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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint
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Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint

机译：具有可调节刚度脚趾关节的动力脚踝脚假体的设计

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摘要

This paper proposes a powered ankle-foot prosthesis called PANTOE II, which includes an ankle and a segmented foot with a toe joint. The ankle and toe joints are both driven by series elastic actuators, which can reduce the required velocity and energy consumption of the actuators. The mechanical design of the ankle and toe joints makes the prosthesis more compact. In addition, PANTOE II employs a more human-like foot, which includes the heel, the mid foot, and the toe. Both the heel and the toe are made of leaf springs, and the mid foot is used to install the transmission mechanisms. The finite state control strategy is used for controlling the prosthesis. To evaluate the basic performance of PANTOE II, experiments are conducted on a subject with a transtibial amputation. Wearing PANTOE II, the amputee feels more comfortable and presents more symmetrical walking gaits.
机译：本文提出了一种称为PANTOE II的动力脚踝脚假体，其包括脚踝和分段脚，具有脚趾接头。 脚踝和脚趾接头均由串联弹性执行器驱动，这可以降低执行器的所需速度和能量消耗。 踝关节和脚趾接头的机械设计使假体更紧凑。 此外，PANTOE II采用更有人类的脚，其包括鞋跟，中脚和脚趾。 鞋跟和脚趾都是由叶子弹簧制成的，中脚用于安装传动机构。 有限状态控制策略用于控制假体。 为了评估PANTOE II的基本性能，实验在具有串易截肢的受试者上进行。 戴上公寓II，截肢者感觉更加舒适，并呈现出更多的对称行走仪式。

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