Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA 01003, USA.
IEEE Trans Neural Syst Rehabil Eng. 2011 Feb;19(1):71-8. doi: 10.1109/TNSRE.2010.2087360. Epub 2010 Oct 14.
This paper extends a previously developed level- ground walking control methodology to enable an above knee amputee to walk up slopes using a powered knee and ankle prosthesis. Experimental results corresponding to walking on level ground and two different slope angles (5 (°) and 10 (°)) with the powered prosthesis using the control method are compared to walking under the same conditions with a passive prosthesis. The data indicate that the powered prosthesis with the upslope walking controller is able to reproduce several kinematic characteristics of healthy upslope walking that the passive prosthesis does not (such as knee flexion after heel strike and a powered ankle plantarflexion during push-off). Finally, results are shown that demonstrate the ability of the prosthesis to generate a slope estimate, which is in turn utilized to adapt the underlying control parameters to the corresponding slope.
本文将先前开发的平地行走控制方法进行了扩展，使膝上截肢者能够使用动力膝关节和踝关节假肢在斜坡上行走。使用控制方法，对动力假肢在平地和两种不同坡度（5°和 10°）上行走的实验结果与在相同条件下使用被动假肢行走的实验结果进行了比较。数据表明，具有上坡行走控制器的动力假肢能够再现被动假肢无法实现的一些健康上坡行走的运动学特征（例如脚跟触地后的膝关节屈曲以及在蹬离时动力踝关节跖屈）。最后，还展示了假肢生成坡度估计的能力，该能力反过来被用于根据相应的坡度来调整基础控制参数。
