The operational processes in the pneumatic driven systems of the exoskeletons devices

Abstract

In this article, the principle design scheme of the exoskeleton devices based on the pneumatic driven system is suggested. Application of the "soft" pneumatic muscle actuators (pMas) with the proportional control allows to increase the number of performance modes, refine dynamics behaviors of the mechanical part and provide required safety level for the users. The basic operational processes in the pneumatic driven system of the exoskeleton devices are considered and analysis of the influence some constructive and exploitation parameters on the pneumatic actuator dynamic behaviors is researched. Mathematical modeling of the exoskeleton pneumatic driven system dynamic behaviors is implemented and given their quantitative and qualitative evaluation.