智能助力型髋离断假肢设计与实验验证

Design and experimental verification of intelligent power-assisted hip disarticulation prosthesis

目的设计一种新型智能助力型髋离断假肢,并采用实验验证其运动学表现。方法采用基于远程运动中心机构的双平行四连杆构型设计假肢主体,采用串联弹性驱动器为假肢提供外源动力,并采用拮抗扭簧结构实现髋关节屈曲和伸展双向储能助力。建立了基于阻抗控制的假肢控制系统方案,通过设置辅助力场以弥补假肢关节实际角度与目标角度之间的偏差,进而实现假肢助力功能。最后以传统型髋离断假肢为对照,测试正常人穿戴新型智能助力型髋离断假肢的整体性能。结果新型智能助力型髋离断假肢的髋关节角度曲线与正常人的拟合优度为86%,比传统型髋离断假肢(72%)高出14%;新型智能助力型髋离断假肢的健侧角度与正常人的的拟合优度为94%,与传统型髋离断假肢持平。结论设计了一种新型智能助力型髋离断假肢,实现了假肢辅助运动的功能。

Objective To design a new type of intelligent power-assisted hip disarticulation prosthesis and to use experiments to verify its kinematic performance.Methods The main body of the prosthesis was designed using a double parallel four-link configuration based on a remote motion center mechanism.A series elastic actuator was used to provide external power for the prosthesis,and an antagonistic torsion spring structure was used to achieve bidirectional energy storage assistance in hip flexion and extension.A control system based on impedance control was established.By setting up an auxiliary force field to compensate for the difference between the actual angle of the prosthesis and the target angle,the prosthesis assist function was realized.Finally,the traditional hip disarticulation prosthesis was used as a comparison to test the overall performance of the new intelligent power-assisted hip disarticulation prosthesis worn by normal people.Results For the new smart-assisted hip-disarticulation prosthesis,the goodness-of-fit of its hip joint angle curve to that of a normal person was 86%,which was 14%higher than that of the traditional hip-disarticulation prosthesis(72%).The goodness-of-fit of the healthy-side angle of the new smart-assisted hip disarticulation prosthesis to the normal human was 94%,which was the same as that of the traditional hip disarticulation prosthesis.Conclusions A new type of intelligent power-assisted hip disarticulation prosthesis is designed to realize the function of prosthesis-assisted movement.