Models and algorithms of human rehabilitation exoskeleton movement control

This paper discusses theory of the exoskeleton systems functioning, with special attention paid to the issues of motion control algorithms, taking into account the interaction of a person and an exoskeleton. Questions of biomechanics of human movement are discussed, devoted to the study of the human limbs kinematics features and their interaction with a rehabilitation device. The mathematical model of the exoskeleton describes patient and exoskeleton movement, taking into account the properties of electric drives, reactions of the supporting surface, in the verticalization and walking modes. Algorithms for controlling the movement of the exoskeleton are given, taking into account the given law of motion of the center of mass and information about the force interaction of the human leg and the exoskeleton in the corresponding phases of movement. For rehabilitation purposes, the method of gravity control was applied in the work.