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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：轻量级非黑色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：与传统的无源假体相比，机器人踝关节假体可以模仿完整腿的完整腿的生物力学功能。不幸的是，重量和尺寸的增加对舒适性和套接稳定性产生负面影响，最终限制了它们的临床活力。或者，可以使用非黑色传输系统在非维度轴承活动期间主动调节脚踝位置。由于较低的致动电源要求，可以使该半导体设计变小和更轻。然而，传动系统必须在姿态和站立期间承受高负荷。因此，可用的半视野仍然显着较大，并且具有比被动踝关节假体更大的构建高度。在本文中，我们介绍了一个半视脚踝假体的设计，开发和验证，具有非黑色凸轮从动机构，该机构设计用于降低移动部件上的负载，并根据需要纵向与脚对齐以减少假体重量和尺寸。所提出的脚踝机制类似于50％的较短，类似于40％的运动范围（ROM），估计与可用半视野的相似比27％轻。具有宁静主题的实验表明，与被动假体相比，半视验假体可增加高达142％的脚间隙，降低残留肢体的负荷低至32％。

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