Ankle kinematics describing gait agility: Considerations in the design of an agile ankle-foot prosthesis
Ankle kinematics describing gait agility: Considerations in the design of an agile ankle-foot prosthesis
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描述步态敏捷性的踝关节运动学：敏捷踝足假肢设计中的考虑因素
DOI：
10.1109/biorob.2014.6913765
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Rastgaar
中科院分区：
文献类型：
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作者：
E. Ficanha;Ruiyu Kang;M. Rastgaar
现有下肢动力假肢的设计侧重于矢状面的单自由度 (DOF)，从而可以控制踝关节的背屈和跖屈。然而，人类步态表明，即使在笔直路径上行走，踝关节在矢状面和额状面上的运动也很重要。此外，与转身和切步相比，直走时脚踝的运动发生了显着变化，尤其是在额状面。更好地了解踝关节在矢状面和额状面上的特征可能会导致设计出更有效的下肢假肢，这些假肢可以模仿踝关节的功能并提高步态的敏捷性。在本文中，估计了步进转动和切割过程中的踝关节旋转，为多轴设计的必要性提供证据，同时为原型多轴动力踝足假肢提供初步设计参数。结果表明，所提出的电缆驱动原型能够在转弯和在直线路径上行走时密切模仿矢状面和额状面的脚踝运动。
The designs of available lower extremity powered prostheses are focused on a single degree of freedom (DOF) in sagittal plane, allowing the control of their ankle joints in dorsiflexion and plantarflexion. The human gait however, shows that the ankle movements in both sagittal and frontal planes are significant even during walking on a straight path. Additionally, there is a significant change in the ankle movements during straight walking compared to turning and cutting, especially in frontal plane. A better understanding of the ankle characteristics in both sagittal and frontal planes may result in the design of significantly more effective lower extremity prostheses that mimic the ankle function and improve the agility of gait. In this paper, the ankle rotations are estimated during step turn and cutting to provide evidence for necessity of a multi-axis design while providing the preliminary design parameters for a prototype multi-axis powered ankle-foot prosthesis. It is shown that the proposed cable-driven prototype is capable of closely mimicking the ankle movements in both sagittal and frontal planes during turning and walking on a straight path.