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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design, Development, and Validation of a Lightweight Nonbackdrivable Robotic Ankle Prosthesis
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Design, Development, and Validation of a Lightweight Nonbackdrivable Robotic Ankle Prosthesis

机译：轻型不可逆机器人踝关节假体的设计，开发和验证

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摘要

Robotic ankle prostheses can imitate the biomechanical function of intact legs at the cost of a larger weight and size compared to conventional passive prostheses. Unfortunately, increased weight and size negatively affect comfort and socket stability, ultimately limiting their clinical viability. Alternatively, a nonbackdrivable transmission system can be used to actively regulate the ankle position during nonweight bearing activities only. This semiactive design can be made smaller and lighter as a result of the lower actuation power requirements. However, the transmission system must withstand high loads during stance and standing. Thus, available semiactive prostheses are still significantly heavier and have a larger build height than passive ankle prostheses. In this paper, we present the design, development, and validation of a semiactive ankle prosthesis with a nonbackdrivable cam follower mechanism designed to lower the load on moving components and align with the foot longitudinally as necessary to reduce the prosthesis weight and size. The proposed ankle mechanism is similar to 50% shorter, has similar to 40% wider range of motion (ROM), and is estimated to be similar to 27% lighter than available semiactive prostheses. Experiments with a transtibial subject show that the semiactive prosthesis can increase foot clearance up to 142% and reduce the load on the residual limb as low as 32% compared to passive prostheses.
机译：与传统的被动假体相比，机器人脚踝假体可以模仿完整腿的生物力学功能，但其重量和尺寸更大。不幸的是，增加的重量和尺寸会对舒适度和插槽稳定性产生负面影响，最终限制了它们的临床可行性。可替代地，不可驱动的传动系统可仅在非负重活动期间用于主动调节脚踝位置。由于较低的驱动功率要求，该半主动式设计可以做得更小，更轻。但是，传动系统在站立和站立时必须承受高负荷。因此，与被动踝关节假体相比，可用的半主动假体仍然明显较重并且具有更大的构建高度。在本文中，我们介绍了具有不可逆转凸轮从动件机构的半主动式踝关节假体的设计，开发和验证，该机构旨在降低运动部件上的负荷并根据需要与脚纵向对齐以减少假体重量和尺寸。所提出的脚踝机制短了50％，运动范围（ROM）却大了40％，并且估计比可用的半主动假体轻了27％。与胫骨受试者进行的实验表明，与被动假体相比，半主动假体可以将足部间隙增加至142％，并将残余肢体的负荷降低至32％。

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