A Robotic Ankle-Foot Prosthesis With Active Alignment
A Robotic Ankle-Foot Prosthesis With Active Alignment
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DOI：
10.1115/1.4032866
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发表时间：
2016-06-01
影响因子：
0.9
通讯作者：
Sup, Frank C.
中科院分区：
文献类型：
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作者：
LaPre, Andrew Kennedy;Umberger, Brian R.;Sup, Frank C.
设计用于模拟缺失的生理肢体的踝足假体在蹬离期间产生大的矢状力矩，该力矩必须通过承窝连接传递到残肢。大力矩与高的内窝压力相关，这通常是截肢者不适的来源，限制了假体的使用。本文提出了主动对准的概念。主动对线在站立期间将受影响的残肢朝向压力中心（CoP）重新排列。在步态过程中，假肢的配置变化，缩短地面反作用力（GRF）和残肢之间的力臂。这减少了在后期站立期间通过插座接口传递的峰值力矩。一个拴系机器人踝关节假体已被开发，并在实验室环境中正常行走的主动对齐的评价结果。对未截肢的受试者进行了初步测试，该受试者使用健全的适配器以恒定速度行走。结果表明，在接受腔肢体界面处传递的峰值合力矩减少了33%。
An ankle-foot prosthesis designed to mimic the missing physiological limb generates a large sagittal moment during push off which must be transferred to the residual limb through the socket connection. The large moment is correlated with high internal socket pressures that are often a source of discomfort for the person with amputation, limiting prosthesis use. In this paper, the concept of active alignment is developed. Active alignment realigns the affected residual limb toward the center of pressure (CoP) during stance. During gait, the prosthesis configuration changes to shorten the moment arm between the ground reaction force (GRF) and the residual limb. This reduces the peak moment transferred through the socket interface during late stance. A tethered robotic ankle prosthesis has been developed, and evaluation results are presented for active alignment during normal walking in a laboratory setting. Preliminary testing was performed with a subject without amputation walking with able-bodied adapters at a constant speed. The results show a 33% reduction in the peak resultant moment transferred at the socket limb interface.