オール・イン・ワン・インテリジェント大腿義足(4部人工の手足)

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A pneumatic swing-phase control cylinder has been used to improve the gait with an A/K prosthesis. The characteristics of the swingphase control devices are normally fixed during walking. The gait pattern is acceptable only when the gait matches those devices. It has been proved that it is possible to automatically adjust the damping characteristics of a pneumatic control cylinder to a wide range of walking modes with the help of a micro-processor. This paper first summarizes the mathematical modeling of the movement of an A/K prosthesis incorporating a pneumatic swing-phase control cylinder. Through the analysis of this model, an optimal control problem is equated to simulate the movement of knee flexion of a normal gait during swing phase for wide ranges of walking modes. A prosthetic knee unit has been developed to prove the optimal control. All of the controlling components including batteries are contained in the unit. Walking speed is measured by time during the stance phase of a prosthesis. A new body weight switch has been developed to sense the time and is used as input to a controller. With the introduction of a C-MOS onechip micro-processor and a refined valve mechanism of a cylinder, it became possible to operate the control circuit for about 16 hours with a 6V/225mAh small rechargeable battery and the valve actuator is workable for 3 continuous hours with a 12V/225mAh battery. The valve actuator needs energy only when it is actuated; this means that an amputee is able to walk more than 10km when a battery is fully charged. This corresponds to a whole day of walking in normal conditions. The prosthesis tested is about 300g heavier than conventional prostheses. The weight is within the range of ordinary ones. It is concluded that the authers could propose an A/K prosthesis which is functionally superior in practical use.
バイオメカニズム学会の論文
1986-09-25

オール・イン・ワン・インテリジェント大腿義足(4部人工の手足)

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オール・イン・ワン・インテリジェント大腿義足(4部 人工の手足)

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オール・イン・ワン・インテリジェント大腿義足(4部人工の手足)