Sup Frank, Varol Huseyin Atakan, Mitchell Jason, Withrow Thomas J, Goldfarb Michael
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
IEEE ASME Trans Mechatron. 2009;14(6):667-676. doi: 10.1109/TMECH.2009.2032688.
This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and overground walking are described. Knee and ankle joint angle, torque, and power data taken during walking experiments at various speeds demonstrate the ability of the prosthesis to provide a functional gait that is representative of normal gait biomechanics. Measurements from the battery during level overground walking indicate that the self-contained device can provide more than 4500 strides, or 9 km, of walking at a speed of 5.1 km/h between battery charges.
本文介绍了一种独立供电的膝踝假肢，旨在提高经股骨截肢者的行动能力。作者先前开发的基于有限状态的阻抗控制方法用于在行走和站立过程中控制假肢。描述了在一名截肢者身上进行的水平跑步机和地面行走实验。在不同速度的行走实验中采集的膝关节和踝关节角度、扭矩及功率数据表明，该假肢能够提供代表正常步态生物力学的功能性步态。在水平地面行走过程中对电池的测量表明，该独立装置在两次充电之间，以5.1公里/小时的速度行走时，能够提供超过4500步，即9公里的行走能力。
