主动型仿生踝关节假肢的设计  

Design of powered bionic ankle prosthesis

作　　者：赵改平[1] 曹帅[1] 尚昆[1] 阮超[1] 赵伟钦[1] 王祯祥[1] 郭丹[1] 

机构地区：[1]上海理工大学医疗器械与食品学院,上海市200093

出　　处：《中国组织工程研究与临床康复》2011年第17期3044-3046,共3页Journal of Clinical Rehabilitative Tissue Engineering Research

基　　金：上海市大学生创新项目(SH091025246)~~

摘　　要：背景:与髋、膝关节假肢设计相对比较成熟的技术相比,踝关节作为人体下肢关节的重要组成部分,也是最为灵活的部分,一直以来研究都比较滞后,相关的假肢踝关节产品未能很好的满足假肢患者的需求。目的:从生物力学、解剖学和生理学角度出发,设计和研制出能在矢状面内做屈伸运动的主动型仿生踝关节假肢装置。方法:根据仿生学原理和人体踝关节在步态行走时的受力特点和生理功能,建立二自由度的主动型仿生踝关节的力学模型,设计假肢踝关节的机械结构与控制系统,其主要部件包括仿生踝关节系统、辅助装置、数据控制系统和数据采集系统。结果与结论:利用研制出的踝关节装置进行系统测试,使用正常人行走时的踝关节角度数据作为输入信号,以步进电机作为动力驱动实现模拟踝关节的运动,通过数据采集系统获得输出的角度数据。测试结果表明仿生踝关节能够跟随输入角度数据运动,实现了仿生踝关节跟随运动的预期目标。BACKGROUND：Ankle prosthesis has been researched as a focus point for improving living quality of disabled persons suffers from lower limb.OBJECTIVE：To design and manufacture the powered bionic ankle prosthesis based on biomechanics,anatomy and physiology theories.METHODS：According to bionics principle,the stress characteristics and physiological functions of the human ankle joint during gait analysis,mechanics model of ankle prosthesis with two-degree-of-freedom motion is established and mechanical structure and control system of ankle prosthesis are designed.The bionic ankle prosthesis,which includes bionic ankle system,auxiliary devices,data control and data acquisition systems,can do flexion and extension in the sagittal plane.RESULTS AND CONCLUSION：A system testing was performed based on the ankle prosthesis device.The normal human ankle walking gait data as the input signal,and the step motor as power-driven to simulate the movement of the ankle joint,the angle output data were obtained by data acquisition system.These results showed that the bionic ankle prosthesis could move following the input angle data,and the expected target that bionic ankle followed the movement was achieved.

关 键 词：踝关节 机械设计 智能控制 仿生 假肢装置 

分 类 号：R318[医药卫生—生物医学工程]