STTR Phase II: Integrated Powered Knee-Ankle Prosthetic System

这个小型企业技术转移（STTR）二期项目提出了一种集成动力膝踝假体的开发。本提案的目的是研究综合动力膝关节和踝关节在经股假体中的应用，该假体利用来自地面和佩戴者的感觉信息。假设一个具有主动动力的膝关节和踝关节的假体将显著提高经股截肢者在平地、楼梯和斜坡上行走的机动性。无法向假肢系统提供动力严重损害了它们恢复许多机车功能的能力。本提案将推导出一套关于设计和控制集成动力膝关节和踝关节假肢系统的指导方针，该系统将改善运动功能，如上楼、上斜坡、跑步、跳跃，甚至是本提案中假设的水平行走。提出的工作将导致新的理论框架的控制和感觉系统，并设计这样的系统。主要的智力贡献将包括电力系统的设计；开发从地面和用户处获取信息的传感系统；用于假肢交互控制的控制框架的开发；以及针对运动阻抗调制的自适应鲁棒控制器的开发。该项目旨在为膝盖以上截肢者提供更大的功能。具体来说，我们的工作将使假肢更自然、更稳定、适应性更强。本提案中的这些研究元素也将形成动力矫形系统的基础。这项工作的其他重要好处包括培养年轻工程师和教育机构对残疾问题的更广泛的认识和更高的敏感性。在最近的冲突中服役的越来越多的军人，以及更多参加过以往战争的退伍军人，也在遭受肢体丧失的折磨。最近的中东冲突导致许多年轻的截肢者，他们中的许多人仍然肩负着养家糊口的责任，并期待着未来的工作生活。本文提出的膝-踝一体化假肢将对经股截肢者的活动能力和生活质量产生直接影响，并极有可能减轻与肌肉骨骼健康相关的长期后果。

This Small Business Technology Transfer (STTR) Phase II project proposes the development of an integrated powered knee-ankle prosthesis. The objective of this proposal is to investigate the use of integrated powered knee and ankle joints in trans-femoral prostheses that use sensory information from the ground and the wearer. The hypothesis is that a prosthesis with actively powered knee and ankle joints will significantly enhance the mobility of trans-femoral amputees while walking on level grounds, as well as stairs and slopes. The inability to deliver power to prosthetic systems has significantly impaired their ability to restore many locomotive functions. This proposal will derive a set of guidelines on design and control of an integrated powered knee and ankle prosthetic system which will improve locomotion function such as walking up stairs, walking up slopes, running, jumping, and as hypothesized in this proposal, even level walking. The proposed work will result in new theoretical frameworks for control and sensory systems, and the design of such systems. Major intellectual contributions will include the design of power systems; development of the sensory system to obtain information from the ground and from the user; the development of a control framework for the interactive control of prostheses; and the development of adaptive and robust controllers for impedance modulation during locomotion.This project intends to create principles that provide significantly greater functional capabilities for above-knee amputees. Specifically, our work will enable more natural, stable, and adaptable prostheses. These research elements in this proposal will also form a foundation for powered orthotic systems. Additional significant benefits of this work include fostering a broader awareness and increased sensitivity of young engineers and educational institutions to disability issues. Limb loss is also afflicting a growing number of military personnel serving in recent conflicts, as well as a far larger number of veterans from previous wars. The recent Middle East conflicts have resulted in a number of young amputees, many of whom still shoulder the responsibility of raising families and anticipate a working life ahead of them. The integrated knee-ankle prosthetic proposed here will have a direct impact on the mobility of the trans-femoral amputees and their quality of life, and most likely alleviate the long-term consequences related to musculoskeletal health.