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

Abstract

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

CLC Number:

R496

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.

Figures/Tables 10

References 17

[1]	刘作军, 许长寿, 陈玲玲, 等. 智能假肢膝关节的研发要点及其研究进展综述[J]. 包装工程, 2021, 42(10): 54-63.
	LIU Z J, XU C S, CHEN L L, et al. Key point and progress of intelligent prosthesis knee joint research[J]. Pack Eng, 2021, 42(10): 54-63.
[2]	朱波, 褚亚奇, 赵新刚. 假肢中的感知及其反馈技术研究进展[J]. 生物医学工程学杂志, 2019, 36(6): 1048-1054.
	ZHU B, CHU Y Q, ZHAO X G. Research progress on perception and feedback technology in artificial prosthesis[J]. J Biomed Eng, 2019, 36(6): 1048-1054.
[3]	PRICE M A, BECKERLE P, SUP F C. Design optimization in lower limb prostheses: a review[J]. IEEE Trans Neural Syst Rehabil Eng, 2019, 27(8): 1574-1588. doi: 10.1109/TNSRE.7333
[4]	JAEGERS S M, ARENDZEN J H, DE JONGH H J. Prosthetic gait of unilateral transfemoral amputees: a kinematic study[J]. Arch Phys Med Rehabil, 1995, 76(8): 736-743. doi: 10.1016/S0003-9993(95)80528-1
[5]	WINIARSKI S, RUTKOWSKA-KUCHARSKA A, KOWAL M. Symmetry function for the location of asymmetry areas in the ground reaction forces of gait of patients with transfemoral amputation[J]. Gait Posture, 2019, 73(1): 547-548. doi: 10.1016/j.gaitpost.2019.07.326
[6]	CLEMENS S, KIM K J, GAILEY R, et al. Inertial sensor-based measures of gait symmetry and repeatability in people with unilateral lower limb amputation[J]. Clin Biomech, 2020, 72: 102-107. doi: 10.1016/j.clinbiomech.2019.12.007
[7]	ANDRES M C, JULIANA U, JOSEP M, et al. The effect of prosthetic alignment on the stump temperature and ground reaction forces during gait in transfemoral amputees[J]. Gait Posture, 2022, 95: 76-83. doi: 10.1016/j.gaitpost.2022.04.003 pmid: 35461047
[8]	HARANDI V J, ACKLAND D C, HADDARA R, et al. Gait compensatory mechanisms in unilateral transfemoral amputees[J]. Med Eng Phys, 2020, 77: 95-106. doi: S1350-4533(19)30233-4 pmid: 31919013
[9]	喻贝贝, 喻洪流, 孟青云, 等. 基于假肢步态仿真模拟与评测系统的步态对称性研究[J]. 生物医学工程学杂志, 2019, 36(6): 924-929.
	YU B B, YU H L, MENG Q Y, et al. Study on gait symmetry based on simulation and evaluation system of prosthesis gait[J]. J Biomed Eng, 2019, 36(6): 924-929.
[10]	KARAHARJU-HUISNAN T, TAYLOR S, BEGG R, et al. Gait symmetry quantification during treadmill walking[C]. Perth, WA, Australia: The Seventh Australian and New Zealand Intelligent Information Systems Conference, 2001: 203-206.
[11]	ROBINSON R O, HERZOG W, NIGG B M. Use of force platform variables to quantify the effects of chiropractic manipulation on gait symmetry[J]. J Manipulative Physiol Ther, 1987, 10(4): 172-176.
[12]	HERZOG W, NIGG B M, READ L J, et al. Asymmetries in ground reaction force patterns in human gait[J]. Med Sci Ports Exerc, 1989, 21(1): 110-114.
[13]	吕阳, 方虹斌, 徐鉴, 等. 四连杆膝关节假肢的动力学建模与分析[J]. 力学学报, 2020, 52(4): 1157-1173. doi: 10.6052/0459-1879-20-048
	LÜ Y, FANG H B, XU J, et al. Dynamic modeling and analysis of the lower limb prosthesis with four-bar linkage prosthetic knee[J]. Chin J Theoretical Appl Mech, 2020, 52(4): 1157-1173.
[14]	刘旭辉, 丁志娟, 罗启文, 等. 双摇杆假肢膝关节的运动学与动力学分析[J]. 机械传动, 2021, 45(3): 134-139. doi: 10.16578/j.issn.1004.2539.2021.03.022
	LIU X H, DING Z J, LUO Q W, et al. Kinematics and dynamics analysis of double rocker prosthetic knee joint[J]. J Mech Transmission, 2021, 45(3): 134-139.
[15]	谭菁华, 薛静波, 谢勇, 等. 光学三维运动捕捉系统用于生物力学测试的精准度分析[J]. 中国组织工程研究, 2022, 26(12): 1822-1827.
	TAN J H, XUE J B, XIE Y, et al. Accuracy and precision analysis of optical three-dimensional movement capture system for biomechanical testing[J]. Chin J Tissue Eng Res, 2022, 26(12): 1822-1827.
[16]	喻洪流, 张意彬, 商怀超, 等. 可调仿真膝关节步态数据采集系统及其方法: CN108652634B[P]. 2020-10-09.
[17]	王晓辉, 王坤, 胡志勇, 等. 假肢接受腔设计及界面应力的有限元分析[J]. 中国组织工程研究, 2020, 24(6): 862-868.
	WANG X H, WANG K, HU Z Y, et al. Design of the prosthetic socket and the finite element analysis of the interfacial stress[J]. Chin J Tissue Eng Res, 2020, 24(6): 862-868.

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

A microprocessor-controlled prosthetic knee and its gait symmetry assessment

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 10

References 17

Related Articles 15

Metrics

Comments

Recommended 0

[1]	WEI Mengli, ZHONG Yaping, ZHOU Yiwen, GUI Huixian, GUAN Yeming, YU Tingting. Difference in bilateral lower limb muscle synergy mode for gait in patients after unilateral anterior cruciate ligament reconstruction [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2024, 30(1): 95-104.
[2]	ZHAO Panchao, JI Zhongqiu, JIANG Guiping, WEN Ruixiang. Influence of different tasks on gait characteristics and task cost in early childhood [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(9): 1072-1082.
[3]	HU Xiaoshi, ZHANG Qi, YUE Qing, LIANG Yanhua, LI Xiaosong, FENG Amei, ZHANG Yanqing. Effect of orthopedic elastic bandages on gait symmetry and walking ability in children with spastic hemiplegic cerebral palsy [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(9): 1083-1089.
[4]	ZHANG Yibin, LÜ Jie, YU Hongliu. Gait phase recognition in intelligent above-knee prosthesis based on fuzzy logic algorithm [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(8): 896-902.
[5]	WANG Yiji, ZHOU Hongjun, HE Zejia, LIU Genlin, ZHENG Ying, HAO Chunxia, WEI Bo, KANG Haiqiong, ZHANG Ying, LU Xiaolei, YUAN Yuan, MENG Qianru. Relationship between symmetry of lower limb function and gait symmetry in patients with incomplete spinal cord injury [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(6): 639-645.
[6]	WANG Fang, YANG Tao, HE Yaoguang, CAO Zijun, LIU Guoqing, HU Jun, ZHANG Jianguo, FAN Yubo. Design of variable stiffness insole based on diabetics plantar pressure during gait period [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(4): 408-415.
[7]	MA Hongying, LIU Jianjun, HE Xuejin, WANG Yuxiang. Effect of rhythmic auditory stimulation on gait of patients with cerebral palsy: a systematic review [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2023, 29(12): 1386-1394.
[8]	LI Siqi,ZHANG Yuling,YANG Jiantao. Estimation of joint torques in human gait based on Gaussian process [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(8): 989-992.
[9]	CHAI Li,WANG Mei. Effect of track body weight support walking training on lower limb motor function in stroke patients: based on ICF Core Set for Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(6): 653-658.
[10]	HUANG Zhaoxin,ZHANG Yi,CUI Chenxi,ZHU Xiaojing,XIAO Xiaofei. Biomechanical analysis of in-toeing gait in young females based on ICF [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(12): 1459-1465.
[11]	WANG Ya'nan,ZHANG Tong,DU Xuejing,ZHU Xiaomin,LIU Yuanmin. Correlation between gait parameters and balance in stroke hemiplegic patients [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2022, 28(1): 38-43.
[12]	ZHANG Jun-xia,SHAO Yang-yang,WANG Zhe-hao,YANG Fang. Gait Characteristics during Horizontal Obstacle Crossing [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(7): 745-750.
[13]	YANG Ping,CAI Li-fei,CAO Xue-jun. Thoracic-weight-bearing Socket and Reciprocating Gait Prosthesis for Pelvis Disarticulation Amputee: A Case Report [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(7): 859-863.
[14]	Lin CHEN,Kai XIA,Xue-tao ZHANG,Si-chuang YANG,Hai-hong PAN. Variable Quasi-circular Gait Planning with Smooth Angular Acceleration for Lower Limb Rehabilitation [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(6): 621-626.
[15]	Hua LING,Sumiko YAMAMOTO,Li-fei CAI,Hao ZHOU. Effect of Plantarflexion Resistance of A New Adjustable Oil Damper Joint Ankle Foot Orthosis on Thorax and Pelvis in Gait after Stroke [J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(6): 637-644.