通过自适应调节假肢刚度，提升截肢者在柔软地面的行走稳定性。
Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement
- 采用阻抗控制策略动态调节假肢等效刚度。
- 在63和25 kN/m软地面上，稳定性和跌倒风险显著改善。
- 适合康复机器人、假肢控制研究者参考。
下肢截肢者在柔软地面上行走面临巨大挑战，跌倒风险本已较高。尽管动力踝足假肢在不同速度和硬质地面表现出良好适应性，但针对软性或柔性表面的控制策略仍缺乏深入探索。本文通过实验验证了一种基于阻抗的控制方法，可动态调整动力假肢的等效刚度，从而增强在柔性地面上的步态稳定性。实验在两名对称柔性的地面上进行，地面刚度分别为63和25 kN/m，代表真实世界中的软性环境。通过相图与两种步态稳定性指标量化控制器性能，直接评估跌倒风险。相比为硬质地面设计的标准相位变量控制器，所提阻抗控制器在所有柔性条件下均显著提升步态稳定性。结果表明，自适应、稳定性感知的假肢控制具有降低现实环境中跌倒风险的潜力，有助于提升人-假肢交互的鲁棒性。
原文摘要 · Abstract (English)
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds and rigid terrains, control strategies optimized for soft or compliant surfaces remain underexplored. This work experimentally validates an admittance-based control strategy that dynamically adjusts the quasi-stiffness of powered prostheses to enhance gait stability on compliant ground. Human subject experiments were conducted with three healthy individuals walking on two bilaterally compliant surfaces with ground stiffness values of 63 and 25 kN/m, representative of real-world soft environments. Controller performance was quantified using phase portraits and two walking stability metrics, offering a direct assessment of fall risk. Compared to a standard phase-variable controller developed for rigid terrain, the proposed admittance controller consistently improved gait stability across all compliant conditions. These results demonstrate the potential of adaptive, stability-aware prosthesis control to reduce fall risk in real-world environments and advance the robustness of human-prosthesis interaction in rehabilitation robotics.
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