Archive for Январь 31st, 2003

User-adaptivecontrol of a magnetorheological prosthetic knee

Дата: Январь 31st, 2003 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6465
  • Название документа: User-adaptivecontrol of a magnetorheological prosthetic knee
  • Номер (DOI, IBSN, Патент): 10.1108/01439910310457706
  • Изобретатель/автор: Hugh Herr, Ari Wilkenfeld
  • Правопреемник/учебное заведение: Cambridge, MA, USA
  • Дата публикации документа: 2003-01-31
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Industrial Robot: An International Journal
  • Вложения: Да
  • Аналитик: Глаголева Елена

A magnetorheological knee prosthesis is presented that automatically adapts knee damping to the gait of the amputee using only local sensing of knee force, torque, and position. To assess the clinical effects of the user-adaptive knee prosthesis, kinematic gait da-ta were collected on four unilateral trans-femoral amputees. Using the user-adaptive knee and a conventional, non-adaptive knee, gait kinematics were evaluated on both affected and unaffected sides. Results were compared to the kinematics of 12 age, weight and height matched normals. We find that the useradaptive knee successfully controls early stance damping, enabling amputee to undergo biologically-realistic, early stance knee flexion. These results indicate that a useradaptive control scheme and local mechanical sensing are all that is required for amputees to walk with an increased level of biological realism compared to mechanically passive prosthetic systems.

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