Sun Yuanxi, Ge Wenjie, Zheng Jia, Dong Dianbiao
IEEE Trans Neural Syst Rehabil Eng. 2015 Nov;23(6):1031-8. doi: 10.1109/TNSRE.2015.2401042. Epub 2015 Feb 6.
This paper presents the mechanical design, dynamics analysis and ankle trajectory analysis of a prosthetic knee joint using the geared five-bar mechanism. Compared with traditional four-bar or six-bar mechanisms, the geared five-bar mechanism is better at performing diverse movements and is easy to control. This prosthetic knee joint with the geared five-bar mechanism is capable of fine-tuning its relative instantaneous center of rotation and ankle trajectory. The centrode of this prosthetic knee joint, which is mechanically optimized according to the centrode of human knee joint, is better in the bionic performance than that of a prosthetic knee joint using the four-bar mechanism. Additionally, the stability control of this prosthetic knee joint during the swing and stance phase is achieved by a motor. By adjusting the gear ratio of this prosthetic knee joint, the ankle trajectories of both unilateral and bilateral amputees show less deviations from expected than that of the four-bar knee joint.
本文介绍了一种采用齿轮五杆机构的假肢膝关节的机械设计、动力学分析和踝关节轨迹分析。与传统的四杆或六杆机构相比，齿轮五杆机构在执行多样化运动方面表现更好，且易于控制。这种带有齿轮五杆机构的假肢膝关节能够微调其相对瞬时旋转中心和踝关节轨迹。该假肢膝关节的瞬心线是根据人体膝关节的瞬心线进行机械优化的，其仿生性能优于采用四杆机构的假肢膝关节。此外，该假肢膝关节在摆动和站立阶段的稳定性控制是通过电机实现的。通过调整这种假肢膝关节的传动比，单侧和双侧截肢者的踝关节轨迹与预期轨迹的偏差均小于四杆膝关节。
