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

截肢患者需要一种合适的替代物来替代失去的肢体，这样才能在不同的情况下保持自然的步态。在过去的二十年里，机电一体化方法的应用为用户带来了扩展的功能和更好的舒适性。尽管如此，未来的开发和优化仍有很大的潜力。该项目旨在开发能够在动态步态情况下实现更高灵活性并满足用户的安全需求的解决方案。这样的解决方案支持活跃用户开发更有活力的移动(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--在危急情况下提供更多安全性(例如，跌倒)。为此，达姆施塔特大学机械工程机械电子系统研究所(IMS)及其合作伙伴布拉奇福德产品有限公司(BPL)汇集了各自的能力。IMS在机电一体化控制、整体机电一体化系统设计和原型设置方面贡献了自己的专业知识。BPL的生物力学经验以及其在仿生设计和临床测试方面的实践能力支持了这一点。基于生物力学研究的分析，本项目将确定相关的自由度。随后，将开发支持这些动态运动的系统的控制和设计概念，并将其演变为原型。在项目的最后部分，将在实验、生物力学和临床评估的基础上详细阐述最终的系统定义。

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.