Parameter estimation for a prosthetic ankle
Parameter estimation for a prosthetic ankle
复制标题
假肢踝关节的参数估计
DOI：
10.1007/bf02584466
复制
发表时间：
1995
影响因子：
3.8
通讯作者：
E. Kimmel
中科院分区：
文献类型：
--
作者：
E. Singer;G. Ishai;E. Kimmel
采用最优化方法对储能返回式踝关节假体模型正常水平行走的力学参数进行了估算。行走周期被分成六个场，使得功率在每个场中不改变符号；连续场之间的转换在零功率下发生。通过优化一个二次型代价函数，使估计的踝关节力矩与正常行走时的力矩之差最小，得到了作为时间函数的最佳弹簧刚度。优化受到每个场内的四个连续约束和相继场间转换的两个连续性约束。讨论了时变弹簧刚度和附加外部能量的影响，并作为设计者的建议。
The mechanical parameters of a model of an energy storage and return ankle prosthesis are estimated for normal level walking by means of an optimization procedure. The walking cycle is divided into six fields, such that the power does not change sign within each field; the transition between successive fields occurs at zero power. The optimal spring stiffness as a function of time, is found by optimizing a quadratic cost function to minimize the difference between the estimated ankle moments and the moments in normal walking. The optimization is subjected to four continuous constraints within each field and to two continuity constraints for the transitions between successive fields. The time-varying spring stiffness and the implications of additional external energy are discussed and are presented as recommendations for the designer.