A Robotic Model of Transfemoral Amputee Locomotion for Design Optimization of Knee Controllers
A Robotic Model of Transfemoral Amputee Locomotion for Design Optimization of Knee Controllers
复制标题
用于膝关节控制器设计优化的跨股截肢者运动机器人模型
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
H. Zohoor
中科院分区：
文献类型：
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作者：
M. A. Shandiz;F. Farahmand;N. Osman;H. Zohoor
建立了一个二维、七连杆、九自由度的膝关节动力学模型，用于研究正常人和经股截肢者在整个步态周期内的运动特性。运动方程采用拉格朗日法推导，站立脚-地面接触采用五点穿透模型模拟。关节驱动力矩的正常人步态的前向动力学优化，并施加到截肢者的完整关节。三种类型的运动控制器，摩擦，弹性和液压被认为是截肢者的假肢关节和他们的设计参数进行了优化，以实现最接近的运动学的正常步态。结果发现，如果优化设计，所有三个被动控制器可以合理地再现正常的运动模式在摆动阶段。然而，站姿阶段的运动学只能复制的液压和弹性控制器，后者的性能是高度敏感的设计参数。结果表明，合理设计的液压运动控制器可以为站立位膝关节屈曲假肢提供合理的正常运动学和可靠的稳定性。
A two-dimensional, seven link, nine degrees of freedom biped model was developed to investigate the dynamic characteristics of normal and transfemoral amputee locomotion during the entire gait cycle. The equations of motion were derived using the Lagrange method and the stance foot-ground contact was simulated using a five-point penetration model. The joint driving torques were obtained using forward dynamic optimization of the normal human gait and applied to the intact joints of the amputee. Three types of motion controllers; frictional, elastic and hydraulic were considered for the prosthetic joints of the amputee and their design parameters were optimized to achieve the closest kinematics to that of the normal gait. It was found that, if optimally designed, all three passive controllers could reasonably reproduce a normal kinematical pattern in the swing phase. However, the stance phase kinematics could only be replicated by the hydraulic and elastic controllers; the performance of the latter was highly sensitive to the design parameters. It was concluded that an appropriately designed hydraulic motion controller can provide reasonably normal kinematics and reliable stability for stance knee flexion prostheses.