Instrumented Pyramid Adapter for Amputee Gait Analysis and Powered Prosthesis Control
Instrumented Pyramid Adapter for Amputee Gait Analysis and Powered Prosthesis Control
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DOI：
10.1109/jsen.2019.2920179
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发表时间：
2019-09-15
影响因子：
4.3
通讯作者：
Lenzi, Ibininaso
中科院分区：
文献类型：
--
作者：
Gabert, Lukas;Lenzi, Ibininaso
新型的先进假肢旨在通过在截肢过程中在线调整假肢的力学行为来提高下肢截肢者的截肢能力。精确的力/扭矩感测对于测量用户、假体和环境之间的物理相互作用是必要的。大多数可用的解决方案包括改装现成的测力传感器，这导致关于重量和尺寸的次优设计，最终降低假体的可用性。为了解决这一限制，我们建议仪器现有的假体组件，即金字塔适配器，力/扭矩传感和惯性测量单元。大的结构变形的磁传感用于提高系统的可靠性和降低成本。测试表明，所提出的传感器原型可以感测高达120 Nm和2500 N的扭矩和力，并具有2.1%和8.3%的非线性度，分别在行走。总重量为150 g-仅比不带力/扭矩仪器的标准金字塔适配器重66 g。使用机器人假腿进行截肢者测试，以确认病例场景中的内固定金字塔。
Novel advanced prostheses aim to improve the ambulation ability of lower-limb amputees by adapting the prosthesis mechanical behavior online during ambulation. Accurate force/torque sensing is necessary to measure the physical interaction between the user, the prosthesis, and the environment. Most available solutions consist of retrofitting an off-the-shelf load cell, which leads to suboptimal designs regarding weight and size, ultimately reducing the prosthesis usability. To address this limitation, we propose to instrument an existing prosthesis component, namely, a pyramid adapter, with force/torque sensing and an inertial measurement unit. Magnetic sensing of large structural deformations is used to improve system reliability and reduce costs. Testing shows that the proposed sensor prototype can sense up to 120 Nm and 2500 N of torque and force and has 2.1% and 8.3% nonlinearity, respectively, during walking. The total weight is 150 g-only 66 g more than a standard pyramid adapter without force/torque instrumentation. Amputee testing with robotic leg prosthesis is conducted to validate the instrumented pyramid in a case scenario.