Research and development of exoskeletons with synchronous electric drive of various type

The comparison of the operation of the exoskeleton electromechanical part with the vector and valve electric drive by the example of the knee joint exoskeleton was done in this paper. The construction features of these electric drive systems were described. Functional diagrams were presented. The advantages of both systems were described and shortcomings of both construction methods were analyzed. A control system was built on the basis of the classical principles of subordinate regulation systems. The mathematical modeling of both systems was conducted. It was found that the electric drive with a brushless DC motor is more suitable for exoskeletons, since it has the same displacement parameters with lower requirements for control system and mass parameters of the exoskeleton.