A Robotic Test Rig for Performance Assessment of Prosthetic Joints.
A Robotic Test Rig for Performance Assessment of Prosthetic Joints.
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DOI：
10.3389/frobt.2021.613579
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发表时间：
2021
影响因子：
3.4
通讯作者：
Jafari A
中科院分区：
文献类型：
--
作者：
Etoundi AC;Dobner A;Agrawal S;Semasinghe CL;Georgilas I;Jafari A
人体内的运动是通过连接肌肉骨骼系统的两个或多个元素的关节来实现的。失去这些连接中的一个或多个会严重限制移动性，这反过来会导致抑郁症和其他精神问题。由于创伤和糖尿病等疾病造成的下肢截肢人数急剧增加，这一点尤其重要。理想的假肢应该重建患者身体缺失部分的功能和运动。因此，必须对假体解决方案进行严格测试，以确保有效和可靠的使用。本文阐述了一个测试台的发展，功能和适用性，可以评估假肢和机器人关节的性能，通过循环动态加载其复杂的运动。为了确定该装置的有效性，选择了膝关节，因为它提供复合支撑和运动，使其成为人体内的主要关节之一，并且是确保假体质量的优秀对象。在器械系统内，电动丝杠模拟由腘绳肌-股四头肌拮抗肌对提供的驱动和关节经历的屈曲。负载和位置分别由称重传感器和接近传感器监测，确保动力学符合几何模型和步态分析。 背景：机器人，假肢，机电一体化，辅助生活。 方法：步态分析、计算机辅助设计、几何模型。 结论：模块化装置，简化康复。
Movement within the human body is made possible by joints connecting two or more elements of the musculoskeletal system. Losing one or more of these connections can seriously limit mobility, which in turn can lead to depression and other mental issues. This is particularly pertinent due to a dramatic increase in the number of lower limb amputations resulting from trauma and diseases such as diabetes. The ideal prostheses should re-establish the functions and movement of the missing body part of the patient. As a result, the prosthetic solution has to be tested stringently to ensure effective and reliable usage. This paper elaborates on the development, features, and suitability of a testing rig that can evaluate the performance of prosthetic and robotic joints via cyclic dynamic loading on their complex movements. To establish the rig’s validity, the knee joint was chosen as it provides both compound support and movement, making it one of the major joints within the human body, and an excellent subject to ensure the quality of the prosthesis. Within the rig system, a motorised lead-screw simulates the actuation provided by the hamstring-quadricep antagonist muscle pair and the flexion experienced by the joint. Loads and position are monitored by a load cell and proximity sensors respectively, ensuring the dynamics conform with the geometric model and gait analysis. Background: Robotics, Prosthetics, Mechatronics, Assisted Living. Methods: Gait Analysis, Computer Aided Design, Geometry Models. Conclusion: Modular Device, Streamlining Rehabilitation.