Authors: Q. Chen, T. Luo, A.A. Khoreshok, K.A. Varnavskiy, P. Liu, D.M. Kalabukhov, T. Xi, G. Wu

Title of the article: Research and design of a movement coordination controller in the human-machine system for active assisted exoskeleton robot for mining

Year: 2024, Issue: 2, Pages: 24-40

Branch of knowledge: 2.8.8 Mining machines, geotechnology (engineering)

Index UDK: 621.865.8

DOI: 10.26730/2618-7434-2024-2-24-40

Abstract: Miners face significant physical strain during their work due to the specific operating conditions of mining enterprises. They often have to move heavy objects, move around mine workings on foot with heavy equipment, and perform various production tasks in confined spaces and poor ventilation. In this paper, a controller design for a wearable human-machine collaboration system was developed for a prototype of an active exoskeleton for the mining industry. The design of the developed controller with variable resistance for the efficient and stable implementation of walking assistance functions was based on the central pattern generator (CPG). Thanks to the digital model of the controller and its subsequent verification, it was confirmed that the controller can effectively solve the problems of coordinating movements during the operation of the human-machine collaboration system. In addition, the test results showed that the controller is characterized by high reliability, low latency, and high recognition accuracy. Moreover, for a limited volume of available sample, the initial recognition accuracy can reach more than 98% with low power consumption for computing tasks, which indicates the potential for using this controller in real conditions in mining enterprises.

Key words: Mining Exoskeleton Robot Human-Machine Collaboration System Central Pattern Generator Variable Impedance Controller Simulation

Receiving date: 06.02.2024

Approval date: 15.05.2024

Publication date: 29.08.2024

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