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首页> 外文期刊>Journal of Biomechanics >Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis.
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Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis.

机译：人工气动肌肉的机械性能，可为踝足矫形器提供动力。

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We developed a powered ankle-foot orthosis that uses artificial pneumatic muscles to produce active plantar flexor torque. The purpose of this study was to quantify the mechanical performance of the orthosis during human walking. Three subjects walked at a range of speeds wearing ankle-foot orthoses with either one or two artificial muscles working in parallel. The orthosis produced similar total peak plantar flexor torque and network across speeds independent of the number of muscles used. The orthosis generated approximately 57% of the peak ankle plantar flexor torque during stance and performed approximately 70% of the positive plantar flexor work done during normal walking. Artificial muscle bandwidth and force-length properties were the two primary factors limiting torque production. The lack of peak force and work differences between single and double muscle conditions can be explained by force-length properties. Subjects altered their ankle kinematics between conditions resulting in changes in artificial muscle length. In the double muscle condition greater plantar flexion yielded shorter artificial muscles lengths and decreased muscle forces. This finding emphasizes the importance of human testing in the design and development of robotic exoskeleton devices for assisting human movement. The results of this study outline the mechanical performance limitations of an ankle-foot orthosis powered by artificial pneumatic muscles. This orthosis could be valuable for gait rehabilitation and for studies investigating neuromechanical control of human walking.
机译：我们开发了一种动力型踝足矫形器，该矫形器使用人造气动肌肉产生主动的足底屈肌扭矩。这项研究的目的是量化人行走过程中矫形器的机械性能。三名受试者穿着脚踝矫形器以一定的速度行走，其中一根或两根人造肌肉平行工作。矫形器在不依赖于所用肌肉数量的情况下，在整个速度上产生相似的总足底屈肌峰值扭矩和网络。矫正器在站立期间产生了约57％的最大踝kle屈扭矩峰值，并完成了正常步行过程中约70％的正plant屈功。人工肌肉的带宽和力长特性是限制扭矩产生的两个主要因素。单峰和双峰条件之间缺乏峰值力和功差可以通过力长特性来解释。受试者在各种情况之间改变了脚踝的运动学，从而导致人造肌肉长度的变化。在双肌肉状态下，更大的足底屈曲产生较短的人造肌肉长度并降低肌肉力量。这一发现强调了人类测试在设计和开发用于协助人类运动的机器人外骨骼设备中的重要性。这项研究的结果概述了由人工气动肌肉驱动的踝足矫形器的机械性能局限性。这种矫形器对于步态康复和研究人类步行的神经机械控制的研究可能很有价值。

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