Design of a Semi-Active Prosthetic Knee for Transfemoral Amputees: Gait Symmetry Research by Simulation
Design of a Semi-Active Prosthetic Knee for Transfemoral Amputees: Gait Symmetry Research by Simulation
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DOI：
10.3390/app11125328
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发表时间：
2021-06
期刊：
影响因子：
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通讯作者：
Zhewen Zhang;Hongliu Yu;Wujing Cao;Xiaoming Wang;Qiaoling Meng;Chunjie Chen
中科院分区：
文献类型：
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作者：
Zhewen Zhang;Hongliu Yu;Wujing Cao;Xiaoming Wang;Qiaoling Meng;Chunjie Chen
人工膝关节的关键技术是模拟生物膝关节的力矩和角度。在这项工作中，我们提出了一种新的假肢膝关节半主动模式操作。提出了电机驱动滚珠丝杠副和被动式液压阻尼缸的结构。采用四杆机构跟踪人体膝关节的瞬时中心运动。建立了液压缸阻尼和主动转矩的数学模型，对膝关节力矩和角度进行了仿真。结果表明，在整个步态过程中，膝关节力矩对称指数小于10%。膝角对称指数在站立相为34.7%，摆动相为11.5%。在摆动阶段的角度更接近完整的膝盖。半主动人工膝关节在模拟中可以提供与生物膝关节相似的力矩和角度。它在改善经股截肢者的步态对称性方面显示出良好的潜力。
The key technology of the prosthetic knee is to simulate the torque and angle of the biological knee. In this work, we proposed a novel prosthetic knee operated in semi-active mode. The structure with ball-screw driven by the motor and the passive hydraulic damping cylinder was presented. A four-bar linkage was adapted to track the instantaneous center motion of human knee. The mathematical models of hydraulic cylinder damping and active torque were established to simulate the knee torque and angle. The results show that the knee torque symmetry index is smaller than 10% in the whole gait. The knee angle symmetry index value is 34.7% in stance phase and 11.5% in swing phase. The angle in swing phase is closer to the intact knee. The semi-active prosthetic knee could provide similar torque and angle of the biological knee in the simulation. It has shown good potential in improving the gait symmetry of the transfemoral amputee.