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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis
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Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis

机译：完整的拟人化股骨假体的初步评估

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摘要

This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and overground walking are described. Knee and ankle joint angle, torque, and power data taken during walking experiments at various speeds demonstrate the ability of the prosthesis to provide a functional gait that is representative of normal gait biomechanics. Measurements from the battery during level overground walking indicate that the self-contained device can provide more than 4500 strides, or 9 km, of walking at a speed of 5.1 km/h between battery charges.
机译：本文介绍了一种功能齐全的膝关节和踝关节假体，旨在增强经股截肢者的活动能力。作者先前开发的基于有限状态的阻抗控制方法，用于步行和站立期间假体的控制。描述了针对水平跑步机和地面行走的截肢者的实验。在步行实验期间以各种速度采集的膝盖和踝关节角度，扭矩和功率数据证明了假体提供代表正常步态生物力学功能步态的能力。在水平地面行走期间从电池进行的测量表明，该独立设备可以在两次电池充电之间以5.1 km / h的速度提供4500跨步（即9 km）的行走。

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