Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis
Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis
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DOI：
10.1016/j.jbiomech.2005.05.018
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发表时间：
2006-01-01
影响因子：
2.4
通讯作者：
Ferris, Daniel P.
中科院分区：
文献类型：
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作者：
Gordon, Keith E.;Sawicki, Gregory S.;Ferris, Daniel P.
我们开发了一种动力踝足矫形器，它使用人工气动肌肉来产生主动足底屈肌扭矩。本研究的目的是量化人体行走过程中矫形器的力学性能。三名受试者穿着踝足矫形器以一定的速度行走，其中一个或两个人工肌肉平行工作。矫形器产生类似的总峰值足底屈肌扭矩和网络跨速度独立的肌肉使用的数量。矫形器在站立期间产生的峰值踝跖屈肌扭矩与正常行走期间正跖屈肌工作的70%相似。人工肌肉带宽和力-长度特性是限制扭矩产生的两个主要因素。单肌和双肌条件之间缺乏峰值力和功的差异可以通过力-长度特性来解释。受试者改变了他们的踝关节运动学之间的条件，导致人工肌肉长度的变化。在双肌肉条件下，更大的跖屈产生更短的人工肌肉长度和减少肌肉力量。这一发现强调了在设计和开发用于辅助人类运动的机器人外骨骼设备时人体测试的重要性。这项研究的结果概述了机械性能的限制，踝足矫形器提供动力的人工气动肌肉。这种矫形器可能是有价值的步态康复和研究人类行走的神经机械控制。(c)2005爱思唯尔有限公司保留所有权利。
We developed a powered ankle-foot orthosis that uses artificial pneumatic muscles to produce active plantar flexor torque. The purpose of this study was to quantify the mechanical performance of the orthosis during human walking. Three subjects walked at a range of speeds wearing ankle-foot orthoses with either one or two artificial muscles working in parallel. The orthosis produced similar total peak plantar flexor torque and network across speeds independent of the number of muscles used. The orthosis generated similar to 57% of the peak ankle plantar flexor torque during stance and performed similar to 70% of the positive plantar flexor work done during normal walking. Artificial muscle bandwidth and force-length properties were the two primary factors limiting torque production. The lack of peak force and work differences between single and double muscle conditions can be explained by force-length properties. Subjects altered their ankle kinematics between conditions resulting in changes in artificial muscle length. In the double muscle condition greater plantar flexion yielded shorter artificial muscles lengths and decreased muscle forces. This finding emphasizes the importance of human testing in the design and development of robotic exoskeleton devices for assisting human movement. The results of this study outline the mechanical performance limitations of an ankle-foot orthosis powered by artificial pneumatic muscles. This orthosis could be valuable for gait rehabilitation and for studies investigating neuromechanical control of human walking. (c) 2005 Elsevier Ltd. All rights reserved.