight of the potential user is up to 100 kg.
The system is able to perform a range of movements, such as walking,
crouching, walking the stairs.
The weight of the equipment is 50-55 kg.
The battery life can be virtually unlimited thanks to the gasoline
generator.
The system hinges have a constant torque of 170 Nm when using
NEMA 34 stepper motors with a torque of 13 Nm, with a torque efficiency
of about 165 Nm.
The estimated cost (based on the cost of standard parts / products
and estimates of the estimated cost of manufacturing the remaining parts
of the structure) 4500$.
Way forward:
• Optimization finally adopted parts using CAD tools in the system
Inventor (tool "form Generator"), and SolidWorks (Assistant perform
analysis SimulationXpress)
• Production and testing of individual units/modules.
• Development of control systems.
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• Power system development.
• Development of cladding with sound insulation.
• Selection of bandage and fastening systems for fixing the user to
the device according to the needs.
117
CONCLUSION
The paper analyzes the existing methods of constructing
exoskeletons, on the basis of which the features of the dynamics of the
exoskeleton movement are revealed.
On the basis of the Lagrange-Maxwell equations, a model of the
dynamics of the five-stage active exoskeleton was built, taking into account
the interconnection of the dynamics of the links and the dependence of
the electric parameters of the electric drive on the coordinates of the
mechanical structure, which lead to the appearance of pulsation moments
unacceptable in exoskeletons used in rehabilitation medicine.
Pulsations of moments are complex nonlinear, which makes it
difficult to compensate them with the help of linear regulators. The paper
shows the potential effectiveness of adaptive control to reduce these
fluctuations in the movement of the exoskeleton, simulating human
walking. The development of such adaptive regulators is the next stage,
which will allow to implement complex movements of the exoskeleton,
which will make it possible to use them in rehabilitation medicine.
118
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