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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Imprimir: 1064-2315
ISSN On-line: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v47.i4.70
pages 64-77

The Mathematical Modeling of the Human Gait with Ankle Hinged Orthosis

Miroslav V. Demydyuk
Ya.S. Podstrigach Institute of Applied Problems of Mechanics and Mathematics of National Academy of Sciences of Ukraine, Lvov, Ukraine
Bogdan A. Lytvyn
Ya.S. Podstrigach Institute of Applied Problems of Mechanics and Mathematics of National Academy of Sciences of Ukraine, Lvov, Ukraine

RESUMO

The mathematical model of the human gait with ankle hinged orthosis is built. The spring block is built-in into the orthosis design in order to increase unloading effect. The system of 9 rigid bodies (trunk and two two-link feet) joined by the cylindrical hinges is used for modeling. The active muscles forces and orthosis spring elastic forces are acting together in the orthosis joint. The elastic parameters stiffness optimization problem in order to minimize maximum value of the active forces torque (over double stride interval) in the orthotic joint is investigated. The methodology of the approximate solution construction of the formulated problem based on the generalized coordinates parametrization by the set of cubic smoothing splines, the inverse dynamic approach and numerical methods of the nonlinear mathematical programming is developed.


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