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首页> 外文期刊>Critical Reviews in Biomedical Engineering >Advances in Powered Ankle–Foot Prostheses
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Advances in Powered Ankle–Foot Prostheses

机译：动力脚踝脚假肢的进步

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摘要

We present a review of recent developments in powered ankle-foot prostheses (PAFPs), with emphasis on actuation, high- and low-level control strategies, and pneumatic, hydraulic, and electromechanical actuators. A high-level control strategy based on finite-state machines, combined with low-level control that drives the ankle torque, is the most common control strategy. On the other hand, brushless direct-current motors along with an energy storage and release mechanism are commonly used to reduce the overall size of the actuators and increase PAFP autonomy. Most designs have been evaluated experimentally, showing acceptable results in walking velocity and gait symmetry. Future research must focus on reducing weight, increasing energy efficiency, improving gait phase classification and/or intent of motion-prediction algorithms, updating low-level control of torque and position, and developing the ability of the patient to walk on sloped surfaces and negotiate stairs.
机译：我们对动力踝足假体（PAFP）的最新发展提供了审查，重点是致动，高和低水平的控制策略，气动，液压和机电执行器。 基于有限状态机的高电平控制策略与驱动脚踝扭矩的低级控制，是最常见的控制策略。 另一方面，刷绒直流电动机以及储能和释放机构通常用于降低执行器的总体尺寸并增加PAFP自主。 大多数设计已经通过实验评估，显示步行速度和步态对称性的可接受导致。 未来的研究必须侧重于减轻重量，提高能效，提高运动预测算法的步态分类和/或意图，更新扭矩和位置的低级控制，以及患者在倾斜的表面行走和谈判的能力 楼梯。

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