A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design.
A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design.
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DOI：
10.1109/mra.2019.2955740
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发表时间：
2020-03
影响因子：
5.7
通讯作者：
Lenzi T
中科院分区：
文献类型：
--
作者：
Gabert L;Hood S;Tran M;Cempini M;Lenzi T
机器人踝足假肢旨在通过密切模仿缺失的生物肢体的生物力学功能来改善膝下截肢者的活动能力。为了实现这一目标，他们必须在截肢过程中提供生物力学上准确的扭矩。此外，它们还必须满足其他要求，如结构高度、活动范围（ROM）和重量。这些要求对于确定潜在的用户数量、可执行的活动范围和临床结局至关重要。以前的研究已经提出通过使用具有串联和并联弹性致动器、离合器杠杆和气动人工肌肉的先进致动系统来解决这一挑战。这些先进的致动系统与传统的伺服电机相比已经显示出改善的机械和电气效率，使得动力踝关节假体成为可能。然而，效率的提高是以较高的构建高度、减小的ROM和重量的显著增加为代价的，因此限制了当前可用的动力假体的临床可行性。
Robotic ankle-foot prostheses aim to improve the mobility of individuals with belowknee amputations by closely imitating the biomechanical function of the missing biological limb. To accomplish this goal, they must provide biomechanically accurate torque during ambulation. In addition, they must satisfy further requirements such as build height, range of motion (ROM), and weight. These requirements are critical for determining the potential number of users, range of activities that can be performed, and clinical outcomes. Previous studies have proposed addressing this challenge through the use of advanced actuation systems with series and parallel elastic actuators, clutchable leverages, and pneumatic artificial muscles. These ad vanced actuation systems have shown improved mechanical and electrical efficiency compared to conventional servo motors, making powered ankle prostheses possible. However, the improved efficiency comes at the expense of a tall build height, reduced ROM, and significant increase in weight, thus limiting the clinical viability of currently available powered prostheses.
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影响因子：
4.3
作者：
Gabert, Lukas;Lenzi, Ibininaso
通讯作者：
Lenzi, Ibininaso
影响因子：
2.4
作者：
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DOI：
10.1098/rspb.2011.1194
发表时间：
2012-02-07
影响因子：
4.7
作者：
Herr, Hugh M.;Grabowski, Alena M.
通讯作者：
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影响因子：
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作者：
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通讯作者：
Sup, Frank C.
一个动力的假肢踝关节，用于行走和跑步。
影响因子：
3.9
作者：
Grimmer M;Holgate M;Holgate R;Boehler A;Ward J;Hollander K;Sugar T;Seyfarth A
通讯作者：
Seyfarth A