期刊
THEORETICAL AND APPLIED MECHANICS LETTERS
卷 13, 期 5, 页码 -出版社
ELSEVIER
DOI: 10.1016/j.taml.2023.100476
关键词
Transfemoral leg amputation; Passive prosthesis; Squatting; Walking; Six-bar mechanism; Energy saving
类别
This study introduces a new linkage mechanism that connects the knee joint with the foot-ankle joint, enabling both squatting and walking functions. A six-bar linkage mechanism structure is proposed to coordinate knee and ankle joint movements. Simulation results demonstrate that the modular transfemoral prosthesis accurately mimics the motion patterns of a natural human leg and allows for a large knee flexion during squatting.
Researchers have proposed various linkage mechanisms to connect knee and ankle joints for above-knee prosthe-ses, but most of them only offer natural walking. However, studies have shown that people assume a squatting posture during daily activities. This paper introduces a novel mechanism that connects the knee joint with the foot-ankle joint to enable both squatting and walking. The prosthetic knee used is the well-known 3R36, while the Energy Storing and Return (ESAR) prosthetic foot is used for the ankle-foot joint. To coordinate knee and ankle joint movements, a six-bar linkage mechanism structure is proposed. Simulation results demonstrate that the proposed modular transfemoral prosthesis accurately mimics the motion patterns of a natural human leg during walking and squatting. For instance, the prosthesis allows a total knee flexion of more than 140 degrees during squatting. The new prosthesis design also incorporates energy-storing mechanisms to reduce energy expenditure during walking for amputees.
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