A little volume of lower extremity amputees needs hip disarticulation prostheses (HDPs). This situation makes it hard to invite hip amputees for prostheses test. The traditional evaluations for HDPs mostly refer to the questionnaires from the amputees and lack of quantitative criteria. In this article, we proposed a gait simulation and evaluation (GSE) system for HDPs testing. The GSE system contained a prosthetic thigh simulation robot that could reproduce the trajectory of human movement. We trained the simulation robot to walk with the tested HDPs using an adaptive neural network (ANN) control method. The ANN method was proposed to solve the unstable motion and large trajectory tracking error when the simulation robot was disturbed by the tested HDPs. The gait kinematic and kinetic data were collected to analyze the performance of the tested HDPs. The GSE system provided a stable test environment that opens up new possibilities for the HDPs test under controlled conditions. Note to Practitioners-Most of the prosthetic tests are based on amputees, especially hip disarticulation prostheses (HDPs). This work provides a gait simulation and evaluation system based on the quantified evaluation, which can repeatedly test the prostheses. The testing system improves the efficiency of the development of HDPs and decreases the security of the test with hip amputees. Furthermore, the system has backward compatibility for other lower limb prostheses (prosthetic knee and ankle).

中文翻译：

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髋关节离断假肢步态模拟与评估系统


少量下肢截肢者需要髋关节离断假体（HDP）。这种情况使得邀请髋部截肢者进行假肢测试变得困难。传统的HDP评估大多参考截肢者的问卷调查，缺乏量化标准。在本文中，我们提出了一种用于 HDP 测试的步态模拟和评估 (GSE) 系统。 GSE系统包含一个假肢大腿模拟机器人，可以重现人类运动的轨迹。我们使用自适应神经网络 (ANN) 控制方法训练模拟机器人与测试的 HDP 一起行走。提出了ANN方法来解决模拟机器人受到测试HDP干扰时运动不稳定和轨迹跟踪误差大的问题。收集步态运动学和动力学数据来分析测试 HDP 的性能。 GSE 系统提供了稳定的测试环境，为受控条件下的 HDP 测试开辟了新的可能性。从业者须知——大多数假肢测试都是基于截肢者，尤其是髋关节离断假肢（HDP）。本工作提供了一种基于量化评估的步态模拟与评估系统，可以对假肢进行重复测试。该测试系统提高了HDP的开发效率，但降低了髋部截肢者测试的安全性。此外，该系统还向后兼容其他下肢假肢（假肢膝关节和假踝关节）。