Powered Walk/Run Prosthetic Ankle

描述（由申请人提供）：在这个项目的第一阶段，研究表明，通过利用创新技术，可以让膝盖以下的截肢者使用单个动力假肢装置行走和跑步。在该项目的第二阶段，将展示关键的技术进步和优化，将使单个动力设备在平地和斜坡上执行步行，跑步和两者之间的转换，以及坚固耐用和用户友好，可以在日常活动中佩戴。目前被动假肢装置的使用者通常会消耗更多的能量；踝关节活动和力量减少；步态不对称的增加导致关节和背部疼痛。用机器人肌腱驱动器增强踝关节的力量将恢复近能肢体功能，提高生活质量。目前最先进的动力假肢设备的电池寿命有限，声音相对较大，最高运行速度较慢，并且不坚固。在这个项目中，SpringActive正在开发的关键技术将用于降低电流要求，降低执行器加速度，延长电池寿命，降低噪音，提高最高运行速度。PWR脚踝的测试将由明尼阿波利斯退伍军人医疗保健系统在SpringActive的技术设备支持下进行。我们假设PWR踝关节在快速行走时产生净功，在不同斜坡面上行走时踝关节的有效对齐发生变化，表明对斜坡的适应，并且与使用被动假肢相比，改善了肢体负载对称性。

DESCRIPTION (provided by applicant): In the first phase of this project, it was shown that by utilizing innovative technologies it was possible to allow below the knee amputees to walk and run using a single powered prosthetic device. In the second phase of this project, it will be shown that the key technological advancements and optimizations will allow the a single powered device to perform walking, running, and transitioning between the two while on level ground and slopes, as well as being rugged and user friendly enough that it can be worn during every day activities. Current users of passive prosthetic devices typically expend more energy; have reduced ankle motion and power; and increased gait asymmetry resulting in joint and back pain. Augmenting ankle power with a robotic tendon actuator will restore near able bodied function improving quality of life. The current state of the art powered prosthetic devices have limited battery life, are relatively loud, have a slow top running speed, and are not rugged. During this project, key technologies being developed by SpringActive will be used to lower electrical current requirements, decrease actuator acceleration, increase battery life, reduce noise, and increase the top running speed. Testing of the PWR ankle will be performed by the Minneapolis VA Health Care System with technical device support from SpringActive. We hypothesize that the PWR ankle will produce net positive work during fast walking, produce changes in effective alignment of the ankle for walking on different sloped surfaces, indicating adaptation to the slopes, and improve limb loading symmetry compared with use of passive prostheses.