Military Exoskeleton - Preliminary Kinematic Analysis
Journal Title: Problemy Mechatroniki. Uzbrojenie, lotnictwo, inżynieria bezpieczeństwa - Year 2014, Vol 5, Issue 3
Abstract
The first step in modelling exoskeleton as a type of mechatronic device has been shown in the paper. The military exoskeleton is a type of robot wearing by a soldier to support endurance and strength. Thorough literature analysis of the global constructions has been made since 1890 when the first patent Apparatus for facilitating walking, running and jumping had been reported. The main modern requirements of the exoskeleton construction have been determined and presented in this paper. As an example of motion analysis, the kinematics of one leg has been taken under consideration. Moreover, inverse kinematics problem has been solved using fuzzy logic. At the end, the results calculated with inverse kinematic equations and fuzzy logic have been compared.
Authors and Affiliations
Radosław BIELAWSKI, Paweł PISKUR
Keywords
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