一种智能膝关节假肢及其步态对称性评价

doi:10.3969/j.issn.1006-9771.2023.04.005

《中国康复理论与实践》 ›› 2023, Vol. 29 ›› Issue (4): 402-407.doi: 10.3969/j.issn.1006-9771.2023.04.005

一种智能膝关节假肢及其步态对称性评价

张意彬¹^,², 李剑峰², 喻洪流¹()

1.上海理工大学健康科学与工程学院，上海市 200093
2.上海健康医学院医疗器械学院，上海市 201318

收稿日期:2023-01-20 修回日期:2023-03-12 出版日期:2023-04-25 发布日期:2023-05-19
通讯作者: 喻洪流(1966-)，男，汉族，江西南昌市人，博士，教授，博士研究生导师，主要研究方向：康复工程。E-mail：yhl98@hotmail.com
作者简介:张意彬(1979-)，男，蒙古族，内蒙古赤峰市人，硕士研究生，主要研究方向：康复工程。
基金资助:
国家自然科学基金项目(62073224)

A microprocessor-controlled prosthetic knee and its gait symmetry assessment

ZHANG Yibin¹^,², LI Jianfeng², YU Hongliu¹()

1.School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
2.Medical Instruments Institute, Shanghai University of Medicine & Health Sciences, Shanghai 201318, China

Received:2023-01-20 Revised:2023-03-12 Published:2023-04-25 Online:2023-05-19
Contact: YU Hongliu, E-mail: yhl98@hotmail.com
Supported by:
National Natural Science Foundation of China(62073224)

摘要/Abstract

摘要：

目的提出一种评价智能膝关节假肢步态对称性的方法。
方法设计智能膝关节假肢样机AiKneeOne以及可穿戴式步态数据采集系统。以步态周期中第一次双脚支撑时间、单脚支撑时间、第二次双脚支撑时间和摆动相时间作为参数，计算对称指数(SI)和对称指标比率R_Ⅰ、R_Ⅱ评估步态对称性指标。5例健康人模拟穿戴AiKneeOne，以0.5、0.7、1.1 m/s速度在平板上行走，采用可穿戴式下肢步态数据采集系统采集数据，进行实测。
结果不同速度下，第一次双脚支撑和第二次双脚支撑时，SI和R_Ⅱ绝对值较低、R_Ⅰ接近1，对称性较好；单脚支撑和摆动相时，对称性有待提高。
结论智能膝关节假肢AiKneeOne具备重建截肢者步态的潜力，步态对称性指标可用于智能膝关节假肢穿戴性能评估测试。

关键词: 智能膝关节假肢, 步态, 对称性, 步态周期

Abstract:

Objective To present a method for evaluating the gait symmetry of microprocessor-controlled prosthetic knee (MPK).
Methods A kind of proto-MPK, AiKneeOne, and a wearable gait collect system, were made. The phases of the first double-limb support, the single-limb support, the second double-limb support, and the swing were used to calculate symmetry index (SI), ratio Ⅰ (R_I) and ratio II (R_II). Five heathy persons walked on the treadmill wearing AiKneeOne at speeds of 0.5, 0.7, 1.1 m/s, and the indice were collected with the wearable gait collect system.
Results Under different velocities, The absolute value of SI and R_II were very little and the R_I were close to one at the phases of the first double-limb support and the second double-limb support, but they were not very satisfactory in the phases of the single-limb support and the swing.
Conclusion The developed MPK AiKneeOne is potential to reconstruct the gait of amputees, and the gait symmetry indice can be used to evaluate the wearing performance of MPK.

Key words: microprocessor-controlled prosthetic knee, gait, symmetry, gait cycle

中图分类号:

R496

张意彬, 李剑峰, 喻洪流. 一种智能膝关节假肢及其步态对称性评价[J]. 《中国康复理论与实践》, 2023, 29(4): 402-407.

ZHANG Yibin, LI Jianfeng, YU Hongliu. A microprocessor-controlled prosthetic knee and its gait symmetry assessment[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(4): 402-407.

图/表 10

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参考文献 17

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参数	结果
l₁/mm	42.5
l₂/mm	29.5
l₃/mm	38.5
l₄/mm	21.5
l₅/mm	245.0
φ₀/°	20.0
λ/°	100.0

编号	性别	身高/m	体质量/kg	大腿长/m	小腿长/m	步幅/m
1	男	1.70	70	0.42	0.48	0.63
2	男	1.65	61	0.40	0.47	0.61
3	男	1.78	75	0.44	0.51	0.69
4	女	1.52	55	0.37	0.43	0.51
5	女	1.60	57	0.39	0.46	0.57

步速	时相	SI	R_Ⅰ	R_Ⅱ
0.5 m/s	DLS1	3.7%	1.03	0.04
	DLS2	1.9%	1.02	0.02
	SLS	-25.4%	0.77	-0.22
	摆动相	20.4%	1.23	0.19
0.7 m/s	DLS1	-5.3%	0.95	-0.05
	DLS2	5.9%	1.06	0.06
	SLS	-19.6%	0.82	-0.17
	摆动相	19.2%	1.21	0.18
1.1 m/s	DLS1	-10.2%	0.90	-0.09
	DLS2	6.1%	1.06	0.05
	SLS	-17.1%	0.84	-0.15
	摆动相	18.6%	1.21	0.17

一种智能膝关节假肢及其步态对称性评价

A microprocessor-controlled prosthetic knee and its gait symmetry assessment

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