Development of control for the ankle joint simulator applied to the problem on vertical posture balance of a human
Keywords:optimal controller, vertical balance of a human, functioning of ankle joint, joint simulator
The optimal ankle joint controller based on the model that describes the system of human vertical balance in response to small disturbances was developed. The method for optimization of the selection of control matrices was proposed, which leads to stabilization, taking into consideration the requirements of comfortable return of a human to the equilibrium position, minimization of the efforts of a simulator of the central nervous system (CNS).
With a view to understanding the ways of functioning of the CNS, the operation of its departments responsible for stabilization was analyzed, which makes it possible to apply this knowledge to the problem of the balance of the vertical posture. The research is limited to the study of functioning of the ankle joint in terms of its influence on the posture stabilization. The merit of this research is the development of a methodological platform for further simulation of functioning of the ankle, knee and hip joints in totality and determining the optimal choice of the CNS management strategy.
The research supports the hypothesis that at small disturbances in the sagittal plane, the key role in stabilization is played by the ankle joint. The law of the controller management was presented and its model implementation was carried out. To do this, we used the actual values of operating points, obtained based of the program platform of movements tracking Opti Flex Track 13 which simulates human movements in real time.The results are of value in the process of studying the vertical stabilization of a human. Simulation of operation of different muscle groups taken together is essential for rehabilitation of patients with CNS problems at reduced muscle activity. The results are useful for the design of a functional electrical CNS stimulation controller, development of the technical rehabilitation facilities for people who are at risk of falling
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