Lee J T, Bartlett H L, Goldfarb M
Department of Mechanical Engineering Vanderbilt University, Nashville, TN, USA.
IEEE ASME Trans Mechatron. 2020 Feb;25(1):175-184. doi: 10.1109/tmech.2019.2952084. Epub 2019 Nov 7.
This paper describes the design of a new type of knee prosthesis called a stance-control, swing-assist (SCSA) knee prosthesis. The device is motivated by the recognition that energetically-passive stance-controlled microprocessor-controlled knees (SCMPKs) offer many desirable characteristics, such as quiet operation, low weight, high-impedance stance support, and an inertially-driven swing-phase motion. Due to the latter, however, SCMPKs are also highly susceptible to swing-phase perturbations, which can increase the likelihood of falling. The SCSA prosthesis supplements the behavior of an SCMPK with a small motor that maintains the low output impedance of the SCMPK swing state, while adding a supplemental closed-loop controller around it. This paper elaborates upon the motivation for the SCSA prosthesis, describes the design of a prosthesis prototype, and provides human-subject testing data that demonstrates potential device benefits relative to an SCMPK during both non-perturbed and perturbed walking.
本文介绍了一种新型膝关节假体的设计，即 stance-control, swing-assist (SCSA) 膝关节假体。该装置的设计灵感来源于人们认识到，能量被动型 stance-controlled 微处理器控制膝关节（SCMPK）具有许多理想特性，如运行安静、重量轻、高阻抗站立支撑以及惯性驱动的摆动期运动。然而，由于后者，SCMPK 对摆动期扰动也高度敏感，这可能增加跌倒的可能性。SCSA 假体通过一个小型电机补充 SCMPK 的行为，该电机维持 SCMPK 摆动状态的低输出阻抗，同时在其周围添加一个补充闭环控制器。本文阐述了 SCSA 假体的设计动机，描述了假体原型的设计，并提供了人体测试数据，证明了该装置在非扰动和扰动行走过程中相对于 SCMPK 的潜在优势。
