Active lower limb prosthetics: a systematic review of design issues and solutions.
Active lower limb prosthetics: a systematic review of design issues and solutions.
复制标题
主动下肢假肢：对设计问题和解决方案的系统评价。
DOI：
10.1186/s12938-016-0284-9
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发表时间：
2016-12-19
影响因子：
3.9
通讯作者：
Beckerle P
中科院分区：
文献类型：
--
作者：
Windrich M;Grimmer M;Christ O;Rinderknecht S;Beckerle P
本文综述了主动下肢假体的设计问题及解决方法。这篇综述是基于系统的文献检索和有条理的检索策略。在四个主要的技术数据库中进行了搜索，并对检索到的记录进行了相关性筛选。共鉴定出21种不同的活动假体，其中膝上假体8种，膝下假体9种，膝关节-踝关节联合假体4种。虽然主动假肢可以帮助截肢者恢复功能，但对驱动单元和控制系统的要求很高，开发成为一项具有挑战性的任务。在机械设计和驱动单元方面，高效、小尺寸和低重量是相互冲突的目标。讨论了驱动原理和变阻抗驱动器。控制系统对于假体的“自然功能”至关重要。控制系统必须能够运动，并且应该对截肢者的意图做出反应。为此，对多级控制方法进行了综述。
This paper presents a review on design issues and solutions found in active lower limb prostheses. This review is based on a systematic literature search with a methodical search strategy. The search was carried out across four major technical databases and the retrieved records were screened for their relevance. A total of 21 different active prostheses, including 8 above-knee, 9 below-knee and 4 combined knee-ankle prostheses were identified. While an active prosthesis may help to restore the functional performance of an amputee, the requirements regarding the actuation unit as well as for the control system are high and the development becomes a challenging task. Regarding mechanical design and the actuation unit high force/torque delivery, high efficiency, low size and low weight are conflicting goals. The actuation principle and variable impedance actuators are discussed. The control system is paramount for a “natural functioning” of the prosthesis. The control system has to enable locomotion and should react to the amputee’s intent. For this, multi-level control approaches are reviewed.