Modelling of the human knee joint supported by active orthosis

• Autorzy: Musalimov V. , Monahov Y. , Tamre M. , Robak D. , Sivitski A. , Aryassov G. , Penkov I.

Identyfikatory

DOI

10.1515/ijame-2018-0007

• Języki publikacji: EN

Abstrakty

EN

The article discusses motion of a healthy knee joint in the sagittal plane and motion of an injured knee joint supported by an active orthosis. A kinematic scheme of a mechanism for the simulation of a knee joint motion is developed and motion of healthy and injured knee joints are modelled in Matlab. Angles between links, which simulate the femur and tibia are controlled by Simulink block of Model predictive control (MPC). The results of simulation have been compared with several samples of real motion of the human knee joint obtained from motion capture systems. On the basis of these analyses and also of the analysis of the forces in human lower limbs created at motion, an active smart orthosis is developed. The orthosis design was optimized to achieve an energy saving system with sufficient anatomy, necessary reliability, easy exploitation and low cost. With the orthosis it is possible to unload the knee joint, and also partially or fully compensate muscle forces required for the bending of the lower limb.

Słowa kluczowe

EN

knee joint; active orthoses; biomechatronics

PL

staw kolanowy; biomechatronika; orteza; modelowanie

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2018
• Tom: Vol. 23, no. 1
• Strony: 107--120
• Opis fizyczny: Bibliogr. 44 poz., rys., wykr.

Twórcy

autor

Musalimov V.

• Department of Mechatronics National Research University of Information Technology, Mechanics and Optics Saint-Petersburg, RUSSIA

autor

Monahov Y.

• Department of Mechatronics National Research University of Information Technology, Mechanics and Optics Saint-Petersburg, RUSSIA

autor

Tamre M.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Robak D.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Sivitski A.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Aryassov G.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

autor

Penkov I.

• School of Engineering, Tallinn University of Technology Ehitajate tee 5, 19086 Tallinn, ESTONIA

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018)