Study of controlled motion of exoskeleton moving from sitting to standing position

Abstract

In this paper we derive analytical expressions which describe the law of change of generalized coordinates of an exoskeleton, such that the mechanism performs standing up motion. Using the obtained expressions the control ystem has been designed and the controller’s coefficients have been tuned. The behavior of the control system with additional linear element was studied. The modified system shows significant improvement, as compared to the initial one.