Performance of Optimized Prosthetic Ankle Designs That Are Based on a Hydraulic Variable Displacement Actuator (VDA).
Performance of Optimized Prosthetic Ankle Designs That Are Based on a Hydraulic Variable Displacement Actuator (VDA).
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基于液压可变排量执行器 (VDA) 的优化假肢踝关节设计的性能。
DOI：
10.1109/tnsre.2017.2763999
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Gardiner J
中科院分区：
文献类型：
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作者：
Gardiner J
目前的能量存储和返回假脚相比，基本的固体踝关节假肢脚跟的脚，可能是由于他们缺乏在站姿结束时推出的截肢运动的成本仅略有减少。据我们所知，利用液压可变排量致动器（VDA）来改善推离性能的假肢踝关节以前还没有被提出。因此，在这里，我们报告了一个基于VDA的假肢踝关节的设计优化和仿真可行性研究。所提出的装置存储从脚跟着地到最大背屈的偏心踝关节工作在液压蓄能器中，然后将存储的能量返回到动力蹬离。优化用于建立最佳弹簧特性和踝关节和VDA之间的齿轮比。相应的模拟结果表明，在水平行走，正常的推小康实现，每个步态周期，存储在蓄能器中的能量增加了22%的正常推小康的要求。虽然结果是有希望的，但有许多未回答的问题，为了使这种方法获得成功，需要一种新的微型，低损耗，重量轻的VDA，其尺寸是最小的商用设备的一半。
Current energy storage and return prosthetic feet only marginally reduce the cost of amputee locomotion compared with basic solid ankle cushioned heel feet, possibly due to their lack of push-off at the end of stance. To the best of our knowledge, a prosthetic ankle that utilizes a hydraulic variable displacement actuator (VDA) to improve push-off performance has not previously been proposed. Therefore, here we report a design optimization and simulation feasibility study for a VDA-based prosthetic ankle. The proposed device stores the eccentric ankle work done from heel strike to maximum dorsiflexion in a hydraulic accumulator and then returns the stored energy to power push-off. Optimization was used to establish the best spring characteristic and gear ratio between ankle and VDA. The corresponding simulations show that, in level walking, normal push-off is achieved and, per gait cycle, the energy stored in the accumulator increases by 22% of the requirements for normal push-off. Although the results are promising, there are many unanswered questions and, for this approach to be a success, a new miniature, low-losses, and lightweight VDA would be required that is half the size of the smallest commercially available device.