Murai Akihiko, Hobara Hiroaki, Hashizume Satoru, Kobayashi Yoshiyuki, Tada Mitsunori
Annu Int Conf IEEE Eng Med Biol Soc. 2017 Jul;2017:901-904. doi: 10.1109/EMBC.2017.8036970.
Prostheses have enabled individuals with lower extremity amputation (ILEAs) to accomplish many daily activities. Prosthetic feet allow ILEA to locomote and improves their quality of life. Carbon-fiber running-specific prostheses (RSPs) with energy storing capabilities support ILEAs to perform sprinting by partly providing spring-like properties in their amputated legs. Previous studies declare the spring-like RSP behavior and stiffness regulation during ILEA sprinting using RSP, though little is known about the behavior of the whole system that is a complex combination of human body and prostheses. This paper models this combined system with human and prosthetic foot and RSP using the digital human technology, then, analyzes the ILEA walking using the prosthetic foot and sprinting using RSP. We develop models that are combinations of human and prostheses by individualizing a linkage structure and inertial parameters of the digital human model. Then, locomotion of ILEA is analyzed based on measurements with optical motion capture system and force plates, and kinematics and dynamics computation. This modeling and computational technique can be applied to the locomotion of ILEA as well as a human motion using tools, and expanded to an analysis and improvement of system involving human.
假肢使下肢截肢者能够完成许多日常活动。假肢脚让下肢截肢者能够行走并提高他们的生活质量。具有储能能力的碳纤维跑步专用假肢（RSP）通过在截肢腿中部分提供类似弹簧的特性，支持下肢截肢者进行短跑。先前的研究揭示了使用RSP的下肢截肢者在短跑过程中类似弹簧的RSP行为和刚度调节，尽管对于人体和假肢的复杂组合的整个系统的行为了解甚少。本文使用数字人体技术对人体与假肢脚及RSP的这种组合系统进行建模，然后分析使用假肢脚的下肢截肢者行走以及使用RSP的短跑情况。我们通过个性化数字人体模型的连杆结构和惯性参数来开发人体与假肢组合的模型。然后，基于光学动作捕捉系统和测力板的测量以及运动学和动力学计算来分析下肢截肢者的运动。这种建模和计算技术可应用于下肢截肢者的运动以及使用工具的人体运动，并扩展到对涉及人体的系统的分析和改进。
