大腿義足ソケットに作用する軸力の分析 : 階段昇降可能な大腿義足の制御信号への応用

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This report deals primarily with forces and moments such as two shearing forces (F_x, F_y), compression (F_z), two bending moments (M_x, M_y) and a torsional moment (M_z) that are acting on the stump of the thigh during walking. One above/knee amputee walked while wearing his A/K prosthesis which is equipped with the 6-axis force-moment sensor between the knee joint of the prosthesis and the socket, and measures the above-mentioned forces and moments. As a result of the walking experiments, the values of F_x, F_y, F_z, M_y and M_z during walking are determined. Also, the application of these forces and moments to controlling signals for ascending the staircase is described. The moment and the compression are utilized as triggers for extending or flexing the knee joint, respectively. The amputee wearing the A/K prosthesis could ascend the staircase with a natural posture without the help of his arms.
1991-08-25