3D model of two links of the supporting leg of the exoskeleton with variable length and adjustable stiffness
The article considers a model of the supporting leg of an exoskeleton containing two links of variable length in three-dimensional space. The novelty of this model lies in the use of magnetic rheological fluid in the link in a section of variable length in order to control and regulate the stiffness...
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| creator | Borisov, Andrey Blinov, Alexander Konchina, Larisa Novikova, Marina |
| description | The article considers a model of the supporting leg of an exoskeleton containing two links of variable length in three-dimensional space. The novelty of this model lies in the use of magnetic rheological fluid in the link in a section of variable length in order to control and regulate the stiffness of the link. Such a model will make it possible to create more comfortable exoskeletons, in comparison with those currently available, whose movements are close to those of the human musculoskeletal system. Using local coordinate systems, a system of differential equations of motion is compiled in the form of Lagrange equations of the second kind. A control model is proposed based on specifying the synthesis of motion in the form of differentiable periodic functions and determining the control moments and longitudinal forces from the system of equations of motion. The dynamics of the link is analyzed. The obtained results of numerical simulation are presented graphically. The requirements for the loads that arise during the movement of the link and which the magnetic rheological fluid must satisfy are formed. It has been established that they are achieved when an external magnetic field is applied. Therefore, the proposed model of a link of variable length with adjustable stiffness can function in the exoskeleton of the supporting leg, to which the main load is applied at the moment of repulsion and in the single-support phase of movement. |
| doi_str_mv | 10.1063/5.0163380 |
| format | Conference Proceeding |
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The novelty of this model lies in the use of magnetic rheological fluid in the link in a section of variable length in order to control and regulate the stiffness of the link. Such a model will make it possible to create more comfortable exoskeletons, in comparison with those currently available, whose movements are close to those of the human musculoskeletal system. Using local coordinate systems, a system of differential equations of motion is compiled in the form of Lagrange equations of the second kind. A control model is proposed based on specifying the synthesis of motion in the form of differentiable periodic functions and determining the control moments and longitudinal forces from the system of equations of motion. The dynamics of the link is analyzed. The obtained results of numerical simulation are presented graphically. The requirements for the loads that arise during the movement of the link and which the magnetic rheological fluid must satisfy are formed. It has been established that they are achieved when an external magnetic field is applied. Therefore, the proposed model of a link of variable length with adjustable stiffness can function in the exoskeleton of the supporting leg, to which the main load is applied at the moment of repulsion and in the single-support phase of movement.</description><identifier>ISSN: 0094-243X</identifier><identifier>EISSN: 1551-7616</identifier><identifier>DOI: 10.1063/5.0163380</identifier><identifier>CODEN: APCPCS</identifier><language>eng</language><publisher>Melville: American Institute of Physics</publisher><subject>Coordinates ; Differential equations ; Equations of motion ; Euler-Lagrange equation ; Exoskeletons ; Mathematical analysis ; Mathematical models ; Musculoskeletal system ; Periodic functions ; Rheological properties ; Rheology ; Stiffness ; Three dimensional models</subject><ispartof>AIP Conference Proceedings, 2023, Vol.2911 (1)</ispartof><rights>Author(s)</rights><rights>2023 Author(s). Published by AIP Publishing.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://pubs.aip.org/acp/article-lookup/doi/10.1063/5.0163380$$EHTML$$P50$$Gscitation$$H</linktohtml><link.rule.ids>309,310,314,780,784,789,790,794,4512,23930,23931,25140,27924,27925,76384</link.rule.ids></links><search><contributor>Gibadullin, Arthur</contributor><contributor>Morkovkin, Dmitry</contributor><contributor>Sadullozoda, Shahriyor</contributor><creatorcontrib>Borisov, Andrey</creatorcontrib><creatorcontrib>Blinov, Alexander</creatorcontrib><creatorcontrib>Konchina, Larisa</creatorcontrib><creatorcontrib>Novikova, Marina</creatorcontrib><title>3D model of two links of the supporting leg of the exoskeleton with variable length and adjustable stiffness</title><title>AIP Conference Proceedings</title><description>The article considers a model of the supporting leg of an exoskeleton containing two links of variable length in three-dimensional space. The novelty of this model lies in the use of magnetic rheological fluid in the link in a section of variable length in order to control and regulate the stiffness of the link. Such a model will make it possible to create more comfortable exoskeletons, in comparison with those currently available, whose movements are close to those of the human musculoskeletal system. Using local coordinate systems, a system of differential equations of motion is compiled in the form of Lagrange equations of the second kind. A control model is proposed based on specifying the synthesis of motion in the form of differentiable periodic functions and determining the control moments and longitudinal forces from the system of equations of motion. The dynamics of the link is analyzed. The obtained results of numerical simulation are presented graphically. The requirements for the loads that arise during the movement of the link and which the magnetic rheological fluid must satisfy are formed. It has been established that they are achieved when an external magnetic field is applied. Therefore, the proposed model of a link of variable length with adjustable stiffness can function in the exoskeleton of the supporting leg, to which the main load is applied at the moment of repulsion and in the single-support phase of movement.</description><subject>Coordinates</subject><subject>Differential equations</subject><subject>Equations of motion</subject><subject>Euler-Lagrange equation</subject><subject>Exoskeletons</subject><subject>Mathematical analysis</subject><subject>Mathematical models</subject><subject>Musculoskeletal system</subject><subject>Periodic functions</subject><subject>Rheological properties</subject><subject>Rheology</subject><subject>Stiffness</subject><subject>Three dimensional models</subject><issn>0094-243X</issn><issn>1551-7616</issn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2023</creationdate><recordtype>conference_proceeding</recordtype><recordid>eNo1kE1LAzEYhIMoWKsH_0HAm7A12XxsepRqVSh4UfAWspukTZsm6yZr9d-7tvU0zPDwvswAcI3RBCNO7tgEYU6IQCdghBnDRcUxPwUjhKa0KCn5OAcXKa0RKqdVJUbAkwe4jdp4GC3Muwi9C5u0NysDU9-2scsuLKE3y__UfMe0Md7kGODO5RX8Up1TtTcDFJaDV0FDpdd9yvs0ZWdtMCldgjOrfDJXRx2D9_nj2-y5WLw-vczuF0WLCclFZepSIM61NUpoLpgylDWkQZSqmlKBBdO2VrTCFJXY1oQyrFU91LUGqUaTMbg53G27-NmblOU69l0YXspSMIoEq_B0oG4PVGpcVtnFINvObVX3IzGSf2tKJo9rkl_PcWfn</recordid><startdate>20230821</startdate><enddate>20230821</enddate><creator>Borisov, Andrey</creator><creator>Blinov, Alexander</creator><creator>Konchina, Larisa</creator><creator>Novikova, Marina</creator><general>American Institute of Physics</general><scope>8FD</scope><scope>H8D</scope><scope>L7M</scope></search><sort><creationdate>20230821</creationdate><title>3D model of two links of the supporting leg of the exoskeleton with variable length and adjustable stiffness</title><author>Borisov, Andrey ; Blinov, Alexander ; Konchina, Larisa ; Novikova, Marina</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-p133t-7eb28066dfea8d685ae45c3c044ab448185dfba4714021fb3451dab155fe0acd3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Coordinates</topic><topic>Differential equations</topic><topic>Equations of motion</topic><topic>Euler-Lagrange equation</topic><topic>Exoskeletons</topic><topic>Mathematical analysis</topic><topic>Mathematical models</topic><topic>Musculoskeletal system</topic><topic>Periodic functions</topic><topic>Rheological properties</topic><topic>Rheology</topic><topic>Stiffness</topic><topic>Three dimensional models</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Borisov, Andrey</creatorcontrib><creatorcontrib>Blinov, Alexander</creatorcontrib><creatorcontrib>Konchina, Larisa</creatorcontrib><creatorcontrib>Novikova, Marina</creatorcontrib><collection>Technology Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Borisov, Andrey</au><au>Blinov, Alexander</au><au>Konchina, Larisa</au><au>Novikova, Marina</au><au>Gibadullin, Arthur</au><au>Morkovkin, Dmitry</au><au>Sadullozoda, Shahriyor</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>3D model of two links of the supporting leg of the exoskeleton with variable length and adjustable stiffness</atitle><btitle>AIP Conference Proceedings</btitle><date>2023-08-21</date><risdate>2023</risdate><volume>2911</volume><issue>1</issue><issn>0094-243X</issn><eissn>1551-7616</eissn><coden>APCPCS</coden><abstract>The article considers a model of the supporting leg of an exoskeleton containing two links of variable length in three-dimensional space. The novelty of this model lies in the use of magnetic rheological fluid in the link in a section of variable length in order to control and regulate the stiffness of the link. Such a model will make it possible to create more comfortable exoskeletons, in comparison with those currently available, whose movements are close to those of the human musculoskeletal system. Using local coordinate systems, a system of differential equations of motion is compiled in the form of Lagrange equations of the second kind. A control model is proposed based on specifying the synthesis of motion in the form of differentiable periodic functions and determining the control moments and longitudinal forces from the system of equations of motion. The dynamics of the link is analyzed. The obtained results of numerical simulation are presented graphically. The requirements for the loads that arise during the movement of the link and which the magnetic rheological fluid must satisfy are formed. It has been established that they are achieved when an external magnetic field is applied. Therefore, the proposed model of a link of variable length with adjustable stiffness can function in the exoskeleton of the supporting leg, to which the main load is applied at the moment of repulsion and in the single-support phase of movement.</abstract><cop>Melville</cop><pub>American Institute of Physics</pub><doi>10.1063/5.0163380</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0094-243X |
| ispartof | AIP Conference Proceedings, 2023, Vol.2911 (1) |
| issn | 0094-243X 1551-7616 |
| language | eng |
| recordid | cdi_scitation_primary_10_1063_5_0163380 |
| source | AIP Journals Complete |
| subjects | Coordinates Differential equations Equations of motion Euler-Lagrange equation Exoskeletons Mathematical analysis Mathematical models Musculoskeletal system Periodic functions Rheological properties Rheology Stiffness Three dimensional models |
| title | 3D model of two links of the supporting leg of the exoskeleton with variable length and adjustable stiffness |
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