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\u27s 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\u27s 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\u27s equations of the second kind, and for the expressions for ki\uadneto-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 pro\uadblem of human gait dynamics with a below-knee prosthesis. The series of dynamics pro\uadblems for multibody biothechnical system "Man-Prosthesis" and optimization of struc\uadtural parameters of the artificial lower extremity of a man has been solved