Collaborative Research: Regenerative Above-Knee Prosthesis

合作研究：再生膝上假体。摘要本研究提出了设计和控制膝上假体的新方法。拟议的工作将需要，因此将导致，新的理论框架，为这类系统的交互控制和电力再生。主要的智力贡献将包括再生驱动系统的设计；能量回收的最优控制方法；假肢下肢关节交互控制框架的研制并开发了自适应鲁棒控制器，用于假肢关节运动阻抗调制。拟议的研究将为膝以上截肢者提供更大的功能。具体来说，所提出的工作将通过交互控制方法实现更自然，稳定和适应性强的假肢，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。拟议的工作包括若干外联活动，这些活动将向中小学生和人口中代表性不足的部分提供教育机会和鼓励。

Collaborative Research: Regenerative Above-Knee ProsthesisM. GoldfarbMechanical Engineering DepartmentVanderbilt UniversityNashville, TN 37235Abstract 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.