在假脚承重结构中嵌入磁力传感器，实现步态力实时感知与半主动阻尼调节。
A Sensorised Lattice Footplate for a Semi-Active Prosthetic Foot
- 将磁力传感器嵌入3D打印弹性足板，直接感知足底受力。
- 实测显示传感器能准确追踪参考力，且足前掌与足跟载荷可分离。
- 通过前馈控制模拟踝关节背屈，但纯耗能机制无法实现蹬地发力。
本文研究了将磁力足底传感技术直接集成于低成本半主动假脚的承载柔性部件中的可行性。提出一种原型，包含3D打印的传感器化晶格足板、伺服可调液压阻尼器及简化踝关节模型。实验标定阻尼器调整角度与阻尼系数的关系。压缩测试表明晶格刚度可调；循环法向加载实验显示嵌入式传感器能准确跟踪测试机参考力，支持无需外置鞋垫的足底力估计。在约自身体重载荷下的静态姿势试验中，四种预定站立姿态下前足与后足载荷分布可分离，初步验证了传感流程的有效性。前馈阻尼调度在早期至中期站立阶段近似复现参考踝轨迹的背屈趋势，但也暴露纯耗能机制无法产生主动蹬地推力的局限性。结果表明，可在假脚承载柔性部件内嵌入传感系统并用于驱动半主动阻尼。
原文摘要 · Abstract (English)
This paper investigates whether magnetic plantar sensing can be embedded directly inside the load-bearing compliant element of a low-cost semi-active prosthetic foot. We present a prototype integrating a sensorised 3D-printed lattice footplate, a servo-adjustable hydraulic damper, and a reduced-order ankle model. The damper is experimentally characterised to relate adjustment angle to damping coefficient. Controlled compression tests show tunable lattice stiffness, while cyclic normal loading shows that the embedded sensor tracks the testing-machine reference force, supporting plantar-force estimation without an external insole layer. Static-posture trials under approximately body-weight loading show that forefoot and rearfoot loading distributions are separable across four prescribed stance configurations, providing a preliminary check of the sensing pipeline. A feedforward damping schedule approximates the dorsiflexion trend of a reference ankle trajectory through early-to-mid stance, while exposing the expected limitation that a purely dissipative mechanism cannot generate active push-off. Together, these results demonstrate that sensing can be embedded inside the load-bearing compliant element of a prosthetic foot and used to drive semi-active damping.
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