Feasibility study of transtibial amputee walking using a powered prosthetic foot.
Feasibility study of transtibial amputee walking using a powered prosthetic foot.
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使用动力假足进行小腿截肢者行走的可行性研究。
DOI：
10.1109/icorr.2017.8009399
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Seyfarth,Andre
中科院分区：
文献类型：
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作者：
Grimmer,Martin;Holgate,Matthew;Ward,Jeffrey;Boehler,Alexander;Seyfarth,Andre
被动假足不能为踝关节提供非截肢者的运动学和动力学。截肢者表现出肢体间对称性降低，行走速度减慢，行走努力增加。为了改善踝关节的活动范围和蹬离，各种动力假足被引入。该可行性研究分析了在使用动力假肢脚Walk-Run Ankle行走期间，预定义的运动参考轨迹是否可用于实现非截肢者踝关节生物力学。在给定的弹簧刚度下，使用期望的踝关节角度和基于踝关节力矩的弹簧偏转来计算轨迹。电机-弹簧相互作用的模型假设在实验中得到了很好的反映。与被动使用足部相比，动力足能够改善运动范围、峰值踝关节功率、平均正踝关节功率、峰值踝关节力矩和正力矩起始。此外，对称性的改进，确定了步长和占空因数。需要更多受试者的进一步研究来证明这种方法是否对其他截肢者也有效。使用该方法作为基础，轨迹可以进一步个性化使用人在回路优化，目标是减少用户的努力，提高稳定性，或步态对称性。
Passive prosthetic feet are not able to provide non-amputee kinematics and kinetics for the ankle joint. Persons with amputations show reduced interlimb symmetry, slower walking speeds, and increased walking effort. To improve ankle range of motion and push off, various powered prosthetic feet were introduced. This feasibility study analyzed if predefined motor reference trajectories can be used to achieve non-amputee ankle biomechanics during walking with the powered prosthetic foot, Walk-Run Ankle. Trajectories were calculated using the desired ankle angle and ankle moment based spring deflection at a given spring stiffness. Model assumptions of the motor-spring interaction were well reflected in the experiment. The powered foot was able to improve range of motion, peak ankle power, average positive ankle power, peak ankle moment, and positive moment onset compared to a passive usage of the foot. Furthermore, symmetry improvements were identified for step length and duty factor. Further studies with an increased number of subjects are needed to show if the approach is also valid for other amputees. Using this method as a base, trajectories can be further individualized using human in the loop optimization targeting a reduction of user effort, improved stability, or gait symmetry.