FEASIBILITY OF AN ACTIVE CONTROL SCHEME FOR ABOVE KNEE PROSTHESES
FEASIBILITY OF AN ACTIVE CONTROL SCHEME FOR ABOVE KNEE PROSTHESES
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DOI：
10.1115/1.3426293
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发表时间：
1977-01-01
影响因子：
1.7
通讯作者：
DONATH, M
中科院分区：
文献类型：
--
作者：
GRIMES, DL;FLOWERS, WC;DONATH, M
膝上(A/K)截肢者使用传统假体的水平行走过程极大地影响了截肢者的活动能力。传统的假肢在站立阶段锁定超伸展，而不是自然肢体站立时的伸展-屈伸模式，这被认为是截肢者非整形步态和高能量消耗的来源。虽然在站立时高度伸展的锁定提供了稳定性以防止屈曲，但它要求患者跳过假肢。水平行走时的这种跳跃可能导致身体重心(C.G.)的较高垂直位移。并伴随着对截肢者更高的能量需求。本研究使用截肢者交互假体模拟系统来评估控制假体膝关节遵循正常膝关节位置模式的可行性。为了确保截肢者交互假肢模拟器系统不会引入步态异常，对系统进行控制以模拟常规假肢。这表明模拟器系统没有不良副作用，因为模拟器系统在“传统假体模式”下的行走试验数据与文献中的传统假体数据非常相似。然后，在水平行走试验中，两名年轻的主动截肢者测试了一种主动位置控制方案，该方案控制假体膝关节遵循正常的膝关节位置模式。受试者在主动控制方案下行走的困难很小，他们更喜欢采用主动控制方案的模拟器，而不是传统的假肢。测量方案的膝功率要求表明，这种控制类型在没有外部电源的情况下是可行的。然而，测量人体C.G.的垂直位移。主动控制方案下的步态与传统假体下的步态差别不大。看来，A/K截肢者能量需求的增加并不完全是由于假体膝关节没有伸屈伸展的位置。
The level walking process for an above knee (A/K) amputee with a conventional prosthesis greatly compromises the amputee’s mobility. The fact that conventional prostheses lock in hyperextension during the stance phase, in contrast to the extend-flexextend pattern during stance for the natural limb, has been suggested as a source of the amputee’s uncosmetic gait and high energy expenditure. While the lock in hyperextension during stance provides stability to prevent buckling, it requires the person to vault over the prosthetic limb. This vaulting during level walking may cause higher vertical displacements of the body center of gravity (c.g.) and accompanying higher energy requirements for the amputee. This investigation employs an amputee-interactive prosthesis simulator system to evaluate the viability of controlling the prosthetic knee joint to follow a normal knee position pattern. In order to insure that the amputee-interactive prosthesis simulator system does not introduce gait anomalies, the system was controlled to simulate a conventional prosthesis. This showed that the simulator system has no undesired side effects since data from walking trials with the simulator system in “conventional prosthesis mode” are very similar to data from conventional prostheses in the literature. Then, an active position control scheme which controls the prosthetic knee joint to follow a normal knee position pattern was tested by two young, active amputees in level walking trials. The subjects experienced very little difficulty in walking with the active control scheme and preferred the simulator with the active control scheme to their conventional prostheses. Measured knee power requirements for the scheme indicate that this type of control is feasible without external power sources. However, measurements of the vertical displacement of the body c.g. show little difference between gait with the active control scheme and gait with a conventional prosthesis. It appears that the increased energy requirements for A/K amputees are not due in total to the lack of the extend-flex-extend position profile at the prosthetic knee joint.