For citations:

Yatsun S.F., Pechurin A.S., Saveleva E.V. Mathematical modeling of the interaction of elements of an electromechanical multilink system using the example of a rehabilitation exoskeleton of the lower extremities. Proceedings of the Southwest State University. Series: IT Management, Computer Science, Computer Engineering. Medical Equipment Engineering. 2025;15(2):204-220. (In Russ.) https://doi.org/10.21869/2223-1536-2025-15-2-204-220