STTR Phase II: Integrated Powered Knee-Ankle Prosthetic System

这个小企业技术转让（STTR）第二阶段项目提出了一个集成的动力膝踝关节假体的发展。本提案的目的是调查使用集成动力膝关节和踝关节的经股骨假体，使用从地面和穿戴者的感觉信息。该假设是，具有主动动力的膝关节和踝关节的假肢将显着提高经股骨截肢者在平地上行走时的活动性，以及楼梯和斜坡。由于无法向假肢系统提供动力，严重损害了它们恢复许多运动功能的能力。该提案将得出一套关于集成动力膝关节和踝关节假体系统的设计和控制的指导方针，该系统将改善运动功能，例如走楼梯、走斜坡、跑步、跳跃，以及本提案中假设的水平行走。拟议的工作将导致控制和感觉系统的新的理论框架，以及这些系统的设计。主要的智力贡献将包括设计动力系统;开发从地面和使用者获取信息的感觉系统;开发假肢交互控制的控制框架;开发运动过程中阻抗调制的自适应和鲁棒控制器。具体来说，我们的工作将使假肢更自然，稳定和适应性强。本提案中的这些研究要素也将为动力矫正系统奠定基础。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。在最近的冲突中服役的越来越多的军事人员以及以前战争中的大量退伍军人也受到截肢的困扰。最近的中东冲突造成了一些年轻的截肢者，其中许多人仍然承担着养家糊口的责任，并期待着他们的职业生活。这里提出的集成膝踝关节假体将对经股截肢者的活动性及其生活质量产生直接影响，并且很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.