ПЛАНИРОВАНИЕ ДВИЖЕНИЙ МОДУЛЕЙ АКТИВНОГО ТРАНСФЕМОРАЛЬНОГО ПРОТЕЗА С ИСПОЛЬЗОВАНИЕМ МОДИФИЦИРОВАННОЙ МОДЕЛИ МИНИМАЛЬНОГО ИЗМЕНЕНИЯ ВРАЩАЮЩИХ МОМЕНТОВ

Abstract

It is known that limb movements during human motor activity are very stereotyped, which suggests that the effects of Bernsteins motor synergies are realized under the influence of the central nervous system. In this regard, a hypothesis was proposed about the possibility of synthesizing the so–called synergetic systems for controlling artificial limbs in order to eliminate the problem of their motor redundancy. One of the ways to synthesize such systems is based on the use of experimentally substantiated models that allow optimizing the movements of limb elements or their artificial analogs – prostheses. It was previously shown that the minimum jerk model, the minimum torque change model, and a number of other models, under boundary conditions describing a fixed position in space of the final target point of motion, are quite effective for modeling biosimilar movements of upper limbs. However, such models do not allow taking into account the possible change in the position of the target point in space during the movement. In this work, we evaluated the results of planning the movements of active transfemoral prosthesis at a non–fixed location in the space of the end target point using a modified model of the least change in torques. The use of such a model can be effective, for example, when an obstacle suddenly appears in the path of a disabled person and his intention is to bypass this obstacle. The results of numerical experiments indicate that the modified model of the smallest change in torques makes it possible to plan biosimilar movements of the lower extremities and their artificial analogs – prostheses.