Semi-natural modeling uncovers dynamics in electric drives for hip and knee joints, suggesting improved safety and mobility.
The aim is to create a universal electric actuator for the hip and knee joints, to study the simultaneous operation of the system, and to compare the obtained transients with a previously created idealized mathematical model. The study was carried out by the method of semi-natural modeling. Mechanical and power units are made in the form of real devices. The control system is built using the Simulink software package in the MATHLAB environment. Communication be-tween the PC and the devices is carried out using an Atmega 328 microcontroller. The parameters of the control circuits are calculated. At this stage of the system construction, emulation of EMG sensor signals is used. The study showed that when comparing two models (mathematical and semi-natural), their transients coincide, which confirms the theoretical result in practice. Also, based on the data obtained, it is concluded that it is necessary to create an electrical connection between the electric drives of each degree of mobility in order to increase the dynamics and safety of the device being created.
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Loginov et al. (2025) studied this question.
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