Modeling of human locomotion with artificial lower extremities

Paper i 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.