Conceptual design of a gait simulator for testing lower-limb active prostheses
Conceptual design of a gait simulator for testing lower-limb active prostheses
复制标题
用于测试下肢主动假肢的步态模拟器的概念设计
DOI：
10.1109/rem.2015.7380413
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
F. Resta
中科院分区：
文献类型：
--
作者：
C. Marinelli;H. Giberti;F. Resta
最近，下肢假肢技术的进步主要关注集成更小、更强大的电子元件的可能性，而不是新材料和拓扑。例如，电子膝关节假体通过传感器和执行器保证最大产量，这些传感器和执行器允许实时调整特性，从而调整设备本身的响应。无论采用哪种解决方案，控制策略都是现代假肢设计中最关键的方面。在这种情况下，硬件在环仿真概念代表了智能膝关节控制器设计优化的有用方法。事实上，它允许将用户行为整合到假肢开发过程中，消除与体内测试相关的限制。然而，这种方法需要复杂的机械机器人设计和复杂的控制策略。本文提出了根据所寻求的步态标准模拟站立和摆动阶段的长凳的概念设计。执行上述定义过程是为了克服步态模拟器的最重大挑战，步态模拟器以接近生理正确的速度运行，输入全尺寸地面反作用力并模拟所有三个平面（矢状面、冠状面和横向）的运动。此外，本文提出的研究解决了如何满足上述行为要求的问题，以确保使用六轴工业机器人正确动态再现现象。
In the recent past, lower-limb prostheses technological advancement mostly concerned the possibility of integrating ever smaller and more powerful electronic components instead of new materials and topologies. For instance, the electronic knee prosthesis guarantees maximum yield by mean of sensors and actuators that allow to adjust in real time the characteristics and thus the response of the device itself. Regardless of the solution adopted, control strategies constitute the most critical aspect of the modern prosthetic design. In this context, hardware-in-the-loop simulation concept represents a useful approach for design optimization of intelligent knee controllers. Indeed, it allows to integrate the user behavior into the prosthetic development process removing the limits related to in vivo tests. However, such approach requires complex mechanical robot design and sophisticated control strategies. This paper presents the conceptual design of a bench for simulating both the stance and the swing phase according to sought gait standards. The mentioned definition process is performed in order to overcome the most significant challenges of gait simulators, that are operating at near physiologically correct velocities, inputting full scale ground reaction forces and simulating motion in all three planes (sagittal, coronal and transverse). Furthermore, the research presented in this paper addresses the question of how to satisfy the mentioned behavior requirements in such a way to ensure correct dynamics reproduction of the phenomenon using a six-axes industrial robot.
DOI：
10.1016/j.clinbiomech.2011.11.011
发表时间：
2012-06
期刊：
Clinical biomechanics (Bristol, Avon)
影响因子：
--
作者：
Kaufman KR;Frittoli S;Frigo CA
通讯作者：
Frigo CA