ACTIVE MODULES OF THE MEDICAL EXOSKELETON WITHPERMANENT MAGNET SYNCHRONOUS ELECTRIC DRIVE AND FIELD ORIENTED CONTROL SYSTEM 

Nikolenko Maxim Nikolayevich, postgraduate student, Novosibirsk State Technical University, E-mail: kinik33@mail.ru
Kotin Denis Alekseyevich, candidate of technical sciences, associate professor, sub-department of electric drive and industry automation, Novosibirsk State Technical University, E-mail: d.kotin@corp.nstu.ru 

621.316 

Background. The modular construction principle will ensure the availabil-ity of exoskeletons for medical applications as rehabilitation devices. The aim of the re-search work is proposing a general algorithm for designing active modules of modular medical exoskeletons, calculation the electromechanical part of the exoskeleton of the knee joint and designing a control system for this exoskeleton.
Materials and methods. Mathematical model of knee joint exoskeleton was composed to suite of studies the work of the exoskeleton in the virtual simulation environment of MatLab-Simulink.
Results. According to the results of digital model's research, the knee joint exoskeleton with permanent magnet synchronous electric drive and field oriented control strategy achieve the human step on a straight surface.
Conclusions. The design approaches of modular exoskeletons are consid-ered and the recommendations for electrical equipment choice are provided. The algorithm of control system based on field oriented approach to the designing of electric drive coordinates regulating is presented. The developed electromechanical part of the knee joint module can be used to build a medical exoskeleton of the human lower extremities. 

exoskeleton, medical exoskeleton, exoskeleton of the knee joint, vector control of the permanent magnet synchronous electric drive