基于人体结构和运动仿生学的智能踝足假肢。

IF 5.2 2区 医学 Q1 ENGINEERING, BIOMEDICAL Journal of NeuroEngineering and Rehabilitation Pub Date : 2024-07-13 DOI:10.1186/s12984-024-01414-w
Baoyu Li, Guanghua Xu, Zhicheng Teng, Dan Luo, Jinju Pei, Ruiquan Chen, Sicong Zhang
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引用次数: 0

摘要

踝足假肢旨在通过拟合人体踝关节的运动特性来补偿缺失的运动功能,从而帮助下肢截肢者在日常生活中实现自理并提高活动能力。针对踝足假肢仿生运动能力差,以及患者、假肢和环境之间缺乏自然交互的问题,我们根据人体踝足的结构和运动特性,开发了一种复杂的反向滚动共轭关节,利用滚动关节模拟膝关节的滚动滑动特性。同时,我们建立了假体在站立阶段的节段动力学模型,并通过最佳假体结构尺寸和驱动力获得了假体结构参数。此外,我们还根据人体足部轮廓设计了碳纤维储能足,并模拟和分析了其在不同厚度下的弹性应变能动态响应。最后,我们集成了仿生踝足假肢,并通过实验验证了假肢关节运动的仿生性和碳纤维假足的储能特性。拟议的踝足假肢可提供行走支持,帮助截肢者正常回归社会生活,并有望帮助提高临床生存能力,降低医疗康复成本。
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Intelligent ankle-foot prosthesis based on human structure and motion bionics.

The ankle-foot prosthesis aims to compensate for the missing motor functions by fitting the motion characteristics of the human ankle, which contributes to enabling the lower-limb amputees to take care of themselves and improve mobility in daily life. To address the problems of poor bionic motion of the ankle-foot prosthesis and the lack of natural interaction among the patient, prosthesis, and the environment, we developed a complex reverse-rolling conjugate joint based on the human ankle-foot structure and motion characteristics, the rolling joint was used to simulate the rolling-sliding characteristics of the knee joint. Meanwhile, we established a segmental dynamics model of the prosthesis in the stance phase, and the prosthetic structure parameters were obtained with the optimal prosthetic structure dimensions and driving force. In addition, a carbon fiber energy-storage foot was designed based on the human foot profile, and the dynamic response of its elastic strain energy at different thicknesses was simulated and analyzed. Finally, we integrated a bionic ankle-foot prosthesis and experiments were conducted to verify the bionic nature of the prosthetic joint motion and the energy-storage characteristics of the carbon fiber prosthetic foot. The proposed ankle-foot prosthesis provides ambulation support to assist amputees in returning to social life normally and has the potential to help improve clinical viability to reduce medical rehabilitation costs.

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来源期刊
Journal of NeuroEngineering and Rehabilitation
Journal of NeuroEngineering and Rehabilitation 工程技术-工程:生物医学
CiteScore
9.60
自引率
3.90%
发文量
122
审稿时长
24 months
期刊介绍: Journal of NeuroEngineering and Rehabilitation considers manuscripts on all aspects of research that result from cross-fertilization of the fields of neuroscience, biomedical engineering, and physical medicine & rehabilitation.
期刊最新文献
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