Walking Control of Lower Limbs Exoskeleton with Visco-Elastic Coupling with Human-Operator Body

Abstract

This paper considers the dynamics of a passive exoskeleton (with additional load or not) with a flat, regular, single support human operator walking on a flat, horizontal surface. Exoskeleton has a similar structure and a person related to the operator by means of elastic straps at certain points of the body. We study the effectiveness of this method of dynamic human impact on this mechanism. Identified damping effect when considering the viscoelastic bonds between human operators and exoskeletons, consisting in the introduction of the damping elements, and the correct selection of the parameters of the elastic and damping can significantly reduce vibrations and to obtain a reduction of energy costs for the operator. As a result of this increased comfort of use of this mechanism. The results of this study provide the prerequisites of building a more effective options for models of active exoskeletons, and other devices designed to move cargo.