Dynamics control of an anthropoid exo-device with five links

The dynamics of a 3D model of an anthropoid exodevice with five controlled absolutely rigid links and hinged joints is considered in the article. The mobility limitations, imposed on the hinges, corresponding to the motor capabilities of the real human musculoskeletal system, differ the proposed model from the earlier considered ones. The angles in the model are not calculated from the vertical or horizontal line, as it is usually introduced in studies on anthropomorphic mechanism simulations. These angles are calculated between the axes of local coordinate systems directed along the links, which makes the model closer to a real prototype where the angles between the links are changed. The control torques applied to the hinges implement motions corresponding to the human musculoskeletal system. The system dynamics is described by Lagrange equations of the second kind, composed in local coordinate systems using rotation matrices. The control torques, implementing the required motion, are calculated by solving the inverse dynamics problems. The obtained results can be used in design of exoskeletons, anthropomorphic robots, spacesuits, and manipulators.