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Development and Performance Verification of a Motorized Prosthetic Leg for Stair Walking
Applied Bionics and Biomechanics ( IF 2.2 ) Pub Date : 2020-10-27 , DOI: 10.1155/2020/8872362
Kiwon Park 1 , Hyoung-Jong Ahn 2 , Kwang-Hee Lee 2 , Chul-Hee Lee 2
Affiliation  

The present study emphasized on the optimal design of a motorized prosthetic leg and evaluation of its performance for stair walking. Developed prosthetic leg includes two degrees of freedom on the knee and ankle joint designed using a virtual product development process for better stair walking. The DC motor system was introduced to imitate gait motion in the knee joint, and a spring system was applied at the ankle joint to create torque and flexion angle. To design better motorized prosthetic leg, unnecessary mass was eliminated via a topology optimization process under a complex walking condition in a boundary considered condition and aluminum alloy for lower limb and plastic nylon through 3D printing foot which were used. The structural safety of a developed prosthetic leg was validated via finite element analysis under a variety of walking conditions. In conclusion, the motorized prosthetic leg was optimally designed while maintaining structural safety under boundary conditions based on the human walking data, and its knee motions were synchronized with normal human gait via a PD controller. The results from this study about powered transfemoral prosthesis might help amputees in their rehabilitation process. Furthermore, this research can be applied to the area of biped robots that try to mimic human motion.

中文翻译:

电动步行楼梯假肢的研制与性能验证

本研究强调电动假肢的最佳设计及其对楼梯行走性能的评估。发达的假肢在膝盖和脚踝关节上具有两个自由度,使用虚拟产品开发过程进行设计,以实现更好的楼梯行走。引入直流电动机系统来模仿膝关节的步态运动,并在踝关节处施加弹簧系统以产生扭矩和屈曲角度。为了设计更好的机动假肢,在考虑边界的复杂步行条件下通过拓扑优化过程消除了不必要的重量,并使用了3D打印脚用于下肢的铝合金和塑料尼龙。通过在各种步行条件下进行的有限元分析,可以验证发达假肢腿的结构安全性。总之,基于人工步行数据,在保留边界条件下的结构安全性的同时,对机动假肢进行了优化设计,并且其膝关节运动通过PD控制器与正常人的步态同步。这项关于动力型股骨假体的研究结果可能有助于截肢者的康复过程。此外,这项研究可以应用于试图模仿人类运动的两足动物机器人领域。这项关于动力型股骨假体的研究结果可能有助于截肢者的康复过程。此外,这项研究可以应用于试图模仿人类运动的两足动物机器人领域。这项关于动力型股骨假体的研究结果可能有助于截肢者的康复过程。此外,这项研究可以应用于试图模仿人类运动的两足动物机器人领域。
更新日期:2020-10-30
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