This article describes the design of a new type of knee prosthesis called a stance-control swing-assist (SCSA) knee prosthesis. The device is motivated by the recognition that energetically passive stance-controlled microprocessor-controlled knees (SCMPKs) offer many desirable characteristics, such as quiet operation, low weight, high-impedance stance support, and an inertially driven swing-phase motion. Due to the latter, however, SCMPKs are also highly susceptible to swing-phase perturbations, which can increase the likelihood of falling. The SCSA prosthesis supplements the behavior of an SCMPK with a small motor that maintains the low output impedance of the SCMPK swing state, while adding a supplemental closed-loop controller around it. This article elaborates upon the motivation for the SCSA prosthesis, describes the design of a prosthesis prototype, and provides human-subject testing data that demonstrate potential device benefits relative to an SCMPK during both nonperturbed and perturbed walking.

中文翻译：

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半动力姿态控制摆动辅助经股假肢的设计

本文介绍了一种称为姿态控制摆动辅助 (SCSA) 膝关节假体的新型膝关节假体的设计。该设备的动机是认识到能量被动姿态控制微处理器控制膝盖 (SCMPK) 具有许多理想的特性，例如安静运行、重量轻、高阻抗姿态支撑和惯性驱动的摆动阶段运动。然而，由于后者，SCMPK 也非常容易受到摆相扰动的影响，这会增加跌倒的可能性。SCSA 假肢通过一个小型电机补充了 SCMPK 的行为，该电机保持了 SCMPK 摆动状态的低输出阻抗，同时在其周围添加了一个补充闭环控制器。本文详细阐述了 SCSA 假肢的动机，描述了假肢原型的设计，并提供了人体测试数据，这些数据证明了在无扰动和扰动行走期间相对于 SCMPK 的潜在设备优势。