动力踝关节假肢的研究现状与发展分析

Development of Dynamic Ankle Prosthesis (review)

动力踝关节假肢的机构设计和控制理论是主动式下肢假肢的重要研究方向。本文从国内外研究现状出发,综述动力踝关节假肢的背景、研究目的和意义,指出被动式踝关节假肢设计和运动学存在的不足之处,为动力踝关节假肢设计和研发提供意见和建议。按驱动方式的不同,系统地阐述了气动、液压和电机驱动下踝关节假肢机构设计的研究进展,探讨了各驱动方式下假肢的时效性、耗能性。根据有限状态机、轨迹跟踪和直接意志控制的不同反馈精确性、实时性,提出了提高动力踝关节假肢控制模式功能性的优化方案。

Mechanism design and control theory of dynamic ankle prosthesis are important research directions of active lower limb prosthesis. This paper started from the research status at home and abroad, reviewed the background, purpose and significance of dynamic ankle prosthesis, pointed out the shortcomings of passive ankle prosthesis design and kinematics, provided opinions and suggestions for the design and development of powered ankle prosthesis. According to the different driving modes, the research progress of pneumatic, hydraulic and motor driven ankle prosthesis mechanism design was systematically described, and the timeliness and energy dissipation of prosthesis under different driving modes were discussed. According to the different feedback accuracy and real-time of finite-state machine, trajectory tracking and direct volitional control, an optimization scheme was proposed to improve the function of dynamic ankle prosthesis control mode.