| Issue |
MATEC Web Conf.
Volume 161, 2018
13th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|
|
|---|---|---|
| Article Number | 03008 | |
| Number of page(s) | 5 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201816103008 | |
| Published online | 18 April 2018 | |
Investigation of the dynamical characteristics of the lower-limbs exoskeleton actuators
1
South-West State University, Robotics Department, 305040, 50 let Oktyabrya, 94, Kursk, Russia
2
Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101990, Moscow, Russia
* Corresponding author: ayatsun@ya.ru
Authors present results of the theoretical modeling and experimental tests of the low-cost DС- motors, used in lower limb powered exoskeleton. Actuators work in difficult regime and it is important to achieve desired parameters, even for not robust motors. Results give us information and methods and means of experimental determination of the main characteristics of the robot‘s actuators. It gives possibility to tune control system and the whole system to achieve optimal walking regime.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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