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首页> 外文期刊>IEEE Robotics & Automation Magazine >A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design
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A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design

机译：一个紧凑，轻巧的机器人脚踝 - 足版本：具有动力的多中心设计

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Robotic ankle-foot prostheses aim to improve the mobility of individuals with belowknee amputations by closely imitating the biomechanical function of the missing biological limb. To accomplish this goal, they must provide biomechanically accurate torque during ambulation. In addition, they must satisfy further requirements such as build height, range of motion (ROM), and weight. These requirements are critical for determining the potential number of users, range of activities that can be performed, and clinical outcomes. Previous studies have proposed addressing this challenge through the use of advanced actuation systems with series and parallel elastic actuators, clutchable leverages, and pneumatic artificial muscles. These ad vanced actuation systems have shown improved mechanical and electrical efficiency compared to conventional servo motors, making powered ankle prostheses possible. However, the improved efficiency comes at the expense of a tall build height, reduced ROM, and significant increase in weight, thus limiting the clinical viability of currently available powered prostheses.
机译：机器人踝关节假肢旨在通过密切模仿缺失的生物肢体的生物力学功能来改善个体的流动性。为了实现这一目标，他们必须在救护过程中提供生物力学准确的扭矩。此外，它们必须满足进一步的要求，例如构建高度，运动范围（ROM）和重量。这些要求对于确定潜在的用户数，可以进行的活动范围和临床结果至关重要。以前的研究通过使用具有串联和平行弹性执行器，抓住杠杆和气动人工肌肉的先进的致动系统，提出了解决这一挑战。与传统的伺服电机相比，这些广告驱动系统已经提高了机械和电效率，使动力踝假肢成为可能。然而，提高效率为高层构建高度，减少的ROM，重量大幅增加，因此限制了当前可用的动力假体的临床生存能力。

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