Design,Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function  

作　　者：Majun Song Zhongyi Li Jingjing Jiang Weihai Chen Sheng Guo Hao Zheng Lianzheng Niu 

机构地区：[1]Hangzhou Innovation Institute,Beihang University,Hangzhou,310051,China [2]Hangzhou Huacheng Software Technology Co.Ltd.,Hangzhou,310051,China [3]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044,China

出　　处：《Journal of Bionic Engineering》2024年第3期1321-1333,共13页仿生工程学报（英文版）

基　　金：the financial support provided by the Key Research and Development Program of Zhejiang Province under Grant 2021C03050;in part by the Scientific Research Project of Agriculture and Social Development of Hangzhou under Grant 2020ZDSJ0881;in part by the National Natural Science Foundation of China under Grant 52275004;in part by the State Key Program of National Natural Science Foundation of China under Grant 62333023.

摘　　要：We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-external hip rotation has a positive effect on the movements of human lower limbs according to medical research,we developed a novel hip prosthetic mechanism based on a previous hip prosthesis that possesses motion characteristics similar to those of a human bionic hip,and the motion characteristics of multiple Degrees-of-Freedom(DoFs)were analyzed after kinematic modeling.Then,a walking model of the human‒machine model was established,and the walking stability of an amputee,which reflects the rehabilitation effect,was explored while the hip prosthetic mechanism considered the internal-external rotation of the hip.Finally,a prototype and its verification platform were built,and kinematic validation of the hip prosthetic mechanism was carried out.The results showed that the designed Parallel Mechanism(PM)possesses human-like motion characteristics similar to those of a human bionic hip and can be used as a hip prosthesis.Moreover,the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism.

关 键 词：Hip prosthetic mechanism Parallel mechanism Walking stability Kinematic validation 

分 类 号：R318[医药卫生—生物医学工程] Q811[医药卫生—基础医学]