000014147 001__ 14147 000014147 005__ 20161115100142.0 000014147 04107 $$aeng 000014147 046__ $$k2016-08-21 000014147 100__ $$aFormalskii, Alexander 000014147 24500 $$aCrutch walking: experiments, mathematical modeling 000014147 24630 $$n24.$$p24th International Congress of Theoretical and Applied Mechanics - Book of Papers 000014147 260__ $$bInternational Union of Theoretical and Applied Mechanics, 2016 000014147 506__ $$arestricted 000014147 520__ $$2eng$$aUsing a motion capture system, a human walking with the crutches can be registered. After this, using obtained trajectories, the variations of the angles in the joints of human as functions of time can be calculated. We use also the force platforms to measure the support reactions applied to ... five heavy links ± body, two thighs and two shins ± and attached weightless feet and weightless crutches is studied as the mathematical model of the human with crutches. By solving the inverse dynamics problem, we find the torques developed at the joints and creating power torques. They can be used for choosing actuators for the joints of medical exoskeleton. The inter-link angles obtained experimentally can be used as tracked programmed trajectories for the organization of the motion of an exoskeleton put on a paraplegic. 000014147 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb. 000014147 653__ $$a 000014147 7112_ $$a24th International Congress of Theoretical and Applied Mechanics$$cMontreal (CA)$$d2016-08-21 / 2016-08-26$$gICTAM2016 000014147 720__ $$aFormalskii, Alexander 000014147 8560_ $$ffischerc@itam.cas.cz 000014147 8564_ $$s156534$$uhttps://invenio.itam.cas.cz/record/14147/files/PO.SM01-1.03.194.pdf$$yOriginal version of the author's contribution as presented on CD, page 1711, code PO.SM01-1.03.194 . 000014147 962__ $$r13812 000014147 980__ $$aPAPER