The method of intersegment estimation of the motion patterns from kinematic trajectories registered by exoskeleton system tools

The paper considers the method of intersegment estimation of the operator's motion patterns from kin-ematic trajectories registered by the exoskeleton system tools (further EXO). Its purpose is due to the task of detecting and classifying the movements of the operator of the exoskeleton physical perfor-mance support system in real time for predictive control of the structure executive elements and for forecasting the further human-machine system state. The paper defines kinematic trajectories as limb segment motion projections on the Cartesian coor-dinate system planes. Such projections are grouped by affiliation to the described plane and to the limb segment and represent the informational model of the investigated motion. This statement is also true for the expected motion model expressed in the same way as trajectory patterns. In the framework of the problem of defining motion patterns, the authors propose the method of in-tersegment estimation of kinematic trajectories. The method is based on achievements in biomechanics of human motions, especially in the part of kinematic-cyclic research. The main idea is the search of motion signs represented by one pattern or an ordered sequence in the trajectories described by the limb segments in frontal or sagittal planes. Digital signal processing area is used as basic algorithms for defining motion patterns. The developed method is presented in the form of a model that is the basis of a software prototype. The paper also presents the results of the prototype approbation on empirical da-ta received by the exoskeleton system research platform.