Modeling of Human-Machine Interaction in an Industrial Exoskeleton Control System

摘要

The paper considers the urgent problem of human-machine interaction organizing when controlling the of industrial assistive exoskeleton suit links movement. A method that implements device's drives copy control, which ensures the operator and the exoskeleton movement synchronization is proposed. This method allows transfer the load from operator to exoskeleton mechanical frame, thereby facilitating the industrial workers manual labor. The article describes the human-machine interaction mathematical model and the results of the described system dynamics numerical modeling. The analysis of stiffness of the elastic suspension and controller coefficients influence of the on the assisting device control quality is carried out, and is made on the basis of complex criteria that take into account both positioning accuracy and device usage comfort.