动力踝关节假肢的研究现状与发展分析

doi:10.3969/j.issn.1006-9771.2019.12.005

《中国康复理论与实践》 ›› 2019, Vol. 25 ›› Issue (12): 1389-1394.doi: 10.3969/j.issn.1006-9771.2019.12.005

动力踝关节假肢的研究现状与发展分析

张燕¹, 姜恺宁¹, 郭俊超², 宋亮^2,3

1.河北工业大学人工智能与数据科学学院，天津市 300132
2.民政部人体运动分析与康复技术重点实验室，北京市老年功能障碍康复辅助技术重点实验室，国家康复辅具研究中心，北京市 100176
3.国家康复辅具研究中心秦皇岛研究院，河北秦皇岛市 066000

收稿日期:2019-02-11 修回日期:2019-09-10 出版日期:2019-12-25 发布日期:2019-12-26
通讯作者: 宋亮，E-mail: songliang@nrcrta.com E-mail:songliang@nrcrta.com
作者简介:张燕(1974-)，女，汉族，河北石家庄市人，博士研究生，教授，主要研究方向：预测控制、智能控制等。
基金资助:
1.河北省重点研发项目(No. 18277610D)；2.中央级公益性科研院所基本科研业务费专项资金课题(No. 118009001000160001)

Development of Dynamic Ankle Prosthesis (review)

ZHANG Yan¹, JIANG Kai-ning¹, GUO Jun-chao², SONG Liang^2,3

1.School of Artificial Intelligence, Hebei University of Technology, Tianjin 300132, China
2.Key Laboratory of Technical Aids Analysis and Identification Key Laboratory of the Ministry of Civil Affairs, Key Laboratory of Rehabilitation Technical Aids for Old-Age Disability, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China
3.Qinhuangdao Institute of National Research Center for Rehabilitation Technical Aids, Qinhuangdao, Hebei 066000, China

Received:2019-02-11 Revised:2019-09-10 Published:2019-12-25 Online:2019-12-26
Contact: SONG Liang, E-mail: songliang@nrcrta.com E-mail:songliang@nrcrta.com
Supported by:
Supported by Hebei Provincial Major S&T Research and Development Project (No. 18277610D) and Fundamental Research Funds for Central Public Welfare Research Institutes (No. 118009001000160001)

摘要/Abstract

摘要： 动力踝关节假肢的机构设计和控制理论是主动式下肢假肢的重要研究方向。本文从国内外研究现状出发，综述动力踝关节假肢的背景、研究目的和意义，指出被动式踝关节假肢设计和运动学存在的不足之处，为动力踝关节假肢设计和研发提供意见和建议。按驱动方式的不同，系统地阐述了气动、液压和电机驱动下踝关节假肢机构设计的研究进展，探讨了各驱动方式下假肢的时效性、耗能性。根据有限状态机、轨迹跟踪和直接意志控制的不同反馈精确性、实时性，提出了提高动力踝关节假肢控制模式功能性的优化方案。

关键词: 假肢, 动力踝关节, 控制, 机械设计, 综述

Abstract: Mechanism design and control theory of dynamic ankle prosthesis are important research directions of active lower limb prosthesis. This paper started from the research status at home and abroad, reviewed the background, purpose and significance of dynamic ankle prosthesis, pointed out the shortcomings of passive ankle prosthesis design and kinematics, provided opinions and suggestions for the design and development of powered ankle prosthesis. According to the different driving modes, the research progress of pneumatic, hydraulic and motor driven ankle prosthesis mechanism design was systematically described, and the timeliness and energy dissipation of prosthesis under different driving modes were discussed. According to the different feedback accuracy and real-time of finite-state machine, trajectory tracking and direct volitional control, an optimization scheme was proposed to improve the function of dynamic ankle prosthesis control mode.

Key words: prosthesis, dynamic prosthetic ankle, control, mechanical design, review

中图分类号:

R496

张燕, 姜恺宁, 郭俊超, 宋亮. 动力踝关节假肢的研究现状与发展分析[J]. 《中国康复理论与实践》, 2019, 25(12): 1389-1394.

ZHANG Yan, JIANG Kai-ning, GUO Jun-chao, SONG Liang. Development of Dynamic Ankle Prosthesis (review)[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2019, 25(12): 1389-1394.

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动力踝关节假肢的研究现状与发展分析

Development of Dynamic Ankle Prosthesis (review)

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