下肢假肢步态试验机的设计

Design of a gait tester for artificial legs

实验于2008-03在上海理工大学生物力学与康复工程研究所完成。基于仿生学原理,将人体下肢简化为刚体结构,关节简化为单轴结构,设计出一套下肢假肢步态试验装置。整个步态试验机装置系统由模拟腿、动力和传动装置及测控系统组成,主要部件有躯干、大腿、小腿、脚板和髋关节、膝关节、跑步机以及驱动部分。采集健康青年人常速行走的运动步态参数,以其关节角度数据作为输入信号,以步进电机作为动力驱动实现模拟腿的运动,达到正常人行走步态的模拟。结果显示,对模拟后的输出信号进行采集并与输入信号相比,最大相对误差为5.6%,在工程误差允许范围之内。提示下肢假肢步态试验机能基本模拟人的正常步态。

The experiment was performed at Institute of Biomechanics and Rehabilitation Engineering, University of Shanghai for Science and Technology in March 2008. Based on bionics principle, the human lower limb is simplified as rigid body structure and its joints as a single-axis mechanism to design a testing equipment of artificial leg gait. The entire gait testing system is composed of simulating legs, power, transmission device and detecting and controlling system. And the major components include a jog machine, power system and parts simulating the trunk, thigh, calf, foot, thigh joint and knee joint of a person. The gait parameters of healthy young people who walked in a constant speed were collected, and the joint angle data were regarded as input signal of the controlling system to achieve gait simulation of the normal person＇s walking with the step-motor driving. The maximum relative error between the output simulating signal and the input signal was 5.6%, which was within the required tolerance. The results indicate that the artificial leg gait testing equipment can basically simulate normal human gait.