动力膝关节假体的新方法:将动力辅助分层到严格被动的假体行为上

IF 3.4 Q2 ENGINEERING, BIOMEDICAL Wearable technologies Pub Date : 2023-08-18 eCollection Date: 2023-01-01 DOI:10.1017/wtc.2023.14
Steve C Culver, Léo G Vailati, David C Morgenroth, Michael Goldfarb
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引用次数: 0

摘要

摘要:本文描述了一种控制动力膝关节假体的新方法,其中控制系统为大多数活动提供被动行为,然后仅为需要它们的活动提供动力辅助。本文提出的控制方法是基于活动过程中膝关节功能的分类,分为四种行为:抗性姿态行为、主动姿态行为、弹道摆动和非弹道摆动。该方法的进一步前提是假设健康的无扰动摆动相位以弹道摆动运动为特征,因此,该函数的替换应该类似于弹道运动。控制系统采用六状态有限状态机,其中每个状态提供适合于一系列活动的不同本构行为(伴随上述四种膝关节行为)。状态之间的转换和状态内的转矩控制由用户运动控制,因此控制系统尽可能提供膝关节转矩行为作为对用户运动的反应,包括动力行为。该控制系统在一种新型设备上进行了演示,该设备提供了足够低的阻抗,可以实现严格被动的弹道摆动相位,同时还提供了足够高的扭矩,可以在诸如跨楼梯上升等活动中提供动力的站立相位膝关节伸展。在经股骨截肢患者身上进行了膝关节和控制系统的实验,比较了动力辅助的名义被动系统与传统被动微处理器控制的膝关节假体的功能。
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A new approach to a powered knee prosthesis: Layering powered assistance onto strictly passive prosthesis behavior.

This article describes a novel approach to the control of a powered knee prosthesis where the control system provides passive behavior for most activities and then provides powered assistance only for those activities that require them. The control approach presented here is based on the categorization of knee joint function during activities into four behaviors: resistive stance behavior, active stance behavior, ballistic swing, and non-ballistic swing. The approach is further premised on the assumption that healthy non-perturbed swing-phase is characterized by a ballistic swing motion, and therefore, a replacement of that function should be similarly ballistic. The control system utilizes a six-state finite-state machine, where each state provides different constitutive behaviors (concomitant with the four aforementioned knee behaviors) which are appropriate for a range of activities. Transitions between states and torque control within states is controlled by user motion, such that the control system provides, to the extent possible, knee torque behavior as a reaction to user motion, including for powered behaviors. The control system is demonstrated on a novel device that provides a sufficiently low impedance to enable a strictly passive ballistic swing-phase, while also providing sufficiently high torque to offer powered stance-phase knee-extension during activities such as step-over stair ascent. Experiments employing the knee and control system on an individual with transfemoral amputation are presented that compare the functionality of the power-supplemented nominally passive system with that of a conventional passive microprocessor-controlled knee prosthesis.

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CiteScore
5.80
自引率
0.00%
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0
审稿时长
11 weeks
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