Method for automated registration of the kinematics of the movement of the exoskeleton operator

Samsonov Ilya Vladimirovich, Taratonov Ilya Alexandrovich

The article is devoted to the consideration of the methodology for automated registration and monitoring of the kinematics of the movement of the operator of the exoskeleton of the lower extremities. The requirements for the developed software and hardware complex are described, the applied hardware solutions are described. The developed software and hardware complex is described for automated monitoring and evaluation of the kinematics of the movement of the operator of the passive exoskeleton of the lower extremities. The applied solutions for the hardware implementation of an autonomous recording module, focused on obtaining the current values of the position sensors and storing them in the database, are described. The article presents the main provisions of the methodology for registering the position angle of the musculoskeletal system of the exoskeleton operator. The complex includes an accelerometer and a gyroscope as position angle sensors. During the approbation of the method, the values of the angles of the position of the waist, lower leg and thigh of the exoskeleton operator during the step were obtained and recorded. The results made possible to determine the critical values of the angle of deviation of the center of gravity of the exoskeleton operator.

Keywords:automated monitoring, exoskeleton, monitoring, motion kinematics, software and hardware registration system.