Font size Color scheme Images
The version for visually impaired Site map

Improved performance of robotic exoskeletons

Project Name

Design of a control system software and hardware based on solving the inverse problem of dynamics and kinematics.

 

Фото награды

Leader and Major Members

Leader: FarizaTebueva; Department of Applied Mathematics and Computer Security; Dr. of Physical & Mathematical Sciences

Team members: Petrenko V. I., Mezentseva O. S., Gurchinsky M. M., Antonov V. O., Ryabtsev S. S., Pavlov A. S., Suchkov V. B., Svistunov N. Yu., Struchkov I. V.

Support Mechanisms

Federal program Research and development in priority areas of research & technology complex of Russia for 2014-2020. Project unique identifier RFMEFI57517X0166.

 

Departments and Partners involved

Department of Applied Mathematics and Computer Security, Institute of Information Technologies and Telecommunications, North-Caucasus Federal University; Industrial partner – NPO Android Technology, JSC (Magnitogorsk, Russia).

 

Project Summary

The developed software and hardware complex ensures that the elements of the anthropomorphic manipulator correspond exactly to the movements of the operator’s hand in real time involving the copying control method. The method is based on simultaneous development of the motion laws for all degrees of mobility of the anthropomorphic manipulator through the master device (exoskeleton). The exoskeleton is a lever scheme equipped with position sensors, active and passive drives. The exoskeleton is put on the operator, while the lever system is parallel to the human hand. The software and hardware complex of the control system for an anthropomorphic manipulator based on the use of an exoskeleton is designed to replace humans while performing activities involving risks of harm: high radiation, space, underwater or other emergency situations, interaction with high-risk objects (explosives, chemicals), space missions.

The purpose of the project is to improve the accuracy through better methods for solving inverse kinematics and dynamics problems, as well as through advanced design. The innovation aspects in the proposed technology include improved methods for solving the inverse kinematics problem, in view of the design features of the driving device, as well as methods for forecasting the operator’s movements.

Outcomes

Major outcomes

  1. Methodologies for registration of the operator’s hand generalized coordinates based on the rotation angles values, identifying the shoulder position (elbow, wrist), the operator’s jointand similar rotational pairs of the setting device, calculating the rotation angles of the operator’s hands based on generalized coordinate of the device in the real-time mode.
  2. Software and hardware solutions for implementing the methods of calculating the operator’s hand rotation angles based on generalized coordinates of the device in real time, and solving the inverse problem of dynamics-based estimates for the operator’s hand movement.
  3. Design solutions in developing hardware components for registering relative rotation angles of exoskeletal complex links and creating controllers for manipulator electric drives, which offer movement with accelerations identical to those of human limbs.

 

11 articles published in Scopus and Web of Science journals

  1. Petrenko, V.I., Ryabtsev, S.S., Tebueva, F.B., Antonov, V.O., Pavlov, A.S. Determination of the spatial position and orientation of the links of the robot anthropomorphic grip by the solution of the direct and inverse kinematics problem. Proceedings of the Multidisciplinary Symposium on Computer Science and ICT, Stavropol, Russia, October 15, 2018. CEUR Workshop Proceedings. №2254, p. 94-104. (Scopus)
  2. Petrenko, V.I., Tebueva, F.B., Gurchinskiy, M.M., Antonov, V.O., Untewsky, N.U. The method of the quasioptimal per energy efficiency design of the motion path for the anthropomorphic manipulator in a real time operation mode. Proceedings of the Multidisciplinary Symposium on Computer Science and ICT, Stavropol, Russia, October 15, 2018. CEUR Workshop Proceedings. №2254, p. 245-252. (Scopus)
  3. Tebueva, F.B., Petrenko, V.I., Antonov, V.O., Gurchinsky, M.M. The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator. InternationalReviewofMechanicalEngineering, 2018. №12(8), p. 694-704. (Scopus)
  4. Petrenko, V.I., Tebueva, F.B., Sychkov, V.B., Antonov, V.O., Gurchinsky, M.M. Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time. InternationalJournalofMechanicalEngineeringandTechnology, 2018. №9(7), с. 447-461. (Scopus)
  5. Petrenko, V.I., Tebueva, F.B., Gurchinsky, M.M., Antonov, V.O., Shutova, J.A. Solution of the dynamics inverse problem with the copying control of an anthropomorphic manipulator based on the predictive estimate of the operator's hand movement using the updated Brown method. IOP Conference Series: Materials Science and Engineering, 2018. №450(4), 042013. (Scopus, Web of Science)
  6. Petrenko, V.I., Tebueva, F.B., Gurchinsky, M.M., Antonov, V.O., Pavlov, A.S. Predictive assessment of operator's hand trajectory with the copying type of control for solution of the inverse dynamic problem. SPIIRAS Proceedings, 2019. №18(1), p. 123-147. (Scopus)
  7. Petrenko, V.I., Tebueva, F.B., Sychkov, V.B., Kabinyakov, M.Y., Untevsky, Y. Mathematical method of mapping configuration space for manipulator master-slave teleoperation. CEUR WorkshopProceedings, 2019. №2500, p. 1-9. (Scopus)
  8. Petrenko, V., Tebueva, F., Gurchinsky, M., Shutova, Y. The concept of human learning professional movements using exoskeleton complex. CEUR WorkshopProceedings, 2019. №2494. (Scopus)
  9. Petrenko V.I, Tebueva F.B., Antonov V.O., Gurchinsky M.M., Ryabtsev S.S., Shutova Y.A. Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator, 2019 International Siberian Conference on Control and Communications, SIBCON 2019 - Proceedings. Stukach, 18739748. doi: 10.1109/SIBCON.2019.8729657. (Scopus, WebofScience)
  10. Petrenko, V., Tebueva, F., Kabinyakov, M., Svistunov, N., Gurchinskiy, M. Control signal recovery algorithm for master-slave teleoperation of anthropomorphic manipulator in conditions of data transmission time instability. Proceedings - International Conference on Developments in eSystems Engineering, DeSE. 2019. October-2019, 9073259, p. 896-901 (Scopus, Web of Science)
  11. Mezenceva, O.S., Petrenko, V.I., Zhilina, E., Pavlov, A.S., Apurin, A.A. Developing a concept of available multi-functional modular robot for education and researchюCEUR WorkshopProceedings, 2019. № 2494. (Scopus)

 

16 software programs developed for PC and inventions

  1. Method for indirect measurement of rotation angles in the operator’s hand joints, Patent 2700118 of 12.09.2019, Russian Federation.
  2. Control complex of an anthropomorphic manipulator, Patent 2710290 of 25/12/2019, Russian Federation.
  3. Data collection module for an exoskeleton complex. Gurchinsky M. M., Pavlov A. S., Ryabtsev S. S., Shutova Yu. a., Kabinyakov M. Yu., Utevsky N. Yu. Certificate of software registration 2019614546.
  4. Software for calculating the optimal value of the generalized coordinates of the anthropomorphic manipulator based on the criterion of energy consumption, for moving the effector to a given point. Petrenko V. I., Tebueva F. B., Antonov V. O., Gurchinsky M. M., Pyzhevsky D. E. Certificate of software registration 2018617980.
  5. Trajectory planning software for a three-link anthropomorphic manipulator based on interactive piece & linear approximation. Petrenko V. I., Tebueva F. B., Antonov V. O., Gurchinsky M. M. Certificate of software registration 2018617978.
  6. Software package for visualizing the trajectory of an anthropomorphic three-link manipulator in a 3D space with an obstacle. Petrenko V. I., Tebueva F. B., Antonov V. O., Gurchinsky M. M., Laskina E. N. Certificate of software registration 2018617979.
  7. Software for calculating the operator’s hand rotation angles based on the generalized coordinates of the copying-type master device in real time. Petrenko V. I., Tebueva F. B., Antonov V. O., Gurchinsky M. M., Pavlov A. S. Certificate of software registration 2018619861.
  8. Software for solving the inverse dynamics problem based on a predictive estimation of the operator’s hand movement. Petrenko V. I., Tebueva F. B., Antonov V. O., Gurchinsky M. M. Certificate of software registration 2018666426.
  9. 3D simulation model for an anthropomorphic manipulator interaction with the external environment objects. Petrenko V. I., Tebueva F. B., Antonov V. O., Rychkov V. O., Kabinyakov M. Yu. Certificate of software registration 2019617956.
  10. Modulefor transmitting control signals of an anthropomorphic manipulator. Gurchinsky M. M., Pavlov A. S., Suchkov V. B., Ryabtsev S. S., Nechvoloda V. E., Smykova V. N. Certificate of software registration 2019614468.
  11. Module for comparing exoskeletal complex data. Gurchinsky M. M., Pavlov A. S., Ryabtsev S. S., Shutova Yu. A., Nekrasova E. A., ShulyakYa. S. Certificate of software registration 2019614470.
  12. Exoskeletalcomplex data recording module. Gurchinsky M. M., Pavlov A. S., Ryabtsev S. S., Shutova Yu. A., Chaika E. A., Trofimyuk O. I. Certificate of software registration 2019614126.
  13. Exoskeletoncomplex connection module. Gurchinsky M. M., Pavlov A. S., Ryabtsev S. S., Shutova Yu. A., Chaika E. A., Smykova V. N. Certificate of software registration 2019614417.
  14. Module for reading values from exoskeletal complex nodes. Gurchinsky M. M., Pavlov A. S., Suchkov V. B., Ryabtsev S. S., Shutova Yu. A., Nechvoloda V. E. Certificate of software registration 2019614293.
  15. Software package for the exoskeletal complex. Tebueva F. B., Petrenko V. I., Antonov V. O., Rychkov V. O., Kabinyakov M. Yu., Buryanov A.V. Certificate of software registration 2019618240.
  16. Software package for the anthropomorphic manipulator control system. Petrenko V. I., Tebueva F. B., Antonov V. O., Rychkov V. O., Buryanov A. Certificate of software registration 2019618240

 

2 PhD works completed successfully

  1. Antonov V. O. Development of mathematical methods and algorithms for planning an energy-efficient way to move the manipulator of an anthropomorphic robot in the presence of a typical obstacle, 2018.
  2. Sychkov V. B. Methods and algorithms for data processing to improve the accuracy of target operations while managing anthropomorphic robot copying manipulators, 2019.

 

Potential Application

The development belongs to basic and critical military & industrial technologies for developing advanced weapons, military and special equipment according to the Russian list of critical technologies.