Active Elastomer Control System for the Soft Exoskeleton with Distributed Force Sensors

The article considers a soft exoskeleton for industrial use equipped with an active elastomer. The article describes the features of the implementation of the design of the assisting device and the principles of operation. A mathematical model is proposed to describe the dynamics of the controlled movement of a human-machine system when lifting a load. The structure of the control system and the sensing system, including distributed force sensors integrated into the exoskeleton mounting system, are presented. The numerical results of modeling of a soft exoskeleton control system are obtained, showing the features of the generating of an assistive force in the processes of performing the exercise and proving the applicability of the proposed algorithms of the system.