Multibody systems modeling and optimization problems of lower limb prostheses

• To study the effect of prosthesis design on the kinematic, dynamic, energetic and other characteristics of an amputee's locomotion and to improve and create new efficient lower limb prostheses it is expendient to use mathematical modeling of a human walk process and dynamic optimization techniques. In this paper a mathematical model is proposed for investigating the dynamics of a man's skeletal system (MSS) with a below-knee prosthesis. A MSS is simulated by a plane controlled dynamic system of rigid masses. The controlled motions of the system are described by Lagrange's equations of the second kind, and for the expressions for ki­neto-static balance of the prosthesis under the action of ankle and metatarsal moments and the forces of reactions are derived. An algorithm is construced for solving the pro­blem of human gait dynamics with a below-knee prosthesis. The series of dynamics pro­blems for multibody biothechnical system "Man-Prosthesis" and optimization of struc­tural parameters of the artificial lower extremity of a man has been solved.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik -- Teknisk mekanik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering -- Applied Mechanics (hsv//eng)

MEDICIN OCH HÄLSOVETENSKAP  -- Medicinsk bioteknologi -- Annan medicinsk bioteknologi (hsv//swe)

MEDICAL AND HEALTH SCIENCES  -- Medical Biotechnology -- Other Medical Biotechnology (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Prosthesis design

Optimization of below-knee prostheses

Gait dynamics

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