IEEE Trans Neural Syst Rehabil Eng. 2018 Apr;26(4):788-797. doi: 10.1109/TNSRE.2018.2810165.
This paper describes the development of a controller for a powered ankle prosthesis that is intended to provide appropriate biomechanical behavior for walking on both even and uneven terrain without having to explicitly detect local slope to do so. In order to inform development of the controller, the authors conducted a small study of five healthy subjects walking on even and uneven terrain. Data from the healthy subject study were used to formulate behavioral models for the healthy ankle, which were then implemented as controller behaviors in the powered prosthesis prototype and comparatively assessed on an amputee subject.
本文描述了一种动力踝部假肢控制器的开发，旨在提供在平坦和不平坦地形上行走时的适当生物力学行为，而无需明确检测局部坡度。为了为控制器的开发提供信息，作者对五名健康受试者在平坦和不平坦地形上行走进行了一项小型研究。从健康受试者研究中获得的数据被用于为健康踝关节制定行为模型，然后将其作为控制器行为在动力假肢原型中实现，并在截肢受试者上进行比较评估。
