MODELLING OF THE CONTROL SYSTEM OF A TRANSFEMORAL PROSTHESIS OF THE HUMAN LOWER LIMB

Modern global challenges that have arisen as a result of military operations, associated with the presence of severe injuries, in particular the loss of normal functioning of limbs, require the use of automated technical devices and systems that help the patient restore the ability to move. In addition, severe infectious diseases that accompany the existing conditions of human life, some types of injuries and the general circumstances of human existence in war conditions, lead to severe psychological stress, which leads to disorders of the nervous system with the loss of normal movement. The creation of lower limb prostheses for high-level amputations (transfemoral) is a separate and rather complex task. In this case, it is critically important to have a control system to simulate movements that could be performed naturally. This includes dynamic adjustment based on data on load, position, speed and other physiological parameters. Modelling the control system of the lower limb’s automated transfemoral prosthesis is an extremely important modern problem, which can actually be performed on the basis of a combination of tasks of biomechanics, robotics, medicine and engineering, that is, the actual formation of an automated mechatronic system. It is important to determine the features of creating modern transfemoral prostheses, optimizing the parameters of the control system necessary for the effective functioning of these devices. The paper analyzes the methods of ensuring the operation of an automated transfemoral prosthesis in order to optimize the main characteristics of the control system. Thus, some of the most important parameters of the system are considered, which are designed to ensure improved reliability and durability of prostheses, increase the level of comfort of daily use, use of light and durable materials, improve the interaction between the prosthesis and the user. Thus, studies of the durability of the prosthesis are designed to optimize its weight according to minimization criteria. Based on the conducted studies of the analysis of load distribution in the prosthetic transfemoral part of the lower limb, parameters for minimizing the mass of the prosthesis part while maintaining its strength are proposed, and the results of the study of frames are presented. The results of modelling the optimization of an automated control system for transfemoral prostheses taking into account gait defects using the Particle Swarm Optimization method are presented in order to select parameters that improve the operation of such prostheses considering the structural and psychological aspects of their application.