歩行周期に随意に適応する筋電制御大腿義足の開発(2部人工の手足)

概要

論文の詳細を見る
This paper deals with the development of an A/K prosthesis that is able to regulate its knee-jointtorque automatically according to walking period. First, the development of the new A/K prostheses WLP-5 and WLP-6 are discussed. From the results of a simulation analysis of the movement of the A/K prosthesis during a swing phase. The necessity of a little driving torque around the knee joint at the beginning of the extention was designated. The A/K prosthesis that had the following two mechanisms were performed. 1) A mechanism to change its damping torque around the knee joint according to walking period. 2) A mechanism to generate a little driving torque around the knee joint by self-accumulated power. From the walking experiments by the amputees, It was confirmed that a wide range of walking period (1.1〜1.5sec) was possible for them by wearing the WLP-6 system. Second, the approach to prediction of the walking period of the next step using EMG is discussed. A surface electrode and an electronic circuit for processing EMG were developed. A new method of composing EMG data having the effect of Hi-pass filtering was introduced, and its effect was verified theoretically and experimentally. The prediction-algorithm of the next step's walking period using EMG was introduced. From walking experiments by the amputees, it was verified that the next step's walking period could be precisely predicted.
バイオメカニズム学会の論文
1984-04-25