A powered prosthetic intervention for bilateral transfemoral amputees.
A powered prosthetic intervention for bilateral transfemoral amputees.
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DOI：
10.1109/tbme.2014.2334616
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发表时间：
2015-04
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
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作者：
Lawson BE;Ruhe B;Shultz A;Goldfarb M
本文介绍了一对动力膝关节和踝关节假肢的控制系统的设计和验证，该假肢将用作双侧经股截肢者的假肢干预。该控制系统利用假肢之间的通信来增强意识和稳定性，并在膝关节和踝关节处发电，以更好地恢复平地行走中的生物力学功能。所采用的控制方法是用于步态承重部分的基于阻抗的框架和用于非承重部分的基于轨迹的方法的组合。该控制系统是在一对独立的动力膝关节和踝关节假肢上实现的，并且在对双侧经股骨截肢者进行的一组实验中评估了假肢和控制方法提供行走功能的能力。具体来说，这些试验的实验数据表明，与受试者日常使用的被动假肢相比，动力假肢和双边控制架构提供的步态运动学能够在更大程度上再现健康的步态运动学。
This paper presents the design and validation of a control system for a pair of powered knee and ankle prostheses to be used as a prosthetic intervention for bilateral transfemoral amputees. The control system leverages communication between the prostheses for enhanced awareness and stability, along with power generation at the knee and ankle joints to better restore biomechanical functionality in level ground walking. The control methodology employed is a combination of an impedance-based framework for weight-bearing portions of gait and a trajectory-based approach for the non-weight-bearing portions. The control system was implemented on a pair of self-contained powered knee and ankle prostheses, and the ability of the prostheses and control approach to provide walking functionality was assessed in a set of experimental trials with a bilateral transfemoral amputee subject. Specifically, experimental data from these trials indicate that the powered prostheses and bilateral control architecture provide gait kinematics that reproduce healthy gait kinematics to a greater extent than the subject’s daily-use passive prostheses.