Design and experimental verification of intelligent power-assisted hip disarticulation prosthesis
10.3760/cma.j.cn121382-20231130-00202
- VernacularTitle:智能助力型髋离断假肢设计与实验验证
- Author:
Huafu LUO
1
;
Shengli LUO
;
Hexiang ZHU
;
Xiaolong SHU
;
Xiaoming WANG
;
Hongliu YU
Author Information
1. 上海理工大学康复工程与技术研究所，上海康复器械工程技术研究中心，民政部神经功能信息与康复工程重点实验室，上海 200093
- Keywords:
Prosthesis;
Intelligent power-assisted type;
Hip disarticulation;
Series elastic actuator;
Torsional spring
- From:
International Journal of Biomedical Engineering
2024;47(2):108-114
- CountryChina
- Language:Chinese
-
Abstract:
Objective:To design a new type of intelligent power-assisted hip disarticulation prosthesis and to use experiments to verify its kinematic performance.Methods:The main body of the prosthesis was designed using a double parallel four-link configuration based on a remote motion center mechanism. A series elastic actuator was used to provide external power for the prosthesis, and an antagonistic torsion spring structure was used to achieve bidirectional energy storage assistance in hip flexion and extension. A control system based on impedance control was established. By setting up an auxiliary force field to compensate for the difference between the actual angle of the prosthesis and the target angle, the prosthesis assist function was realized. Finally, the traditional hip disarticulation prosthesis was used as a comparison to test the overall performance of the new intelligent power-assisted hip disarticulation prosthesis worn by normal people.Results:For the new smart-assisted hip-disarticulation prosthesis, the goodness-of-fit of its hip joint angle curve to that of a normal person was 86%, which was 14% higher than that of the traditional hip-disarticulation prosthesis (72%). The goodness-of-fit of the healthy-side angle of the new smart-assisted hip disarticulation prosthesis to the normal human was 94%, which was the same as that of the traditional hip disarticulation prosthesis.Conclusions:A new type of intelligent power-assisted hip disarticulation prosthesis is designed to realize the function of prosthesis-assisted movement.
