Lower Leg Trajectory Error: A novel optimization parameter for designing passive prosthetic feet
Lower Leg Trajectory Error: A novel optimization parameter for designing passive prosthetic feet
复制标题
小腿轨迹误差：设计被动假足的新颖优化参数
DOI：
10.1109/icorr.2015.7281211
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
A. Winter
中科院分区：
文献类型：
--
作者：
Kathryn M. Olesnavage;A. Winter
翻转几何学是被动假脚的主要设计目标，它没有提供足够的信息来在实验室参考系中找到小腿节段的方向。假脚的物理行为增加了一个约束，使得找到这个方向成为可能。引入了一种新颖的假足优化参数，该参数结合了翻转几何形状和小腿方向，即小腿轨迹误差。将地面反作用力和压力中心位置（来自已发布的生理、健全步行步态数据）应用于受生物学启发的概念性假脚，以计算从脚平放到脚趾离地的小腿轨迹。使用小腿轨迹误差优化了该概念脚的刚度。为了进一步研究翻滚几何形状和物理行为的作用，对优化脚的小腿轨迹、与该优化脚具有相同翻滚几何形状的刚性脚以及具有生理翻滚几何形状的刚性脚进行了比较。
Roll-over geometry, a leading design objective for passive prosthetic feet, does not provide enough information to find the lower leg segment orientation in the laboratory reference frame. The physical behavior of a prosthetic foot adds a constraint which makes finding this orientation possible. A novel optimization parameter for prosthetic feet that incorporates both the roll-over geometry and the orientation of the lower leg, the Lower Leg Trajectory Error, is introduced. Ground reaction forces and locations of the center of pressure from published gait data for physiological, able-bodied walking are applied to a biologically inspired conceptual prosthetic foot to calculate the resulting lower leg trajectory from foot flat to toe off. The stiffnesses of this conceptual foot are optimized using the Lower Leg Trajectory Error. To further investigate the role of roll-over geometry and physical behavior, the lower leg trajectories of the optimized foot, a rigid foot with roll-over geometry identical to this optimized foot, and a rigid foot with physiological roll-over geometry are compared.