仿生踝关节假肢实现自然步态，推力更强、更轻便。
RoboANKLE: Design, Development, and Functional Evaluation of a Robotic Ankle with a Motorized Compliant Unit
- 采用储能释能机制，模拟人体踝关节自然发力
- 实测推力比自然行走需求高57%，功率高出10%
- 重量仅1.92公斤，角度精度达95%，适合日常使用
本研究提出一种具备完整推进辅助功能的主动式胫骨下截肢假肢RoboANKLE。设计目标是在保证足够活动范围（RoM）的同时，提供日常活动中所需的扭矩以实现自然踝关节运动。针对主动假肢设计中的能量自主性和轻量化挑战，通过模仿人类踝关节，引入能量储存与延时释放机制（ESER）及新型额外储能（EES）结构，实现大范围推进助力。通过运动学与动力学分析确定设计参数，并基于计算机辅助设计（CAD）模型进行综合动态与结构分析，优化设计以最小化重量。最终原型质量为1.92公斤，尺寸为261×107×420毫米。功能评估显示，其可实现95%精度的自然最大背屈角度；得益于所用机制，生成扭矩比自然行走需求高出57%；整个步态周期中，其输出功率比自然状态高出10%。
原文摘要 · Abstract (English)
This study presents a powered transtibial prosthesis with complete push-off assistance, RoboANKLE. The design aims to fulfill specific requirements, such as a sufficient range of motion (RoM) while providing the necessary torque for achieving natural ankle motion in daily activities. Addressing the challenges faced in designing active transtibial prostheses, such as maintaining energetic autonomy and minimizing weight, is vital for the study. With this aim, we try to imitate the human ankle by providing extensive push-off assistance to achieve a natural-like torque profile. Thus, Energy Store and Extended Release mechanism (ESER) is employed with a novel Extra Energy Storage (EES) mechanism. Kinematic and kinetic analyses are carried out to determine the design parameters and assess the design performance. Subsequently, a Computer-Aided Design (CAD) model is built and used in comprehensive dynamic and structural analyses. These analyses are used for the design performance evaluation and determine the forces and torques applied to the prosthesis, which aids in optimizing the design for minimal weight via structural analysis and topology optimization. The design of the prototype is then finalized and manufactured for experimental evaluation to validate the design and functionality. The prototype is realized with a mass of 1.92 kg and dimensions of 261x107x420 mm. The Functional evaluations of the RoboANKLE revealed that it is capable of achieving the natural maximum dorsi-flexion angle with 95% accuracy. Also, Thanks to the implemented mechanisms, the results show that RoboANKLE can generate 57% higher than the required torque for natural walking. The result of the power generation capacity of the RoboANKLE is 10% more than the natural power during the gait cycle.
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