Analysis of the Exoskeleton Stability Walking Dynamic Model

The article describes the problem of human stability research in an industrial exoskeleton. The task of ensuring safe walking and human stability in a robotic exoskeleton is relevant for the development of industry and industrial automation systems. A design scheme of a seven-branched exoskeleton of the lower extremities with controlled hinges is presented, and the equations of kinematics of the connections between the links are described. Special attention is paid to the description of the quasi-static walking mode, in which the projection of the center of mass of the exoskeleton moves along a separate smooth trajectory, which ensures stability at each moment of time. The description of walking modes in conditions of stability and gait modeling for various step parameters are given, numerical characteristics of the step parameters are established. An algorithm for numerical simulation of stable walking in an exoskeleton is proposed, and a promising direction in the field of studying dynamic gait is discussed.