Dynamics and optimal control of biotechnical systems "Man-Prosthesis"

• In the paper, a mathematical model is proposed for investigating the controlled motion of human locomotion system (HLS) with an above-knee prosthesis. To provide insight into the interaction between dynamics and control in biotechnical system Man-Prosthesis the energy­ optimal control problem of the HLS wearing a lower limb prosthesis has been con­sidered. The algorithm is based on special conversion of the optimal control problem for a nonlinear dynamical system which models HLS into a standard nonlinear programming problem. A number of energy-optimal control problems of hu­man locomotion with an artificial leg, and optimization problems for the constructive parameters of the prostheses under different boundary conditions and constraints have been solved. The numerical results obtained were compared with experimental data for normal human locomotion. The energy-optimal elastic and viscoelastic characteristics of the ankle and knee joints of the prostheses have been determined.

Ämnesord

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

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

NATURVETENSKAP  -- Matematik -- Beräkningsmatematik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Computational Mathematics (hsv//eng)

NATURVETENSKAP  -- Matematik -- Annan matematik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Other Mathematics (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

An above-knee prosthesis

Modelling of human locomotion system

Energy-optimal control

Optimal elastic parameters of the knee joint

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