Matrix method of constructing the differential equations of motion of an exoskeleton and its control

Two mathematical models of rods of variable length from which an exoskeleton can be created, providing comfortable movement of a human in it owing to duplication of the properties of a motion-support apparatus, are considered. Their structure is elucidated on the basis of an analysis of the differential equations of motion, allowing for representing them in vector-matrix form. General regularities of the construction of the matrix elements entering into the system of differential equations of motion are established and generalizing formulae for the matrix elements are obtained. A new matrix method of constructing the differential equations of motion is presented and illustrated by a specific example. This system of equations is solved numerically. The possibility of reinforcing the control actions for control of the exoskeleton motion with a human inside it is considered.