Torsion adapters in lower limb prostheses aim to increase comfort, mobility and health of users by allowing rotation in the transversal plane. A preliminary study with two transtibial amputees indicated correlations between torsional stiffness and foot alignment to increase comfort and stability of the user depending on the gait situation and velocity. This paper presents the design and proof-of-concept of an active, bio-inspired prosthetic shank adapter and a novel approach to create a user-specific human-machine interaction through adapting the device's properties. To provide adequate support, load data and subjective feedback of subjects are recorded and analyzed regarding defined gait situations. The results are merged to an user individual preference-setting matrix to select optimal parameters for each gait situation and velocity. A control strategy is implemented to render the specified desired torsional stiffness and transversal foot alignment values to achieve situation-dependent adaptation based on the input of designed gait detection algorithms. The proposed parallel elastic drive train mimics the functions of bones and muscles in the human shank. It is designed to provide the desired physical human-machine interaction properties along with optimized actuator energy consumption. Following test bench verification, trials with five participants with lower limb amputation at different levels are performed for basic validation. The results suggest improved movement support in turning maneuvers. Subjective user feedback confirmed a noticeable reduction of load at the stump and improved ease of turning.

下肢假肢中的扭转适配器旨在通过允许横向平面旋转来增加使用者的舒适度，活动性和健康度。一项针对两个胫骨截肢者的初步研究表明，根据步态和速度，扭转刚度和脚部对齐之间存在相关性，以提高使用者的舒适度和稳定性。本文介绍了一种主动的，受生物启发的假肢适配器的设计和概念验证，以及一种通过调整设备的属性来创建用户特定的人机交互的新颖方法。为了提供足够的支持，应记录并分析有关步态情况的负荷数据和受试者的主观反馈。将结果合并到用户个人的偏好设置矩阵，以针对每种步态和速度选择最佳参数。实施控制策略以基于设计的步态检测算法的输入来呈现指定的所需扭转刚度和横向脚对齐值，以实现与情况有关的适应。拟议中的平行弹性传动系统模仿了人小腿的骨骼和肌肉功能。它旨在提供理想的人机交互特性以及优化的执行器能耗。经过试验台验证后，对五名下肢截肢水平不同的参与者进行了试验，以进行基本验证。结果表明在转弯操作中改善了运动支撑。用户的主观反馈确认了树桩上的负载显着降低，并提高了旋转的便利性。