A new passive transfemoral prosthesis mechanism based on 3R36 knee and ESAR foot providing walking and squatting  

作　　者：Amer Imran Borhan Beigzadeh Mohammad Reza Haghjoo 

机构地区：[1]School of Mechanical Engineering,Iran University of Science and Technology,Tehran,Iran [2]Faculty of Mechanical and Energy Engineering,Shahid Beheshti University(SBU),Tehran,Iran

出　　处：《Theoretical & Applied Mechanics Letters》2023年第5期399-407,共9页力学快报（英文版）

摘　　要：Researchers have proposed various linkage mechanisms to connect knee and ankle joints for above-knee prosthe-ses,but most of them only offer natural walking.However,studies have shown that people assume a squatting posture during daily activities.This paper introduces a novel mechanism that connects the knee joint with the foot-ankle joint to enable both squatting and walking.The prosthetic knee used is the well-known 3R36,while the energy storing and return(ESAR)prosthetic foot is used for the ankle-foot joint.To coordinate knee and ankle joint movements,a six-bar linkage mechanism structure is proposed.Simulation results demonstrate that the proposed modular transfemoral prosthesis accurately mimics the motion patterns of a natural human leg during walking and squatting.For instance,the prosthesis allows a total knee flexion of more than 140°during squatting.The new prosthesis design also incorporates energy-storing mechanisms to reduce energy expenditure during walking for amputees.

关 键 词：Transfemoral leg amputation Passive prosthesis SQUATTING WALKING Six-bar mechanism Energy saving 

分 类 号：TH789[机械工程—仪器科学与技术]