CAJ | 학술논문

背景:目前智能假肢只是考虑了膝关节的作用,假肢踝关节只是作为假肢膝关节的辅助工具,无法根据外部环境和步态的变化实现假肢自然的行走.目的:研制出可靠的智能假肢踝关节,有效改善截肢者的步态.方法:在阻尼可变式踝足假肢的基础上,提出了有限状态机的控制方法,对踝足步态进行了详细的划分,在每个步态内制定了相关的控制策略.结果与结论:实验结果表明,基于有限状态机控制的智能假肢踝关节能够有效的跟随健肢侧运动,能够适应不同的步速,为以后膝踝协调运动奠定了一定的实验基础.
배경:목전지능가지지시고필료슬관절적작용,가지과관절지시작위가지슬관절적보조공구,무법근거외부배경화보태적변화실현가지자연적행주.목적:연제출가고적지능가지과관절,유효개선절지자적보태.방법:재조니가변식과족가지적기출상,제출료유한상태궤적공제방법,대과족보태진행료상세적화분,재매개보태내제정료상관적공제책략.결과여결론:실험결과표명,기우유한상태궤공제적지능가지과관절능구유효적근수건지측운동,능구괄응불동적보속,위이후슬과협조운동전정료일정적실험기출.
@@@@BACKGROUND: At present, intel igent prosthesis only focuses on the function of knee joint, while ankle joint prosthesis is only used as the aid of prosthetic knee joint. So the normal gait cannot be realized according to the change of external environment and gait. OBJECTIVE: To develop a reliable intel igent prosthetic ankle in order to improve the gait of amputees effectively. METHODS: Based on the variable damping ankle-foot prosthesis, the control method of finite state machine was proposed. The ankle joint gait was planned in detail, and the relevant control strategy was developed. RESULTS AND CONCLUSION: Results indicate that the intel igent prosthetic ankle based on the finite state machine control can effectively fol ow health limb lateral movement, and can adapt to different paces, which lays an experimental basement for later knee ankle coordinated movement.