Simulation of interaction between a person and a rehabilitation exoskeleton

Abstract

This paper discusses the current development of exoskeleton systems aimed at the rehabilitation of patients with injuries of the musculoskeletal system, and the ankle joint in particular. This paper describes the design of the rehabilitation exoskeleton, the block diagram of the control system for the measuring path of the rehabilitation exoskeleton, and provides experimental data including forces of reactions between the exoskeleton and the patient, and their analysis is carried out using mathematical modeling and approximation methods, such as the least squares method, to obtain a mathematical model of the behavior of elements of the human musculoskeletal system during rehabilitation procedures. A mathematical model has been developed that reflects the nonlinear response of the muscle tissue of the ankle joint to deformation and establishes an analytical relationship between the reaction, the angle of rotation and the angular velocity of the controlled mobile platform. The article develops the structure of an ankle joint rehabilitation system that ensures planning and implementation of specified trajectories of foot movement through the use of a controlled mobile platform with the ability to control force-moment interaction. A method is proposed for selecting conditions that provide acceptable trajectories of foot movement based on physiological limitations based on kinematic and dynamic analysis of the mobile platform of a parallel mechanism in active and passive modes.