Modeling of human locomotion with artificial lower extremities

Paper in proceeding, 1994

To solve the problems of improvement of the existent and creation of new efficient lower limb prostheses, and to stu­dy effect of prosthesis design, as a special technical devi­ce, on kinematical dynamical energetical and other characte­ristics of amputee locomotion it is expedient to use wide ca­pabilities of mathematical modelling of a human walk process on a prosthetic limb. There was proposed earlier mathemati­cal models of biped walk having different degrees of adequa­cy in multitude of works. These models were used for diffe­rent purposes: investigation of kinematical dynamical and energetical characteristics of human gait, working out and creation of antropomorphic walking machines, etc. In the given paper a mathematical model has been proposed for investigation of dynamics of an amputee's locomotor sys­tem with a below-knee prosthesis. Based on this model computer program has been composed. The series of problems of dynamics of a two-leggal walking, calculation of consumption of energy on motion and optimization of elastic parameters of the prosthetic foot design have been solved.