Motion Simulation of the «Human-Machine» System with Spring Elements

Abstract

The possibility of practical application of passive exoskeleton model with spring elements is described in this paper. The application of human-machine robotic system to energy infrastructure is considered in the research. It allows decreasing of loads on human musculoskeletal system, increasing endurance and periods of uninterrupted operation, as well as labour productivity due to energy recuperation. It also ensures injury and occupational diseases prevention. The proposed «human-machine» model with links of variable length is more comfortable to user. Although a 2-D exoskeleton model is described in the paper, it can be generalized to 3-D case as well. The design of variable-length link with spring elements is proposed. It can be implemented in robotic device as a passive exoskeleton. The link consists of the following elements: two fixed-length inertial sections at the ends of the link, and the variable-length weightless section between them. The variable-length weightless section has a tension-compression spring that ensures both the link length change within the specified range and the energy recuperation when the exoskeleton user moves. The joints feature the torsion springs to recuperate energy during relative rotation of exoskeleton links. Thus, despite that the exoskeleton has a passive design; owing to the energy recuperation it provides power support to the human musculoskeletal system. This feature makes it very similar to active exoskeletons in its performance.