中国组织工程研究

中国组织工程研究 ›› 2011, Vol. 15 ›› Issue (17): 3044-3046.doi: 10.3969/j.issn.1673-8225.2011.17.003

• 人工假体 artificial prosthesis •    下一篇

主动型仿生踝关节假肢的设计

赵改平，曹  帅，尚  昆，阮  超，赵伟钦，王祯祥，郭  丹   

  1. 上海理工大学医疗器械与食品学院，上海市200093
  • 收稿日期:2010-11-15 修回日期:2011-02-14 出版日期:2011-04-23 发布日期:2011-04-23
  • 通讯作者: 赵改平☆，女，1975年生，内蒙古自治区包头市人，2007年复旦大学毕业，博士，讲师，主要从事生物力学及生物医学工程领域研究。 zgp_06@yahoo.com.cn
  • 作者简介:赵改平☆，女，1975年生，内蒙古自治区包头市人，2007年复旦大学毕业，博士，讲师，主要从事生物力学及生物医学工程领域研究。 zgp_06@yahoo.com.cn
  • 基金资助:

    上海市大学生创新项目(SH091025246)。

Design of powered bionic ankle prosthesis

Zhao Gai-ping, Cao Shuai, Shang Kun, Ruan Chao, Zhao Wei-qin, Wang Zhen-xiang, Guo Dan   

  1. School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai  200093, China
  • Received:2010-11-15 Revised:2011-02-14 Online:2011-04-23 Published:2011-04-23
  • Contact: Zhao Gai-ping☆, Doctor, Lecturer, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China zgp_06@yahoo.com.cn
  • About author:Zhao Gai-ping☆, Doctor, Lecturer, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China zgp_06@yahoo.com.cn
  • Supported by:

    College Student Innovation Project of Shanghai City, No. SH091025246*

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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。

关键词: 踝关节, 机械设计, 智能控制, 仿生, 假肢装置

Abstract:

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.

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