FIELD: medicine.
SUBSTANCE: invention refers to medical equipment, namely to a method of controlling a torque preventing rotation of an actuator of an autoadaptive prosthesis assembly of a lower extremity. Method involves measurement of values of forces, moments and angles of orientation in the space of flexure nodes of the prosthesis of the lower extremity and mutual arrangement of the flexure nodes of the prosthesis of the lower extremity, obtained with the help of sensors of the prosthesis of the lower extremity. Method involves converting the results of measuring the values of forces, moments and orientation angles in the space of the flexure nodes of the lower extremity prosthesis and the relative position of the flexure nodes of the prosthesis of the lower extremity into a set of feature parameters. Method involves classification based on the results of comparing a set of parameters-signs with a set of reference metrics of types of motor activity of the required type of motor activity of the patient, which corresponds to a biomechanical norm. Method involves constructing, based on the classified type of motor activity, a prosthesis state machine consisting of motor activity phases and transitions between such motor activity phases. Method involves determining the current phase of motor activity, constructing a prediction of the maximum proximity of the values of forces, moments and orientation angles in the space of the flexure nodes of the prosthesis of the lower extremity to the biomechanical norm taking into account the classified type of motor activity. Method involves constructing a prosthesis state machine and the current phase of motor activity and, based on the constructed prediction, achieving maximum proximity of the values of forces, moments and orientation angles in the space of the flexure nodes of the prosthesis of the lower extremity to the biomechanical norm. Method involves issuing a command to actuators of the prosthesis to minimize deviations of forces, moments and orientation angles in space of flexure nodes of the prosthesis of the lower extremity and the relative location of the flexure nodes of the prosthesis of the lower extremity from the reference metric of the types of motor activity corresponding to the biomechanical norm.
EFFECT: minimization of deviation of prosthesis user movement parameters from normal human movement parameters.
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