Shultz Amanda H, Lawson Brian E, Goldfarb Michael
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:5299-302. doi: 10.1109/EMBC.2015.7319587.
A successful walking gait with a powered prosthesis depends heavily on proper timing of power delivery, or push-off. This paper describes a control approach which provides improved walking on uneven terrain relative to previous work intended for use on even (level) terrain. This approach is motivated by an initial healthy subject study which demonstrated less variation in sagittal plane shank angle than sagittal plane ankle angle when walking on uneven terrain relative to even terrain. The latter therefore replaces the former as the control signal used to initiate push-off in the powered prosthesis described herein. The authors demonstrate improvement in consistency for several gait characteristics, relative to healthy, as well as controller characteristics with the new control approach, including a 50% improvement in the consistency of the percentage of stride at which push-off is initiated.
带有动力假肢的成功行走步态在很大程度上取决于动力传递（即蹬离）的正确时机。本文描述了一种控制方法，与之前旨在用于平坦（水平）地形的工作相比，该方法能在不平坦地形上实现更好的行走效果。这种方法的灵感来源于一项针对健康受试者的初步研究，该研究表明，在不平坦地形上行走时，相对于矢状面踝关节角度，矢状面小腿角度的变化较小。因此，后者取代前者，成为本文所述动力假肢中用于启动蹬离的控制信号。作者展示了相对于健康状态，新控制方法在多个步态特征的一致性方面有所改善，以及控制器的特性，包括启动蹬离的步幅百分比一致性提高了50%。
