RU2750015C1 - Device and method for polyfunctional modeling of nervous-muscular apparatus - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: inventions group relates to medicine, namely to devices for multifunctional modeling of the neuromuscular apparatus. The device is represented by muscle models attached to movably connected kinematic links, a control unit, sensors, and a system for maintaining an optimal operating temperature. In the device for polyfunctional modeling of the neuromuscular apparatus, muscle models have sensors, channels for the system to maintain the optimal operating temperature, sections for securing components that apply traction, as well as wiring to sensors and components that apply traction from integrated circuits and integrated circuit components. The method for polyfunctional modeling of the neuromuscular apparatus consists in the fact that in the device for polyfunctional modeling of the neuromuscular apparatus biological feedbacks and dynamic formations of functional connections carried out by the neuromuscular apparatus of living beings are simulated when solving motor problems.

EFFECT: creation of a device that simulates the neuromuscular apparatus, which can be used to create robots, robotic and biocybernetic systems.

15 cl, 11 dwg

Description

RELATED INVENTION

The submitted invention application is interconnected with the invention application METHOD FOR ASSESSING THE LEVEL OF FUNCTIONAL CONNECTION AND SYMMETRICITY OF MUSCLE GROUPS for the grant of the patent of the Russian Federation No. 2019107901 filed on March 20, 2019.

FIELD OF TECHNOLOGY

The invention relates to the field of robotics, namely to biological cybernetics, the section of modeling the control processes of complex objects. The technical result consists in obtaining a device that simulates the neuromuscular apparatus, which can be used to create robots, robotic and biocybernetic systems.

LEVEL OF TECHNOLOGY

The device and method for polyfunctional modeling of the neuromuscular apparatus refers to one of the devices and methods for modeling muscles and the neuromuscular apparatus.

There are a large number of methods for modeling muscles and the neuromuscular apparatus, the most common of which are: mathematical modeling, computer modeling based on specialized programs, graphic modeling and physical modeling. The highest peak of modeling of motor activity is physical modeling of the neuromuscular apparatus, used in robotics. All devices that physically simulate muscles can be divided into groups: servos, actuators as analogs of muscles, pneumomuscles, and polymer muscles.

Analysis of the issue showed that the idea of using inductors or so-called solenoids for muscle modeling is not new. Known device according to the description to the copyright certificate SU No. 901611 A1, publ. 01/30/1982, "AA Kozlov electrohydraulic drive", containing chambers with elastic walls filled with liquid ferromagnet, equipped with electric windings, consisting of inductance coils connected in series or according to the description of the invention to the inventor's certificate RU No. 2372056, publ. November 10, 2009 "Artificial muscle" containing chambers with elastic walls, filled with a substance with ferromagnetic properties and having electrically conductive windings.

Close enough to the proposed invention are many devices that simulate muscles, implying the supply of electric current of various frequencies and voltages from integrated circuits with components to servomotors or actuators that provide movement of parts and kinematic links of the robot.

The listed inventions have drawbacks: firstly, they do not rely comprehensively on the development of a number of scientific fields with the use of a logical combination of fundamental data; secondly, they do not disclose the algorithm for the change and interaction of electromagnetic fields between sarcomeres and inside sarcomeres, which provide a process of complex intramuscular coordination, which is based on the manifestations of various values of traction force, contraction rate, and energy recuperation in different types of work.

Also, there are attempts to recreate control algorithms for the neuromuscular apparatus of living beings, such as, for example, the control program known from the description of the inventor's certificate RU No. 2364385 C2, publ. 08/20/2009, using a digital interpretation of the electromyochronogram. But the proposed device and software does not take into account that each sarcomere not only perceives changes in electric current - voltage and frequency transmitted from the central nervous system along the nerves, but also is a "sensor" of increased sensitivity of changes in the level of contraction, closed on the main channels of electricity supply, organized according to the principle of feedback.

All known complex robotic and biocybernetic systems have a principle of operation that is fundamentally different from the principle of functioning of the neuromuscular apparatus of living beings. Namely, as a rule, a coordinate system is established for them in space, along which the motor action is carried out, which leads to a limitation of autonomy.

At this stage in the development of biological cybernetics, namely, the section that solves the problem of modeling the neuromuscular apparatus of living beings, there is information about fundamental data that make it possible to develop software based on the use of digital interpretation of electromyochronogram.

There is no information in the literature on the development of a universal multifunctional matrix applicable in modeling the neuromuscular apparatus, with software that recreates algorithms for the fragmentation of electromagnetic fields that occur in muscles during their work, and a protection algorithm that avoids breakdowns in protein structures.

The purpose of the invention: improving the characteristics and parameters of the model of the neuromuscular apparatus of robotic and biocybernetic systems.

DISCLOSURE OF THE INVENTION

PROBLEM WHICH SHOULD BE SOLVED BY THE INVENTION

In the proposed invention, when the device is activated and its initialization is performed, the kinematic parameters are currently known values. After setting the goal of the motor action, a phased implementation of the method of polyfunctional modeling of the neuromuscular apparatus is carried out, which consists in recreating in the device not only external biological feedbacks, but also internal ones. That is, the information received about the location of the kinematic links of the device is calculated based on data obtained from numerous sensors built into the frameworks that simulate muscles, then, in one of the device blocks, the obtained digital code is compared with the reference data, which, in turn, provide influence on the parameters of the electric current supplied to the functional units of the device, providing movement according to the principle of feedback.

However, in order to provide the invention, it is necessary to solve one of the presented, or several, problems or in any combination of them:

optimal correspondence of the architectonics of the functional units of the device that provide movement, the architectonics of the structures that control them, taking into account the properties of the materials used in the structure;

optimal correspondence of the architectonics of the device for polyfunctional modeling of the neuromuscular apparatus to the method of polyfunctional modeling. The solution to this problem raises questions related to modeling not only external, visible biological feedbacks associated with a change in the position of kinematic links in space, but also internal, namely energy characteristics within the framework of intersystem and intrasystem interactions;

in the step-by-step implementation of tasks to achieve the motor goal set by the operator, it is necessary to solve the problem of developing a control system that could combine all the characteristics in the necessary time intervals for symmetric-asymmetric power supply to the structures that apply the traction force to the kinematic links of the device, depending on the set motor tasks;

solving the problem of an actual digital database of any motor action with the greatest number of motor reactions to a changing situation in the surrounding space with the possibility of its constant expansion;

reconstruction of the algorithm for the fragmentation of electromagnetic fields occurring in the muscles during their work and the protection algorithm that ensures intramuscular coordination.

MEANS TO SOLVE THE PROBLEM

According to one of the objects of the invention, it is proposed a device for multifunctional modeling of the neuromuscular apparatus, consisting of functional units, components of a robotic system, as well as at least muscle models that are attached to movably connected kinematic links, a control unit, sensors. Full-size muscle models include sensors, channels for the system to maintain optimal operating temperature, sections for securing components that apply traction, and wiring to sensors and structures that apply traction from integrated circuits with components.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be made in such a way that in the device for polyfunctional modeling of the neuromuscular apparatus, the muscle models have frames of increased mobility of a telescopic structure.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be designed in such a way that in the device for polyfunctional modeling of the neuromuscular apparatus of the muscle model there are frames of increased mobility, made in the form of a shell that forms both an external shape and an internal structure, due to the fact that that the shell surrounds the components that make up the artificial muscle.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be made in such a way that in the device for polyfunctional modeling of the neuromuscular apparatus, the muscle models are equipped with solenoids having threads for the movement of the core.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be designed in such a way that the device for polyfunctional modeling of the neuromuscular apparatus has hermetic channels of the system for maintaining the optimal operating temperature.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be designed in such a way that the device for polyfunctional modeling of the neuromuscular apparatus has channels for the system for maintaining the optimal operating temperature and the structure of the electromagnetic field, made in the form of gaps between the components.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be designed in such a way that in the device for polyfunctional modeling of the neuromuscular apparatus, the control unit is represented by an integrated circuit with additional relay components.

The above-mentioned device for multifunctional modeling of the neuromuscular apparatus can be made in such a way that in the device for polyfunctional modeling of the neuromuscular apparatus, the control unit is represented by a specialized hybrid high-voltage processor, where additional relay components and microcontrollers are combined into a formation.

The above-mentioned device for polyfunctional modeling of the neuromuscular apparatus can be designed in such a way that a data transmission unit is built into the device for polyfunctional modeling of the neuromuscular apparatus for controlling the device by the operator.

The above-mentioned device for multifunctional modeling of the neuromuscular apparatus can be made in such a way that in its design it has components that accept a digital interpretation of biomechanical characteristics from the operator's suit of the device for polyfunctional modeling of the neuromuscular apparatus, in the material of which electromyographic electrodes and biomechanical control sensors are embedded according to the complementary scheme location.

According to the method for polyfunctional modeling of the neuromuscular apparatus, which consists in the fact that biological feedbacks and dynamic formations of functional connections are modeled by the device for polyfunctional modeling of the neuromuscular apparatus, carried out by the neuromuscular apparatus of living beings when solving any motor problems. Namely, in the device for polyfunctional modeling of the neuromuscular apparatus, from the electric circuit in which the integrated circuits with their components are included, an electric current is supplied to the structures that apply the traction force to the kinematic links of the device, in such a way that it was possible to form working groups from the structures, applying traction force of any combinations and configurations by implementing algorithms of a matrix structure with feedback based on a digital code containing data on symmetric-asymmetric changes in electric current parameters in specified time intervals.

In one of the embodiments of the invention, which provides a solution to one or more of the indicated problems or reduces them, there is proposed a method for multifunctional modeling of the neuromuscular apparatus, which consists in the fact that the calculations performed by the control program for the multifunctional modeling of the neuromuscular apparatus were performed in this way that it was possible that the effect of polyfunctionality in the formation of working groups from the components applying the traction force could have arisen in the artificial muscles.

In one of the embodiments of the invention, which provides a solution to one or more of the indicated problems or reduces them, there is proposed a method for multifunctional modeling of the neuromuscular apparatus, which consists in the fact that the calculations performed by the control program for the multifunctional modeling of the neuromuscular apparatus were performed as follows in such a way that it was possible that the effect of fragmentation of electromagnetic fields could arise in artificial muscles not only between the working groups formed from the components applying the traction force, but also within the working groups by the presented components applying the traction force.

In one of the embodiments of the invention, which provides a solution to one or more of the indicated problems or reduces them, a method for multifunctional modeling of the neuromuscular apparatus is proposed, which consists in the fact that when performing any motor action by the device for multifunctional modeling of the neuromuscular apparatus, the implementation of the feeding algorithm electricity to the structures applying the traction force, based on the analysis of the oscillogram obtained from the structures applying the traction force, divided into time intervals, which consists in calculating the coefficients of functional asymmetry:

,

,

where KA 1.1 is the coefficient of functional asymmetry of muscle models acting as agonists;

CA 1.2 - coefficient of functional asymmetry of muscle models acting as antagonists;

A - the number of changes on the oscillogram on the right (agonist);

B - the number of changes in the oscillogram on the left (agonist);

C - the number of changes in the oscillogram on the right (antagonist);

D - the number of changes in the oscillogram on the left (antagonist),

coefficients of asymmetry and conjugation of muscle models:

,

,

where CA 2.1 is the coefficient of asymmetry, taking into account the interactions between muscle models in the agonist-antagonist system;

KA 2.2 - coefficient of asymmetry, taking into account intergroup interactions of agonist-antagonist muscle models and the number of simultaneous changes in time intervals during the established measurement;

A - the number of changes in the waveform on the right (agonist);

B - the number of changes in the oscillogram on the left (agonist);

C - the number of changes in the oscillogram on the right (antagonist);

D - the number of changes in the oscillogram on the left (antagonist);

E - the number of simultaneous changes in the waveform of the agonist and antagonist on the right;

F is the number of simultaneous changes in the oscillogram of the agonist and antagonist on the left, the average statistical values of all obtained asymmetry coefficients, which determines the symmetry-asymmetry factor of each muscle model separately:

,

,

where A is the number of changes in the waveform on the right, agonist;

Ap - the number of changes in the oscillogram on the right, agonist in the previous time interval;

B - the number of changes in the oscillogram on the left, agonist;

Bp - the number of changes in the waveform on the left, agonist, in the previous time interval;

C - the number of changes in the oscillogram on the right, antagonist;

Ср - the number of changes in the oscillogram on the right, antagonist, in the previous time interval;

D - the number of changes in the oscillogram on the left, antagonist;

Dp - the number of changes in the waveform on the left, antagonist, in the previous time interval,

moreover, the obtained values form the core of the polyfunctional matrix, which are compared with the data characterizing the location of the kinematic links of the device in space and the criteria of their interaction with the surrounding objects, exclusively aimed at solving the motor problem of the device specified by the user.

In one of the embodiments of the invention, which provides a solution to one or more of the indicated problems or reduces them, a method for multifunctional modeling of the neuromuscular apparatus is proposed, which consists in the fact that when performing any motor action, in the case when the device for multifunctional modeling of the neuromuscular the device operates using the biomechanical characteristics of the operator, the mechanical characteristics of the device for multifunctional modeling of the neuromuscular apparatus are analyzed in relation to the biomechanical characteristics of the operator with the calculation of the proportionality coefficients of the size:

×

,

×

,

where KPS is the proportionality factor of the size;

Vm is the user's muscle volume;

Vsg is the volume of the simulated operator's muscle;

Vs is the volume of one structural unit applying the traction force;

Vsa - average volume of the sarcomere, proportionality coefficients of speed characteristics:

,

,

where KPW - coefficients of proportionality of speed characteristics;

Ws - angular velocity of the kinematic link of the device;

Wm - angular velocity of the user's kinematic link,

proportionality coefficients of power characteristics:

,

,

where KPF - coefficient of proportionality of power characteristics;

Fs is the force exerted during the operation of the kinematic link of the device;

Fm is the force exerted during the operation of the user's kinematic link, proportionality coefficients, structural stability:

,

,

where KPT is the coefficient of proportionality of structural stability;

Ts is the time from the start of operation to the temperature at which critical changes in the physical properties of the device occur;

Tm - the time from the start of work to the inability to effectively perform motor actions,

proportionality coefficients of energy stability:

,

,

where KPE - coefficients of proportionality of energy stability;

ΔEs - the number of changes in the oscillogram obtained from the simulated working muscle in the specified time interval;

ΔEm - the number of changes in the electromyogram envelope obtained from the user's working muscle in the specified time interval;

VBs is the time of increased electrical activity of the components applying the traction force;

VBm - the time of increased electrical activity of the user's body surface area during muscle work,

Moreover, on the basis of the obtained values of the proportionality coefficients, calculations of the correlation relationships with the values of the core of the polyfunctional matrix are made.

EFFECTS OF THE INVENTION

According to embodiments of the invention, when the control unit can control the driving structures based on a multifunctional matrix, in which the substitution of digital parameters has been made in such a way that it is possible to perform biofeedback modeling.

A sufficient effect can be demonstrated in accordance with the method of multifunctional modeling of the neuromuscular apparatus, when the obtained biomechanical parameters of the operator acquire a digital interpretation and are applied in the software of the device.

In addition, according to embodiments of the invention, the user can control the neuromuscular apparatus without using the biomechanical characteristics of the operator, when the control unit has access to the digital code of the motor action that was previously stored on the storage medium.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 shows a device for multifunctional modeling of the neuromuscular apparatus, according to this embodiment of the invention, when the device completely simulates the neuromuscular apparatus of a person.

FIG. 2 is a front view, shows the kinematic links of the device for multifunctional modeling of the neuromuscular apparatus without muscle models, according to this embodiment of the invention, when the device simulates the neuromuscular apparatus of the upper shoulder girdle of a person.

FIG. 3 shows a full-length model of the human biceps brachii.

FIG. 4 shows a diagram of one of the variants of the arrangement of the components applying the traction force, characterized in that the muscle models have frames of increased mobility of a telescopic structure.

FIG. 5 shows a diagram of one of the variants of the arrangement of the components that form the traction force, characterized in that the artificial muscles have frames of increased mobility, made in the form of a shell.

FIG. 6 shows a sectional view of a solenoid having a thread in its design along which the working fluid moves.

FIG. 7 shows a control unit represented by a dedicated high voltage hybrid processor.

FIG. 8 shows the connection diagram of the simplest motor unit.

FIG. 9 shows a drawing of a suit and video glasses of an operator of a device for multifunctional modeling of the neuromuscular apparatus.

FIG. 10 shows the areas of the location of electromyographic electrodes, according to the complementary arrangement.

FIG. 11 shows a table with an example of the code of the 3rd and 4th level of the polyfunctional matrix.

DESCRIPTION OF SYMBOLS

1 - device for multifunctional modeling of the neuromuscular apparatus

2 - full-length muscle model

3 - movably connected kinematic link

4 - channel of the system for maintaining optimal operating temperature

5 - control unit

6 - power supply

7 - data transmission unit

8 - rack

9 - Full Size Tendon Model

10 - full size brush model

11 - propulsion unit, represented by a group of components that apply a thrust force

12 - channel for wiring

13 - microsolenoid

14 - the gaps between the components of the artificial muscle

15 - section for fixing the components applying the traction force

16 - elastic shell

17 - solenoid coil

18 - composite core

19 - threaded rod

20 - pressure sensor

21 - polymer spring

22 - segments of the solenoid coil winding

23- negative voltage connectors

24-connectors for analog data and energy recovery

25- positive voltage connectors

26 - layer of microcontrollers

27 - layer of relay components

28 - superconductor

29 - composite shell

30 - wiring

31 - temperature sensor

32 - oscilloscope sensor

33 - operator's suit

34 - video glasses

35 - muscle

36 - area of the muscle head

37 - abdominal muscle zone

38 - tail muscle zone

39 - electromyographic microsensor built into the fabric of the operator's suit.

Claims (74)

1. A device for polyfunctional modeling of the neuromuscular apparatus, represented by functional units, components of a robotic system, as well as at least muscle models attached to movably connected kinematic links, a control unit, sensors, a system for maintaining optimal operating temperature, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, muscle models have sensors, channels for the system for maintaining the optimal operating temperature, sections for fixing the components that apply the traction force, as well as the wiring going to the sensors and components that apply the traction force from the integrated circuits and integrated circuit components ... 2. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, the muscle models have frames of a telescopic structure. 3. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, the muscle models have frameworks made in the form of a shell that forms both the external shape and the internal structure, due to the fact that that the shell surrounds the components that make up the artificial muscle. 4. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, the muscle models are equipped with solenoids having threads for the movement of the core. 5. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that the device for polyfunctional modeling of the neuromuscular apparatus has hermetic channels of the system for maintaining the optimal operating temperature. 6. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that the device for polyfunctional modeling of the neuromuscular apparatus has channels for the system for maintaining the optimal operating temperature and the structure of the electromagnetic field, made in the form of gaps between the components. 7. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, the control unit is represented by an integrated circuit with additional relay components. 8. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in the device for polyfunctional modeling of the neuromuscular apparatus, the control unit is represented by a high-voltage hybrid processor, where additional relay components and microcontrollers are combined into a layer. 9. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that a data transmission unit is built into the device for polyfunctional modeling of the neuromuscular apparatus for controlling the device by the operator. 10. The device for polyfunctional modeling of the neuromuscular apparatus according to claim 1, characterized in that in its design it has components that accept a digital interpretation of biomechanical characteristics from the operator's suit of the device for polyfunctional modeling of the neuromuscular apparatus, into the material of which electromyographic electrodes and biomechanical control sensors are embedded according to the complementary arrangement. 11. The method of polyfunctional modeling of the neuromuscular apparatus, which consists in the fact that in the device for polyfunctional modeling of the neuromuscular apparatus biological feedbacks and dynamic formations of functional connections are modeled, carried out by the neuromuscular apparatus of living beings when solving motor problems, characterized in that in a device for multifunctional modeling of the neuromuscular apparatus from an electric circuit, in which integrated circuits and integrated circuit components are included, an electric current is supplied to the components applying the traction force, so that it is possible to form working groups from the components applying the traction force by implementing algorithms a matrix structure with feedback based on a digital code containing data on symmetric-asymmetric changes in the parameters of electric current in specified time intervals. 12. The method of polyfunctional modeling of the neuromuscular apparatus according to claim 11, characterized in that the calculations performed by the control program for the polyfunctional modeling device of the neuromuscular apparatus were performed in such a way that the effect of polyfunctionality of the formation of working groups from components could appear in artificial muscles applying a traction force. 13. The method of polyfunctional modeling of the neuromuscular apparatus according to claim 11, characterized in that the calculations performed by the control program for the multifunctional modeling of the neuromuscular apparatus were performed in such a way that the effect of fragmentation of electromagnetic fields could occur in artificial muscles not only between formed by the working groups from the components applying the thrust force, but also within the working groups from the components applying the thrust force. 14. The method of polyfunctional modeling of the neuromuscular apparatus according to claim 11, characterized in that when the motor action is performed by the polyfunctional modeling device of the neuromuscular apparatus, an algorithm for supplying electricity to the components applying the traction force is implemented based on the analysis of the oscillogram divided into time intervals , which consists in calculating the coefficients of functional asymmetry:

, where KA 1.1 is the coefficient of functional asymmetry of muscle models acting as agonists; CA 1.2 - coefficient of functional asymmetry of muscle models acting as antagonists; A - the number of changes on the oscillogram on the right (agonist); B - the number of changes in the oscillogram on the left (agonist); C - the number of changes in the oscillogram on the right (antagonist); D - the number of changes in the oscillogram on the left (antagonist), the coefficients of asymmetry and conjugation of muscle models:

, where CA 2.1 is the coefficient of asymmetry, taking into account the interactions between muscle models in the agonist-antagonist system; KA 2.2 - coefficient of asymmetry, taking into account intergroup interactions of agonist-antagonist muscle models and the number of simultaneous changes in time intervals during the established measurement; A - the number of changes in the waveform on the right (agonist); B - the number of changes in the oscillogram on the left (agonist); C - the number of changes in the oscillogram on the right (antagonist); D - the number of changes in the oscillogram on the left (antagonist); E - the number of simultaneous changes in the waveform of the agonist and antagonist on the right; F is the number of simultaneous changes in the oscillogram of the agonist and antagonist on the left, the average statistical values of all obtained asymmetry coefficients, which determines the symmetry-asymmetry factor of each muscle model separately:

, where A is the number of changes in the waveform on the right, agonist; Ap - the number of changes in the oscillogram on the right, agonist in the previous time interval; B - the number of changes in the oscillogram on the left, agonist; Bp - the number of changes in the waveform on the left, agonist, in the previous time interval; C - the number of changes in the oscillogram on the right, antagonist; Ср - the number of changes in the oscillogram on the right, antagonist, in the previous time interval; D - the number of changes in the oscillogram on the left, antagonist; Dp - the number of changes in the oscillogram on the left, the antagonist, in the previous time interval, and the obtained values form the core of the polyfunctional matrix, which are compared with the data characterizing the location of the kinematic links of the device in space and the criteria for their interaction with surrounding objects, exclusively aimed at solving the motor problem, user-defined device. 15. The method of polyfunctional modeling of the neuromuscular apparatus according to claim 11, characterized in that when performing any motor action by the device, in the case when the device for multifunctional modeling of the neuromuscular apparatus functions using the biomechanical characteristics of the operator, the analysis of the mechanical characteristics of the device for polyfunctional neuro-modeling is performed. -muscular apparatus relative to the biomechanical characteristics of the operator with the calculation of the proportionality coefficients of the size

×

, where KPS is the proportionality factor of the size; Vm is the user's muscle volume; Vsg is the volume of the simulated operator's muscle; Vs is the volume of one structural unit applying the traction force; Vsa is the average volume of the sarcomere, proportionality coefficients of speed characteristics:

, where KPW - coefficient of proportionality of speed characteristics; Ws - angular velocity of the kinematic link of the device; Wm - angular velocity of the user's kinematic link, proportionality coefficients of power characteristics:

, where KPF - coefficient of proportionality of power characteristics; Fs is the force exerted during the operation of the kinematic link of the device; Fm is the force exerted during the operation of the user's kinematic link, proportionality coefficients of structural stability:

, where KPT is the coefficient of proportionality of structural stability; Ts is the time from the start of operation to the temperature at which critical changes in the physical properties of the device occur; Tm - the time from the start of work to the inability to effectively perform motor actions, proportionality coefficients of energy stability:

, where KPE is the coefficient of proportionality of energy stability; ΔEs - the number of changes in the oscillogram obtained from the simulated working muscle in the specified time interval; ΔEm is the number of changes in the electromyogram envelope obtained from the user's working muscle in a specified time interval; VBs is the time of increased electrical activity of structures applying traction; VBm - the time of increased electrical activity of the user's body surface area during muscle work, Moreover, on the basis of the obtained values of the proportionality coefficients, calculations of the correlation relationships with the values of the core of the polyfunctional matrix are made.

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