Generalized approach to bilateral control for EMG driven exoskeleton

Авторы: Valery Gradetsky, Ivan Ermolov, Maxim Knyazkov, Artem Sukhanov
Сборник: Conf.Volume 113, 2017, 12th International Scientific-Technical Conference on Electromechanics and Robotics
Серия: Zavalishin’s Readings
Том: 113
Год издания: 2017
Первая страница: 1
Последняя страница: 5
DOI: 10.1051/matecconf/201711302003
Аннотация: The paper discusses a generalized approach to bilateral control for EMG driven exoskeleton systems. In this paper we consider a semi-automatic mechatronic system that is controlled via human muscle activity (EMG) level. The problem is to understand how the movement of the exoskeleton effects on the control. The considered system can be described in terms of bilateral control. This means the existence of force feedback from the object via the exoskeleton links and drives to operator. The simulation of the considered model was held on the MATLAB Simulink. The mathematical model of the bilateral system with exoskeleton and operator was developed. Transient functions for different dynamic parameters were obtained. It was shown that force feedback is essential for the R&D of such systems.
Добавил в систему: Князьков Максим Михайлович

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