Abstract
This article describes the alternative mathematical modelling of a human's leg by means of switched system approach. The leg is considered three joints connected by a rotational link. The novelty of each of the links being represented as a rectangular prism changing shape during motion introduces new possibilities of model application. Each of the links is represented as a rectangular prism which's shape depends on the three state coordinates - the angular displacements q1, q2 and q3. A design process is then made on the basis of switched system theory. In several steps we show the transition from the general equation of the three-link leg dynamics to the switched linear system where the switching rule depends on the state vector. A switching method is presented in schematics.
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