Design, development, and testing of a lightweight hybrid robotic knee prosthesis
Design, development, and testing of a lightweight hybrid robotic knee prosthesis
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DOI：
10.1177/0278364918785993
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发表时间：
2018-07-01
影响因子：
9.2
通讯作者：
Kuiken, Todd
中科院分区：
文献类型：
--
作者：
Lenzi, Tommaso;Cempini, Marco;Kuiken, Todd
我们提出了一种轻量级的机器人膝关节假体与一种新的混合驱动系统，使被动和主动操作模式。所提出的混合膝盖使用弹簧阻尼器系统与电动机和传动系统相结合，其可以接合以提供楼梯缓冲能力。与为所有膝关节活动提供动力的全动力假体相比，混合膝关节假体可以通过将致动器的设计集中在活动的子集上来实现显著的重量减轻，而不会失去在主动模式下产生等效扭矩和机械功率的能力。混合动力膝关节原型重量为1.7 kg，包括电池和控制，可提供高达125 Nm的重复扭矩。两个经股截肢受试者的实验表明，所提出的混合膝关节假体可以支持在被动模式下在平地上行走，以及在主动模式下具有往复步态模式的楼梯amphibia。
We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that enables passive and active operation modes. The proposed hybrid knee uses a spring-damper system in combination with an electric motor and transmission system, which can be engaged to provide a stair ambulation capability. In comparison to fully powered prostheses that power all ambulation activities, a hybrid knee prosthesis can achieve significant weight reduction by focusing the design of the actuator on a subset of activities without losing the ability to produce equivalent torque and mechanical power in the active mode. The hybrid knee prototype weighs 1.7 kg, including battery and control, and can provide up to 125 Nm of repetitive torque. Experiments with two transfemoral amputee subjects show that the proposed hybrid knee prosthesis can support walking on level ground in the passive mode, as well as stair ambulation with a reciprocal gait pattern in the active mode.