标题： 一种带有动力跖屈和socket对齐的矢状面踝足假肢 显示英文标题

标题： A Sagittal Planar Ankle-Foot Prosthesis with Powered Plantarflexion and Socket Alignment

摘要： 假肢踝足矫形器可以经常通过协助脚尖离地来降低行走的能量成本。 然而，过分关注提供机械功可能导致忽视甚至加重截肢者常见的慢性疼痛、刺激、压力性溃疡以及最终的骨关节炎等问题。 本文介绍了基于预测性生物力学步态模拟设计和验证的一种新型胫骨下假肢，这种模拟旨在最小化用户努力和来自假肢接受腔的相互作用负荷的组合。 根据这些研究结果，该设备设计了一个非仿生的前后方向自由度，运动范围为10厘米，主要由位置控制来改变假肢脚与残肢的对齐方式。 该系统既可以移动也可以固定使用，电池、致动器和大部分电子设备都位于一个小背包内。 机械负荷通过缆绳传递到假肢上，从而减少了远端质量携带的需求。 我们测量了扭矩和力传感精度、开环致动器性能、闭环扭矩和位置控制带宽以及行走时的扭矩和位置跟踪误差。 该系统能够在两个自由度上分别产生高达160牛米的跖屈扭矩和394牛的前后方向（AP）平移力，闭环控制带宽约为7赫兹。 行走时的扭矩跟踪误差在约10牛米范围内准确，但位置跟踪受到相位滞后的影响较大，这可能是双向机制中的缆绳松弛造成的。 原型能够复制我们的仿真假肢动态，并为使用预测性生物力学模拟作为可穿戴机器人设计工具提供了有用的见解。 显示英文摘要

摘要： Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure ulcer development, and eventual osteoarthritis in persons with amputation. This paper presents the design and validation of a novel transtibial prosthesis informed by predictive biomechanical simulations of gait which minimize a combination of user effort and interaction loading from the prosthesis socket. From these findings, the device was designed with a non-biomimetic anterior-posterior translation degree of freedom with a 10 cm range of motion which is primarily position-controlled to change the alignment of the prosthetic foot with the residual limb. The system is both mobile and tethered, with the batteries, actuators, and majority of electronics located in a small backpack. Mechanical loads are transmitted through cables to the prosthesis, minimizing the distal mass carriage required. We measured torque and force sensing accuracy, open loop actuator performance, closed loop torque and position control bandwidth, and torque and position tracking error during walking. The system is capable of producing up to 160 N-m of plantarflexion torque and 394 N of AP translation force with a closed loop control bandwidth of about 7 Hz in both degrees of freedom. Torque tracking during walking was accurate within about 10 N-m but position tracking was substantially affected by phase lag, possibly due to cable slack in the bidirectional mechanism. The prototype was capable of replicating our simulated prosthesis dynamics during gait and offers useful insights into the advantages and the practical considerations of using predictive biomechanical simulation as a design tool for wearable robots.