空圧式大腿義足の特性とインテリジェンス化の可能性(3部リハビリテーション)

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The pneumatic unit used at the knee joint of the above-knee prosthesis is conceived to be effective for swing-phase control. The check valve and needle valve in the piston/cylinder mechanism, of the unit act as a resistance adjuster or a shock absorber during various phases of the swing action. This provides considerable improvement in stability in walking as well as in maintenance and reliability. The Hyogo Rehabilitation Center (HRC) has developed a pneumatic swing-control above-knee prosthesis, and the authors are working on its sophistication by making use of the adjustability of the needle valve. To provide the basic behavior of the prosthesis with the unit, the mathematical model is built for the unit and the prosthetic system taking account of the mechanical interactions in detail. The adjustment of the needle valve is shown to be considerably sensitive to the response of the prosthesis. In order to verify the theoretical results, a walk-pattern simulator is developed, which provides the whole walking phase kinematics in both stance and swing by servo-mechanisms applied to the above-knee swing and the leg swing elements. The arbitrary inputs to the above-knee motion, including the measured walk-patterns, are fed into a minicomputer. The simulations using the walk-patterns of the above-knee swing of non-patients and amputees are presented for various values of cadence and valve adjustment. It can be easily noticed that a sophistication of the function of this kind of prosthesis can be made by controlling the valve adjustment sequentially to attain a better motion of the leg during the swing phase. In order to see the validity of this idea, an optimum control problem is formulated to the valve adjustment under the criterion that the leg motion generated by measured above-knee data should be close to the desired values. The optimal valve adjustment sequences obtained are shown to be effective and suggest that the plan to make the pneumatic swing-phase control above-knee prosthesis into a sophisticated version is within our reach from the practical point of view.
バイオメカニズム学会の論文
1982-08-30

空圧式大腿義足の特性とインテリジェンス化の可能性(3部リハビリテーション)

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空圧式大腿義足の特性とインテリジェンス化の可能性(3部 リハビリテーション)

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空圧式大腿義足の特性とインテリジェンス化の可能性(3部リハビリテーション)