Development of concepts to adapt the dynamic behaviour of external lower limb prostheses

开发适应外部下肢假肢动态行为的概念

• 批准号: 216035462
• 负责人: Professor Dr.-Ing. Stephan Rinderknecht
• 金额: --
• 依托单位: Institut für Mechatronische Systeme im Maschinenbau
• 依托单位国家: 德国
• 项目类别: Research Grants (Transfer Project)
• 财政年份: 2012
• 资助国家: 德国
• 起止时间: 2011-12-31 至 2016-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/216035462?language=en
• 关键词: Development; concepts; adapt; dynamic; behaviour

People with lower limb amputation have the need for an appropriate substitute of their lost limb that allows a natural gait in diverse situations. The application of mechatronic approaches led to extended functionality and increased comfort for the users in the last two decades. Nevertheless there still is a big potential for future developments and optimizations. The proposed project aims at the develop-ment of solutions that enable a higher agility in dynamic gait situations and satisfy the users’ need for security. Such solutions support active users in developing a more dynamical locomotion (e.g., fast walking on uneven ground, turning/cornering) and deliver less active users – like elderly people – more security in critical situations (e.g., stumbling). For that purpose, the Institute for Mechatronic Systems in Mechanical Engineering of TU Darmstadt (IMS) and its partner Blatchford Product Limited (BPL) pool their competences. IMS contributes its expertise in mechatronic control, holistic mechatronic system design and the setup of prototypes. This is supported by BPL’s biomechanical experience as well as its practical competences in biomimetic design and clinical testing. Based on an analysis of biomechanical studies, relevant degrees of freedom will be identified in this project. Subsequently, control and design concepts for systems supporting dynamic movements of these by adaptation will be developed and evolved to prototypes. In the last part of the project, final system definitions will be elaborated based on experimental, biomechanical and clinical evaluations.

下肢截肢的人需要一个合适的替代品来代替他们失去的肢体，以便在各种情况下保持自然的步态。在过去的二十年中，机电一体化方法的应用为用户带来了扩展的功能和增加的舒适性。尽管如此，未来的发展和优化仍有很大的潜力。该项目旨在开发在动态步态情况下具有更高敏捷性的解决方案，并满足用户对安全性的需求。这些解决方案支持活跃用户开发更动态的运动（例如，在不平坦的地面上快速行走，转弯/转弯），并为不太活跃的用户（如老年人）提供更安全的紧急情况（例如，绊倒）。为此，达姆施塔特工业大学机械工程机电系统研究所（IMS）及其合作伙伴布拉奇福德产品有限公司（BPL）汇集了他们的能力。IMS在机电一体化控制、整体机电一体化系统设计和样机建立方面贡献了专业知识。这是由BPL的生物力学经验，以及它在仿生设计和临床试验的实际能力支持。基于对生物力学研究的分析，本项目将确定相关的自由度。随后，系统的控制和设计概念将通过适应来支持这些动态运动，并演变为原型。在项目的最后一部分，将根据实验、生物力学和临床评估来阐述最终的系统定义。

项目成果

A new device to measure load and motion in lower limb prosthesis — Tested on different prosthetic feet

一种测量下肢假肢负载和运动的新设备 â 在不同的假脚上进行测试

• DOI: 10.1109/robio.2014.7090328
• 发表时间: 2014
• 期刊: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
• 作者: J. Schuy;A. Burkl;P. Beckerle;S. Rinderknecht
• 通讯作者: S. Rinderknecht

Integrated measurement system for amputee gait analysis: A pilot study

用于截肢者步态分析的集成测量系统：试点研究

• DOI: 10.1109/hic.2014.7038882
• 发表时间: 2014
• 期刊: 2014 IEEE Healthcare Innovation Conference (HIC)
• 作者: J. Schuy;S. Rinderknecht
• 通讯作者: S. Rinderknecht

Design & evaluation of a sensor minimal gait phase and situation detection Algorithm of Human Walking

设计

• DOI: 10.1109/humanoids.2015.7363517
• 发表时间: 2015
• 期刊: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
• 作者: J. Schuy;T. Mielke;M. Steinhausen;P. Beckerle;S. Rinderknecht
• 通讯作者: S. Rinderknecht

Conception and evaluation of a novel variable torsion stiffness for biomechanical applications

• DOI: 10.1109/biorob.2012.6290778
• 发表时间: 2012-06
• 期刊: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
• 作者: J. Schuy;P. Beckerle;J. Wojtusch;S. Rinderknecht;O. von Stryk