Corresponding author: Pavlovsky Vladimir E., D. Sc., Leading Researcher, Keldysh Institute of Applied Mathematics of RAS, Moscow, 125047, Russian Federation,
e-mail: vlpavl@mail.ru

Received on May 25, 2016
Accepted on June 04, 2016

The work presents a technical robotized system for support of the neurorehabilitation procedures — BioMech rehabilitation exoskeleton. The device is an improvement of the first versions published in [8, 9]. The work presents the tasks of the theoretical mechanical description of the robotized exoskeletons of the lower extremities, dynamic modeling of such systems, and development of the control systems. For the considered biped system the following problems were investigated: kinematic synthesis of walking on the basis of the technology of video capture of the motion, solution of the direct and inverse dynamic tasks for finding of the operating torques of forces, synthesis of a full control system, verification of the found solutions by means of physical and natural modeling, creation of an adequate control system of drives for realization of the set movement. The objectives were investigated within the framework of development of a biomechatronic complex for neurorehabilitation of the motive device of human lower extremities.
Keywords: exoskeleton, biomechatronics, rehabilitation and research complex, verticalizer, pulse control, pneumatic actuator, electric drive, hybrid drive

Acknowledgements: The work was performed as part of the grant RFBR № 11-01-12060-ofi-m-2011 in 2011-2012., Developed with the support of RFBR grant 13-01-12037-ofi-m, 16-29-08406-ofi-m

For citation:
Aliseychik A. P., Orlov I. A., Kolesnichenko E. Yu., Pavlovsky V. E., Pavlovsky V. V., Platonov A. K. BioMech Rehabilitation Exoskeleton: Models, Control, Design, Experiments, Mekhatronka, Avtomatizatsiya, Upravlenie, 2016, vol. 17, no. 10, pp. 670—677.
DOI: 10.17587/mau/17.670-677

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