Analysis of the Effect of the Exoskeleton Geometrical Dimensions on the Nature of a Linear Compensator Operation

The article deals with some aspects of creating comfortable conditions that ensure optimal human performance and preservation of his health when using exoskeletons. In recent years, gravity compensators have become widespread in the design of exoskeletons, which increase the efficiency of such equipment. Further improvement of exoskeletons involves the development and creation of an optimal system of attachment of the compensator to the bearing frame of the exoskeleton. The article is devoted to the development of a method for determining the parameters of the fastening system based on modeling and studying the kinematics of motion of the exoskeleton links when performing various movements. Practical recommendations are given on the creation of a linear compensator installation system that provides comfortable conditions for the operator.