Robotic Prosthesis for Biomimetic Locomotion in Transfemoral Amputees

用于经股截肢者仿生运动的机器人假肢

基本信息

批准号：
7766246
负责人：
Michael Goldfarb
金额：
$ 33.2万
依托单位：
VANDERBILT UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2007
资助国家：
美国
起止时间：
2007-04-01 至 2012-01-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/7766246
关键词：
Address Affect Age Algorithms Amputees Ankle Arts Asses Behavior Bilateral Biomechanics Biomimetics Characteristics Clinical Computer software Consumption Data Databases Development Devices Electronics Evaluation Exhibits Expenditure Foundations Gait Gender Goals Height Hip Joint Hip region structure Investigation Joint Prosthesis Joints Kinetics Knee Knee joint Life Limb Prosthesis Liquid substance Locomotion Lower Extremity Measures Metabolic Methods Motion Motor Musculoskeletal Nature Output Participant Persons Phase Power Sources Property Prosthesis Protocols documentation Quality of life Ramp Relative (related person)Research Research Personnel Robot Robotics Running Side Speed Structure Technology Testing Time Torque Walking Weight Work ankle joint base density energy density indexing kinematics novel programs prototype research clinical testing research study sound

项目摘要

DESCRIPTION (provided by applicant): The overarching hypothesis of this proposal that a prosthesis with actively powered knee and ankle joints will significantly enhance the mobility of many transfemoral amputees, and therefore significantly enhance their quality of life. Despite significant technological advances over the past decade, state-of-the-art transfemoral prostheses remain limited to energetically passive devices. The inability to deliver joint power significantly impairs the ability of these prostheses to restore many locomotive functions, including walking upstairs and up slopes, running, and jumping, all of which require significant net positive power at the knee joint, ankle joint, or both. Additionally, even during level walking, transfemoral amputees exhibit asymmetric gait kinematics, expend significantly more energy, and require a significant increase in hip torque relative to healthy subjects, which results in significantly increased socket interface forces. It is the hypothesis of this proposal that a prosthesis with actively powered knee and ankle joints will significantly enhance the mobility of many transfemoral amputees, both by diminishing the biomechanical disparity between transfemoral amputees and healthy persons during level walking, and by enabling forms of locomotion, such as ramp and stair climbing, not presently afforded by state-of-the-art devices. Significant recent advances in power supply and actuation for self-powered robots bring the feasibility of an actively-powered transfemoral prosthesis to the near horizon. Leveraging these recent advances, this proposal describes a means of developing a lightweight transfemoral prosthesis with the capability of delivering significant power at the knee and ankle joints over useful periods of time. Importantly, the work described in this proposal will form a sound clinical and technological foundation with which to inform subsequent decisions regarding the commercial development of the proposed and other actively powered prostheses. In order to form this foundation, the investigators propose the development of a self-powered active knee and ankle prosthesis prototype based on experimentally proven technology developed over the past six years, the development of a novel interface and control approach that behaves inasmuch as possible as a natural extension of the user, and the characterization of the biomechanical benefits of an active transfemoral prosthesis relative to state-of-the-art passive transfemoral prostheses and relative to healthy subjects.

描述（由申请人提供）：该提案的总体假设是，具有积极动力的膝盖和脚踝关节的假体将显着提高许多妇女截肢者的流动性，从而显着提高其生活质量。尽管过去十年的技术进步巨大，但最先进的经济假体仍然限于充满活力的被动装置。无法提供关节功率会大大损害这些假体恢复许多机车功能的能力，包括在楼上和向上行走，跑步和跳跃，所有这些都需要在膝关节，踝关节或两者兼而有之。此外，即使在级别的步行期间，经济截肢者也会表现出不对称的步态运动学，消耗更多的能量，并且相对于健康受试者需要显着增加髋关节扭矩，从而导致插座界面力显着增加。 It is the hypothesis of this proposal that a prosthesis with actively powered knee and ankle joints will significantly enhance the mobility of many transfemoral amputees, both by diminishing the biomechanical disparity between transfemoral amputees and healthy persons during level walking, and by enabling forms of locomotion, such as ramp and stair climbing, not presently afforded by state-of-the-art devices.自动供电机器人的电源和驱动方面的最新进展将主动驱动的转际假体的可行性带到了近地平线。该提案利用这些最近的进步，描述了一种开发轻质的经际假体的手段，其能力在有用的时间内在膝盖和踝关节上赋予了重要的力量。重要的是，本提案中描述的工作将构成一个合理的临床和技术基础，以告知随后的关于拟议和其他积极动力假体的商业发展的决定。 In order to form this foundation, the investigators propose the development of a self-powered active knee and ankle prosthesis prototype based on experimentally proven technology developed over the past six years, the development of a novel interface and control approach that behaves inasmuch as possible as a natural extension of the user, and the characterization of the biomechanical benefits of an active transfemoral prosthesis relative to state-of-the-art passive transfemoral prostheses and relative to健康的受试者。

项目成果

期刊论文数量（15）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Design and Control of an Active Electrical Knee and Ankle Prosthesis.

DOI：
10.1109/biorob.2008.4762811
发表时间：
2008-10-19
期刊：
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
影响因子：
0
作者：
Sup F;Varol HA;Mitchell J;Withrow T;Goldfarb M
通讯作者：
Goldfarb M

Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis.

DOI：
10.1109/tmech.2009.2032688
发表时间：
2009
期刊：
IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
影响因子：
0
作者：
Sup F;Varol HA;Mitchell J;Withrow TJ;Goldfarb M
通讯作者：
Goldfarb M

Real-time Gait Mode Intent Recognition of a Powered Knee and Ankle Prosthesis for Standing and Walking.

DOI：
10.1109/biorob.2008.4762860
发表时间：
2009-01-27
期刊：
Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
影响因子：
0
作者：
Varol HA;Sup F;Goldfarb M
通讯作者：
Goldfarb M

Myoelectric control of a powered knee prosthesis for volitional movement during non-weight-bearing activities.

动力膝关节假体的肌电控制，用于非负重活动期间的意志运动。

DOI：
10.1109/iembs.2010.5627736
发表时间：
2010
期刊：
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
影响因子：
0
作者：
Ha,KevinH;Varol,HuseyinAtakan;Goldfarb,Michael
通讯作者：
Goldfarb,Michael

Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral Amputee.

DOI：
10.1109/icorr.2009.5209625
发表时间：
2009-06-23
期刊：
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
影响因子：
0
作者：
Sup F;Varol HA;Mitchell J;Withrow TJ;Goldfarb M
通讯作者：
Goldfarb M