Collaborative Research: Regenerative Above-Knee Prosthesis

合作研究：再生膝上假体

• 批准号: 0510848
• 负责人: Homayoon Kazerooni
• 金额: --
• 依托单位: University of California-Berkeley
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-08-15 至 2008-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0510848&HistoricalAwards=false
• 关键词: Collaborative; Research; Regenerative; Above; Knee

Collaborative Research: Regenerative Above-Knee ProsthesisH. KazerooniMechanical Engineering DepartmentUniversity of California at BerkeleyBerkeley CA 94720Abstract This proposal presents new approaches to the design and control of above-knee prostheses. The proposed work will require, and thus will result in, new theoretical frameworks for both the interactive control and the power regeneration of such systems. Major intellectual contributions will include the design of regenerative actuation systems; optimal control methodologies for energy recovery; the development of an interactive control framework of prosthetic lower limb joints; and the development of adaptive and robust controllers for prosthetic joint impedance modulation during locomotion. The proposed research will provide the above-knee amputee population with significantly greater functional capabilities. Specifically, the proposed work will enable more natural, stable, and adaptable prostheses via the interactive control approach, and will enable the ability to climb stairs and ramps via the regenerative actuation structure. Additional significant benefits of this work include fostering a broader awareness and increased sensitivity of young engineers and educational institutions to disability issues. The proposed work includes several outreach activities that will provide educational opportunities and encouragement to primary and secondary students, and to underrepresented segments of the population.

合作研究：再生膝关节假体H。Kazeroon机械工程系加州大学伯克利分校CA 94720摘要本提案提出了膝上假肢设计和控制的新方法。 拟议中的工作将需要，因此将导致，新的理论框架的互动控制和这种系统的功率再生。 主要的智力贡献将包括再生驱动系统的设计;能量回收的最佳控制方法;假肢下肢关节的交互式控制框架的开发;以及运动过程中假肢关节阻抗调制的自适应和鲁棒控制器的开发。拟议的研究将为膝上截肢者提供更大的功能能力。 具体而言，所提出的工作将通过交互式控制方法实现更自然、稳定和适应性更强的假肢，并将通过再生驱动结构实现爬楼梯和坡道的能力。 这项工作的其他重大好处包括促进青年工程师和教育机构对残疾问题的更广泛认识和敏感性。 拟议的工作包括开展若干外联活动，为中小学生和代表性不足的人口群体提供教育机会和鼓励。