ИСТИНА

Using a motion capture system, a human walking with the crutches can be registered. After this, using obtained trajectories, the variations of the angles in the joints of human as functions of time can be calculated. We use also the force platforms to measure the support reactions applied to the human’s feet and the coordinates of the points, where these forces are applied. A planar mechanism with five heavy links – body, two thighs and two shins – and attached weightless feet and weightless crutches is studied as the mathematical model of the human with crutches. By solving the inverse dynamics problem, we find the torques developed at the joints and creating power torques. They can be used for choosing actuators for the joints of medical exoskeleton. The inter-link angles obtained experimentally can be used as tracked programmed trajectories for the organization of the motion of an exoskeleton put on a paraplegic.