电液直驱主被动混合踝关节假肢设计与分析

doi:10.12141/j.issn.1000-565X.230567

华南理工大学学报(自然科学版) ›› 2024, Vol. 52 ›› Issue (9): 72-80.doi: 10.12141/j.issn.1000-565X.230567

电液直驱主被动混合踝关节假肢设计与分析

庞浩¹(), 单绍鹏¹, 韩阳², 李振男¹, 张森¹, 刘春宝¹^,³()

^1.吉林大学机械与航空航天工程学院，吉林长春 130022
^2.中国科学院长春光学精密机械与物理研究所，吉林长春 130022
^3.吉林大学工程仿生教育部重点实验室，吉林长春 130022

收稿日期:2023-09-08 出版日期:2024-09-25 发布日期:2023-12-29
通信作者: 刘春宝（1979—），男，博士，教授，主要从事仿生健康及服务机器人研究。 E-mail:liuchunbao@jlu.edu.cn
作者简介:庞浩（1993—），男，博士，助理研究员，主要从事仿生健康及服务机器人研究。E-mail：panghao@jlu.edu.cn
基金资助:
国家自然科学基金资助项目(52075216)

Design and Analysis of the Active-Passive Hybrid Ankle Prosthesis Based on Electro-Hydraulic Actuation

PANG Hao¹(), SHAN Shaopeng¹, HAN Yang², LI Zhennan¹, ZHANG Sen¹, LIU Chunbao¹^,³()

^1.School of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，Jilin，China
^2.Changchun Institute of Optics，Fine Mechanics and Physics，Chinese Academy of Sciences，Changchun 130022，Jilin，China
^3.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，Jilin，China

Received:2023-09-08 Online:2024-09-25 Published:2023-12-29
Contact: 刘春宝（1979—），男，博士，教授，主要从事仿生健康及服务机器人研究。 E-mail:liuchunbao@jlu.edu.cn
About author:庞浩（1993—），男，博士，助理研究员，主要从事仿生健康及服务机器人研究。E-mail：panghao@jlu.edu.cn
Supported by:
the National Natural Science Foundation of China(52075216)

摘要/Abstract

摘要：

穿戴踝关节假肢是膝下截肢患者恢复行走能力的重要手段。下肢假肢按照能否主动输出转矩分为被动假肢和动力假肢，其中动力假肢分为主动假肢和主被动混合假肢。被动踝关节假肢不能提供主动扭矩，应用场景有限；动力踝关节假肢能够输出主动扭矩，但存在低被动摩擦与高主动传动比不兼容问题。为了提高踝关节假肢的性能和适应性，从实际应用角度出发，基于电液直驱原理，提出了一种主被动混合踝关节假肢的新构型。首先，基于对人体踝关节角度及扭矩的分析，设计了踝关节假肢驱动系统，并提出了主被动混合踝关节假肢的总体设计方案；然后，建立了假肢系统的数学模型，通过对假肢液压系统的仿真分析验证了的假肢系统的合理性，并研制了假肢原理样机；最后，通过台架测试和人体穿戴假肢行走实验对假肢的性能进行了验证。实验结果显示：适配者行走步速为1.0 m/s（接近成年人的平均行走速度）时，假肢踝关节主动输出最大扭矩为28 N·m。研究结果表明：提出的主被动混合踝关节假肢可以实现人体行走过程中的主动助力功能，并能较好拟合人体踝关节运动姿态，增强了穿戴适应性，同时使假肢的体积和质量得到了进步的减小，为动力型下肢假肢的研究提供了设计思路和参考依据。

关键词: 电液直驱, 主被动混合, 踝关节假肢, 主动助力

Abstract:

Wearing ankle prosthesis is an important means for patients with below-knee amputations to restore walking ability. The lower limb prostheses are divided into passive prostheses and power prostheses according to whether it can actively output torque. Power prostheses are further divided into active prostheses and active-passive hybrid prostheses. Passive ankle prostheses cannot provide active torque and have limited application scenarios. Powered ankle prostheses can output active torque, but it has the problem of incompatibility between low passive friction and high active transmission ratio. To improve the performance and adaptability of ankle prosthesis, this research proposed a new configuration of active-passive hybrid ankle prosthesis based on the principle of electro-hydraulic actuation from the perspective of practical application. Firstly, based on the analysis of the angle and torque of the human ankle joint, it designed the driving system of the ankle prosthesis and proposed the overall design scheme of the active-passive hybrid ankle prosthesis. Then, the mathematical model of the prosthesis system was established, the rationality of the prosthesis system was verified by the simulation analysis of the hydraulic system of the prosthesis, and the principle prototype of the prosthesis was developed. Finally, the performance of the prosthesis was verified by bench test and human walking experiment. The test results show that the maximum active output torque of the prosthetic ankle joint is 28 N·m when the walking speed is 1.0 m/s (close to the average walking speed of adults). The research results show that the active-passive hybrid ankle prosthesis proposed in this research can realize the active assist function in the human walking process, and can better fit the human ankle movement posture, enhance the wearing adaptability, and further reduce the volume and mass of the prosthetic. The work in this research provides a design idea and reference for the research of dynamic lower limb prosthesis.

Key words: electro-hydraulic actuation, active-passive hybrid, ankle prosthesis, active assistance

中图分类号:

TH789

庞浩, 单绍鹏, 韩阳, 等. 电液直驱主被动混合踝关节假肢设计与分析[J]. 华南理工大学学报(自然科学版), 2024, 52(9): 72-80.

PANG Hao, SHAN Shaopeng, HAN Yang, et al. Design and Analysis of the Active-Passive Hybrid Ankle Prosthesis Based on Electro-Hydraulic Actuation[J]. Journal of South China University of Technology(Natural Science Edition), 2024, 52(9): 72-80.

图/表 17

图1

图2

图3

图4

图5

表1

图6

图7

图8

图9

图10

图11

图12

图13

图14

图15

图16

参考文献 16

1	赵燕潮．中国残联发布我国最新残疾人口数据［J］．残疾人研究，2012，3（1）：11.
	ZHAO Yan-chao ．The China disabled persons’ federation released the latest data on China’s disabled population［J］．Disability Studies，2012，3（1）：11.
2	STEVENS P M， RHEINSTEIN J C， WURDEMAN S R ．Prosthetic foot selection for individuals with lower-limb amputation：a clinical practice guideline［J］．JPO Journal of Prosthetics & Orthotics，2018，30（4）：175-180.
3	JO G， SANDER D B， LOUIS F，et al ．Guidelines and recommendations to investigate the efficacy of a lower-limb prosthetic device：a systematic review［J］．IEEE Transactions on Medical Robotics and Bionics，2019，1（4）：279-296.
4	沈凌，喻洪流．国内外假肢的发展历程［J］．中国组织工程研究，2012，5（13）：2451-2454
	SHEN Ling， YU Hong-Liu ．The development of prosthetics at home and abroad［J］．Chinese Tissue Engineering Research，2012，5（13）：2451-2454.
5	SCHLAFLY M， REED K B ．Novel passive ankle-foot prosthesis mimics able-bodied ankle angles and ground reaction forces［J］．Clinical Biomechanics，2020，72（11）：202-210.
6	AMIRREZA N， MAJID M M， MOHAMMAD G，et al ．A novel adjustable damper design for a hybrid passive ankle prosthesis［J］．Actuators，2020，9（3）：74.
7	De P K， SERRIEND B， BAEYENS J，et al ．Prosthetic gait of unilateral lower-limb amputees with current and novel prostheses：a pilot study［J］．Clinical Biomechanics，2020，71（5）：59-67.
8	COLLINS S H， KUO A D ．Recycling energy to restore impaired ankle function during human walking［J］．PLoS One，2010，5（2）：1-6.
9	LECHLER K， FROSSARD B， WHELAN L，et al ．Motorized biomechatronic upper and lower limb prostheses-clinically relevant outcomes［J］．PM & R，2018，10（2）：S207-S219.
10	GABERT L， HOOD S， TRAN M，et al ．A compact，lightweight robotic ankle-foot prosthesis：featuring a powered polycentric design［J］．IEEE Robotics & Automation Magazine，2020，27（1）：87-102.
11	RINO V， GERLINDE L， GEORGES V P，et al ．A biomechanical transtibial prosthesis powered by pleated pneumatic artificial muscles［J］．International Journal of Modelling，Identification and Control，2008，4（4）：394-404.
12	YU T， PLUMMER A， IRAVANI P，et al ．The design，analysis and testing of a compact electrohydrostatic powered ankle prosthesis［C］∥Proceeding of the Fluid Power Systems Technology．［S.l.］：American Society of Mechanical Engineers，2016.
13	王兴坚，李如飞，林长宏，等．基于电静液作动原理的主动式踝关节假肢设计［J］．液压与气动，2019（1）：26-31.
	WANG Xing-jian， LI Ru-fei， LIN Chang-hong，et al ．Design of active ankle prosthesis based on electro-hydrostatic actuation［J］．Chinese Hydraulics＆Pneumatics，2019（1）：26-31.
14	THOMAS S， SIEGMAR B， ROLF J ．Energy expenditure and biomechanical characteristics of lower limb amputee gait：the influence of prosthetic alignment and different prosthetic components［J］．Gait & Posture，2002，16（3）：255-263.
15	MICHAEL L P ．Sagittal plane characterization of normal human ankle function across a range of walking gait speeds［J］．Biotechnology Progress，1999，25（6）：1819-1825．
16	TIAN X Y， WANG S P， WANG X J，et al ．Design and control of a compliant electro-hydrostatic-powered ankle prosthesis［J］．IEEE/ASME Transactions on Mechatronics，2022，27（5）：2429-2439

元件及型号	主要参数	参数数值
电机（T-motor MN3508）	功率/W	120
柱塞泵	排量/cm³	0.13
	最高转速/（r·min^-1）	5 000
	额定压力/MPa	30
液压缸	活塞直径/mm	12
液压缸	活塞最大行程/mm	11
高速开关阀（HSV-3101S3）	重复精度/ms	±0.05

电液直驱主被动混合踝关节假肢设计与分析

Design and Analysis of the Active-Passive Hybrid Ankle Prosthesis Based on Electro-Hydraulic Actuation

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 17

参考文献 16

相关文章 1

编辑推荐

Metrics

本文评价