An ankle-foot emulation system for the study of human walking biomechanics

被引：84

作者：

Au, Samuel K. ^{[1
]}

Dilworth, Peter ^{[1
]}

Herr, Hugh ^{[2
]}

机构：

[1] MIT, MIT Media Lab, Cambridge, MA 02139 USA

[2] MIT, MIT Media Lab, Harvard MIT Div Hlth Sci & Technol, Cambridge, MA 02139 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

below-knee prosthesis; biomechanics; force control; biomimetic; ankle foot emulator;

D O I：

10.1109/ROBOT.2006.1642148

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Although below-knee prostheses have been commercially available for some time, today's devices are completely passive, and consequently, their mechanical properties remain foxed with walking speed and terrain. A lack of understanding of the ankle foot biomechanics and the dynamic interaction between an amputee and a prosthesis is one of the main obstacles in the development of a biomimetic ankle foot prosthesis. In this paper, we present a novel ankle foot emulator system for the study of human walking biomechanics. The emulator system is comprised of a high performance, force-controllable, robotic ankle-foot worn by an amputee interfaced to a mobile computing unit secured around his waist We show that the system is capable of mimicking normal ankle foot walking behaviour. An initial pilot study supports the hypothesis that the emulator may provide a more natural gait than a conventional passive prosthesis.

引用

页码：2939 / +

页数：2

共 18 条

[1] FUNCTIONAL ASSESSMENT OF CONTROL-SYSTEMS FOR CYBERNETIC ELBOW PROSTHESES .1. DESCRIPTION OF THE TECHNIQUE [J].