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首页> 外文期刊>IEEE Transactions on Robotics >Powered Ankle--Foot Prosthesis Improves Walking Metabolic Economy
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Powered Ankle--Foot Prosthesis Improves Walking Metabolic Economy

机译：动力踝关节-脚部假肢可改善步行代谢经济

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摘要

At moderate to fast walking speeds, the human ankle provides net positive work at high-mechanical-power output to propel the body upward and forward during the stance period. On the contrary, conventional ankle--foot prostheses exhibit a passive-elastic response during stance, and consequently, cannot provide net work. Clinical studies indicate that transtibial amputees using conventional prostheses have higher gait metabolic rates than normal. Researchers believe that the main cause for these higher rates is due to the inability of conventional prostheses to provide sufficient positive power at terminal stance in the trailing leg to limit heel strike losses of the adjacent leading leg. In this investigation, we evaluate the hypothesis that a powered ankle--foot prosthesis, capable of providing human-like ankle work and power during stance, can decrease the metabolic cost of transport (COT) compared to a conventional passive-elastic prosthesis. To test the hypothesis, a powered prosthesis is built that comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is shown to deliver the high mechanical power and net positive work observed in normal human walking. The rate of oxygen consumption and carbon dioxide production is measured as a determinant of metabolic rate on three unilateral transtibial amputees walking at self-selected speeds. We find that the powered prosthesis decreases the amputee''s metabolic COT on average by 14% compared to the conventional passive-elastic prostheses evaluated (Flex-Foot Ceterus¯ and Freedom Innovations Sierra), even though the powered system is over twofold heavier than the conventional devices. These results highlight the clinical importance of prosthetic interventions that closely mimic the mass distribution, kinetics, and kinematics of the missing limb.
机译：在中等至快速的步行速度下，脚踝在高机械功率输出时可提供净正功，从而在站立期间推动身体向上和向前移动。相反，传统的脚踝假肢在站立时表现出被动弹性反应，因此无法提供净功。临床研究表明，使用常规假体的胫骨截肢者的步态代谢率比正常人高。研究人员认为，造成这些较高比率的主要原因是常规假肢无法在后腿的末端姿态提供足够的正向力量来限制相邻前腿的脚跟打击损失。在这项研究中，我们评估了以下假设：与传统的被动弹性假体相比，能够在站立期间提供类似人脚踝的工作和力量的动力式踝足假肢可以降低运输的代谢成本（COT）。为了检验该假设，构建了动力假体，该动力假体包括单向弹簧，该单向弹簧与具有串联弹性的力可控执行器并联配置。假体显示出在正常的人类行走过程中观察到的高机械动力和净正功。氧气消耗量和二氧化碳的产生速率是作为三个单侧截肢截肢者以自选速度行走的代谢速率的决定因素。我们发现，与传统的被动弹性假体（Flex-Foot Ceterus和Freedom Innovations Sierra）相比，动力假体平均可将截肢者的代谢COT降低14％，即使动力系统比常规设备。这些结果突出了假肢干预的临床重要性，该假肢干预密切模拟了缺失肢体的质量分布，动力学和运动学。

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