Open AccessApplication of active exoskeletons with touch sensing, electric drives, energy recuperators and gravity compensators in agricultural technologies
Author(s) -
Alexey V. Borisov,
В.Л. Борисова,
L. V. Konchina,
М. Г. Куликова,
K. S. Maslova
Publication year - 2021
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/699/1/012019
Subject(s) - exoskeleton , set (abstract data type) , interface (matter) , engineering , simulation , energy (signal processing) , computer science , control theory (sociology) , control engineering , control (management) , artificial intelligence , mathematics , pulmonary surfactant , gibbs isotherm , statistics , chemical engineering , programming language
The article describes a model of a digital human-machine system, in the form of a three-dimensional model of an active exoskeleton with five links of variable length, developed for possible use in agriculture. The difference between the proposed model of an active exoskeleton and the existing ones is that links are used that can change their length under the action of applied loads, and energy recuperators are built into these links. In each joint of the links between each other there are gravity compensators. These design solutions can reduce the load on the electric drives of the exoskeleton and increase the battery life of the device, which is important when used in agriculture. As an interface between a person and an exoskeleton, touch sensing will be used. The principle of operation is that the signals from the touch sensors will be sent to the control module of the exoskeleton, amplified and implemented by electric drives in accordance with the movement of each link of the human endoskeleton with minimal delay. Each link of the exoskeleton consists of two sections of constant length, having a mass, and one weightless section between them, changing its length. The links are connected to each other by a combination of joints. A set of differential equations is written in the form of a system describing the exoskeleton dynamics. This system was written in a generalizing matrix-vector form. Much attention is paid to the possibility of real application of the proposed model of the active exoskeleton in agriculture and the positive results arising from its practical use.