中国组织工程研究

中国组织工程研究 ›› 2010, Vol. 14 ›› Issue (17): 3109-3112.doi: 10.3969/j.issn.1673-8225.2010.17.017

• 数字化骨科 digital orthopedics • 上一篇    下一篇

智能下肢假肢传感器的应用

龚思远1，杨  鹏1，刘启栋2，宋  亮2   

  1. 1河北工业大学电气与自动化学院，天津市 300130；2国家康复辅具研究中心，北京市  100176
  • 出版日期:2010-04-23 发布日期:2010-04-23
  • 作者简介:龚思远☆，男，1981年生，河北省石家庄市人，在读博士，主要从事计算机控制与工程应用研究。 gongzheng1@gmail.com
  • 基金资助:

    国家科技支撑计划(2006BAI22B07)，课题名称：智能下肢假肢研制。河北省教育厅科学研究计划(2009322)，课题名称：肌电信号的运动模式识别在下肢假肢中的应用研究。

Application of intelligent lower limb prostheses sensor 

Gong Si-yuan1, Yang Peng1, Liu Qi-dong2, Song Liang2   

  1. 1 School of Electrical Engineering and Automation, Hebei University of Technology, Tianjin   300130, China; 2 National Research Center for Rehabilitation Technical Aids, Beijing   100176, China
  • Online:2010-04-23 Published:2010-04-23
  • About author:Gong Si-yuan☆, Studying for doctorate, School of Electrical Engineering and Automation, Hebei University of Technology, Tianjin 300130, China gongzheng1@gmail.com
  • Supported by:

    the National Science and Technology Support Program, No. 2006BAI22B07*; the Scientific Research Program of Hebei Educational Department, No. 2009322*

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888

被引次数

41

摘要：

背景：下肢运动是一种复杂的运动，采用合适的传感器获取人体运动生理信息，成为智能假肢控制的前提。国际上现有的下肢假肢控制信息源为与运动信息有关的物理量，这类信息可以直接反映人体运动的生物力学特性，采集比较简单，非常适合实时控制。现有智能下肢假肢产品根据采用的控制方法不同选择一种或几种传感器测量人体运动信息。
目的：研究一种能够采集智能下肢假肢控制所需人体运动信息的传感器系统。
方法：对智能下肢假肢带固定式气缸阻尼器的四连杆机械机构进行运动分析，得出四连杆后臂下轴电位计输出信号与膝关节弯曲角度的对应关系，同时，选取合适的霍尔传感器安装位置，解决了其中存在的双值问题。设计了传感器输出信号采集实验，通过跑步机速度调节来保证步行速度完全可控，测量不同步速下脚尖离地时刻膝关节弯曲角度，分析采集结果找到了它们之间的对应关系。
结果与结论：脚尖离地时刻膝关节弯曲角度随着步行速度增大而增大，采用二次曲线拟合取得了较好效果。实验结果显示，水平步行状态下，采用电位计和霍尔传感器作为检测手段能够检测下肢假肢的步速，也能区分支撑期和摆动期。

关键词: 下肢假肢, 传感器, 膝关节角度, 步态周期, 数字化医学

Abstract:

BACKGROUND: Lower limb motion is complex. Proper human motion parameters detection is important for knee prosthesis control. Current lower limb prosthesis control information source is physical quantity related to motion information, which can directly reflect biomechanical characteristics of human motion. It is simple to collect and applicable for real-time control. The lower limb prosthesis utilizes one or several sensors to detect human motion information.
OBJECTIVE: To develop a sensor system that can collect human motion information controlled by intelligent lower limb prosthesis.
METHODS: Relationship between pivot axis installation potentiometer and knee joint flexion angle was acquired from analysis of four-bar linkage with a fixed pneumatic cylinder. In addition, the proper hall sensor installation position was selected to solve the two-solution problem. A sensor signal acquisition experiment was designed. The treadmill ensure that walking speed was completely under control. Knee joint flexion angle at toe-off in different walking speeds was measured. Curve fitting process provided the correspondence between them.
RESULTS AND CONCLUSION: Knee joint flexion angle at toe-off increased with increasing walking speed. Quadratic curve fitting obtained a good effect. Results show that under horizontal walking state, potentiometers and Hall-sensors can be used to detect walking speed of lower limb prosthesis, and distinguish support phase and swing phase.

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