On the Influence of the Moment of Inertia on the Mechatronic Drive Control Quality within the ExoskeletonстатьяИсследовательская статья
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Дата последнего поиска статьи во внешних источниках: 8 апреля 2022 г.
Аннотация:The paper considers the interaction between human arm and electromechanical system of the exoskeleton device. Authors proposed the mathematical model of human-exoskeleton interaction on the example of an EMG controlled mechatronic DC-motor. Features of the torque generation with the mechatronic drive of the exoskeleton under the conditions of desynchronization of the speeds of the operator’s arm and the exoskeleton link are shown. The exoskeleton motion simulation results with different moments of inertia of the drive system are presented.