Upslope Walking With a Powered Knee and Ankle Prosthesis: Initial Results With an Amputee Subject
Upslope Walking With a Powered Knee and Ankle Prosthesis: Initial Results With an Amputee Subject
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DOI：
10.1109/tnsre.2010.2087360
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发表时间：
2011-02-01
影响因子：
4.9
通讯作者：
Goldfarb, Michael
中科院分区：
文献类型：
--
作者：
Sup, Frank;Varol, Huseyin Atakan;Goldfarb, Michael
本文扩展了以前开发的水平-地面步行控制方法，使膝上截肢者能够使用动力膝关节和踝关节假体爬上斜坡。比较了采用该控制方法的动力型假体在平坦地面和两种不同坡度(5和10)下行走的实验结果，并与相同条件下被动假体的行走结果进行了比较。数据表明，带上坡行走控制器的电动假体能够再现健康上坡行走的几个运动学特征，这是被动假体所不具备的(例如，脚跟撞击后的膝关节屈曲和推离时的动力踝关节屈膝)。最后，结果表明，假体能够产生斜率估计，这反过来又被用来调整潜在的控制参数到相应的斜率。
This paper extends a previously developed level-ground walking control methodology to enable an above knee amputee to walk up slopes using a powered knee and ankle prosthesis. Experimental results corresponding to walking on level ground and two different slope angles (5 and 10) with the powered prosthesis using the control method are compared to walking under the same conditions with a passive prosthesis. The data indicate that the powered prosthesis with the upslope walking controller is able to reproduce several kinematic characteristics of healthy upslope walking that the passive prosthesis does not (such as knee flexion after heel strike and a powered ankle plantarflexion during push-off). Finally, results are shown that demonstrate the ability of the prosthesis to generate a slope estimate, which is in turn utilized to adapt the underlying control parameters to the corresponding slope.