独立动力膝关节和踝关节假肢：对一名经股骨截肢者的初步评估。
Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral Amputee.
作者信息
Sup Frank, Varol Huseyin Atakan, Mitchell Jason, Withrow Thomas J, Goldfarb Michael
机构信息
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
出版信息
IEEE Int Conf Rehabil Robot. 2009 Jun 23;2009:638-644. doi: 10.1109/ICORR.2009.5209625.
Abstract
This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve 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. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges.
摘要
本文概述了一种完全独立的假肢的设计与控制，其旨在提高经大腿截肢者的行动能力。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。该假肢在一名单侧截肢受试者身上进行了户外行走测试。在自选步频的平地上行走实验中获取的假肢传感器数据（关节角度和扭矩）表明，该装置能够提供与正常步态生物力学相似的功能性步态。平地上行走实验期间的电池测量结果显示，该独立装置在两次电池充电之间可提供超过4500步（以5.1公里/小时的速度行走9.0公里）。
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