Multibody systems modeling and optimization problems of lower limb prostheses

Paper in proceeding, 1996

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.