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Mathematical Models of Exoskeleton

Dynamics, Strength, Control

  • Book
  • © 2022

Overview

Authors:
  1. Andrey Valerievich Borisov

    1. Higher Mathematics Department, National Research University, Smolensk, Russia

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  2. Anatoly Vlasovich Chigarev

    1. Bio- and Nanomechanics Department, Belarusian State University, Minsk, Belarus

    View author publications

    You can also search for this author in PubMed   Google Scholar

  • Presents the current state of the problem of describing the musculoskeletal system of a person
  • Shows new approaches to modeling based on the use of weightless rods of variable length with concentrated masses
  • Describes practical application to the tasks of numerical simulation of the movements of the musculoskeletal system

Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 431)

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Table of contents (15 chapters)

  1. Front Matter

    Pages i-xiii
    Download chapter PDF

  2. Statistical Model of Destruction of a Human Musculoskeletal System

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 1-22

  3. A Model of Changing of Physical–Mechanical Properties and Accumulations of Damages in Joints of a Person

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 23-32

  4. Propagation of Nonstationary Waves in Elastic Inhomogeneous Media

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 33-51

  5. Model of Propagation of the Impact Impulse in the Human Lower Extremity

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 53-57

  6. Problems of Strength at Loading Multilayer Bones of the Human

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 59-64

  7. Determination of Deformations and Stresses in a System Consisting of an Arbitrary Number of Thick-Walled Spheres Under an External Load

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 65-75

  8. Computation of the Dimensions of the Irreversible Destruction of Two Ellipsoids in the Contact Zone

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 77-86

  9. 2-D and 3-D Models of Anthropomorphic Robot and Exoskeleton with Links of Variable Length

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 87-116

  10. Methods for Compiling Differential Equations of Motion of an Exoskeleton with Variable Link Length

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 117-128

  11. Modeling the Dynamics of an Anthropomorphic Mechanism with Eleven Movable Links of Variable Length

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 129-149

  12. Model of Twelve-Link Exoskeleton

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 151-160

  13. Nonlinear Dynamics of a Framed Structure in Case of Biped Gait: Chaotization and Self-organization

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 161-170

  14. Simulation of the Synchronization of Human Feet and Exoskeleton in the Process of Motion

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 171-184

  15. Mathematical Modeling of Human Body Stability on One Leg

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 185-195

  16. Synthesis of Exoskeletons Based on the Results Obtained in the Simulation of the Human Musculoskeletal System

    • Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev
    Pages 197-224
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Keywords

About this book

This book presents the current state of the problem of describing the musculoskeletal system of a person. Models of the destruction of the endoskeleton and the restoration of its functions using exoskeleton are presented. A description is given of new approaches to modeling based on the use of weightless rods of variable length with concentrated masses. The practical application to the tasks of numerical simulation of the movements of the musculoskeletal system of a person is described. Exoskeleton models with variable-length units based on absolutely hard sections and sections that change their telescopic type length have been developed.


The book is intended for specialists in the field of theoretical mechanics, biomechanics, robotics and related fields. The book will be useful to teachers, as well as graduate students, undergraduates and senior students of higher educational institutions, whose research interests lie in the modeling of anthropomorphic biomechanical systems.


Reviews

“The present book deals with several aspects from biomechanics. … The book is divided into 15 chapters. Each of the 15 chapters ends with references. … This book is intended to young researchers in biomechanics.” (Luisa Consiglieri, zbMATH 1497.92003, 2022)

Authors and Affiliations

  • Higher Mathematics Department, National Research University, Smolensk, Russia

    Andrey Valerievich Borisov

  • Bio- and Nanomechanics Department, Belarusian State University, Minsk, Belarus

    Anatoly Vlasovich Chigarev

Bibliographic Information

  • Book Title: Mathematical Models of Exoskeleton

  • Book Subtitle: Dynamics, Strength, Control

  • Authors: Andrey Valerievich Borisov, Anatoly Vlasovich Chigarev

  • Series Title: Studies in Systems, Decision and Control

  • DOI: https://doi.org/10.1007/978-3-030-97733-7

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022

  • Hardcover ISBN: 978-3-030-97732-0Published: 01 April 2022

  • Softcover ISBN: 978-3-030-97735-1Published: 02 April 2023

  • eBook ISBN: 978-3-030-97733-7Published: 31 March 2022

  • Series ISSN: 2198-4182

  • Series E-ISSN: 2198-4190

  • Edition Number: 1

  • Number of Pages: XIII, 224

  • Number of Illustrations: 78 b/w illustrations, 21 illustrations in colour

  • Topics: Robotics, Biomedical Engineering and Bioengineering, Mechanical Engineering

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