A powered prosthetic ankle joint for walking and running.
A powered prosthetic ankle joint for walking and running.
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一个动力的假肢踝关节，用于行走和跑步。
DOI：
10.1186/s12938-016-0286-7
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发表时间：
2016-12-19
影响因子：
3.9
通讯作者：
Seyfarth A
中科院分区：
文献类型：
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作者：
Grimmer M;Holgate M;Holgate R;Boehler A;Ward J;Hollander K;Sugar T;Seyfarth A
目前的假肢踝关节设计用于行走或跑步。为了模仿健全人的能力，设计了一种用于行走和跑步的动力假肢脚踝。动力系统有可能减少被动行走和跑步脚的运动范围和正功输出的限制。为了进行实验，开发了一种能够在站立、行走和跑步之间进行转换的控制器，该控制器具有速度适应性。在第一个案例研究中，该系统安装在踝关节旁路上，与非截肢受试者的足部平行。通过这种方法验证了硬件和控制器的功能。Walk-Run脚踝能够模仿步行和跑步时所需的扭矩和角度轨迹，速度高达2.6 m/s。在4 m/s跑速下，踝关节角度可以匹配，而踝关节力矩不能匹配。由次优弹簧刚度值导致的有限踝关节输出功率被确定为主要原因。进一步的研究必须表明这些发现在多大程度上可以转移到截肢者身上。
Current prosthetic ankle joints are designed either for walking or for running. In order to mimic the capabilities of an able-bodied, a powered prosthetic ankle for walking and running was designed. A powered system has the potential to reduce the limitations in range of motion and positive work output of passive walking and running feet. To perform the experiments a controller capable of transitions between standing, walking, and running with speed adaptations was developed. In the first case study the system was mounted on an ankle bypass in parallel with the foot of a non-amputee subject. By this method the functionality of hardware and controller was proven. The Walk-Run ankle was capable of mimicking desired torque and angle trajectories in walking and running up to 2.6 m/s. At 4 m/s running, ankle angle could be matched while ankle torque could not. Limited ankle output power resulting from a suboptimal spring stiffness value was identified as a main reason. Further studies have to show to what extent the findings can be transferred to amputees.