Система управления приводами суставов экзоскелета

Abstract

Modern medical practice clearly shows the acute need for exoskeletal systems that enhance the physical capabilities of people with impaired musculoskeletal system. The increased attention to this kind of man-machine systems is explained by their high potential in expanding the functional capabilities of man. In this paper, we consider the task of constructing a system that controls the joints of an exoskeleton of the lower extremities. To implement the movement of the joints, it was decided to use servos. It is proposed to use bioelectric signals taken from human muscles using electromyography as control signals. Primary processing of the control signal is performed in the MATLAB software package. Signal transmission to the drives is implemented using the Arduino microcontroller.