首页|Design,Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function

Design,Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function

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We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduc-tion-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-external hip rotation has a positive effect on the movements of human lower limbs according to medical research,we developed a novel hip prosthetic mechanism based on a previous hip prosthesis that possesses motion characteristics similar to those of a human bionic hip,and the motion characteristics of multiple Degrees-of-Freedom(DoFs)were analyzed after kinematic modeling.Then,a walking model of the human-machine model was established,and the walking stability of an amputee,which reflects the rehabilitation effect,was explored while the hip prosthetic mechanism considered the internal-external rotation of the hip.Finally,a prototype and its verification platform were built,and kinematic validation of the hip prosthetic mechanism was carried out.The results showed that the designed Parallel Mechanism(PM)possesses human-like motion characteristics similar to those of a human bionic hip and can be used as a hip prosthesis.Moreover,the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism.

Hip prosthetic mechanismParallel mechanismWalking stabilityKinematic validation

Majun Song、Zhongyi Li、Jingjing Jiang、Weihai Chen、Sheng Guo、Hao Zheng、Lianzheng Niu

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Hangzhou Innovation Institute,Beihang University,Hangzhou 310051,China

Hangzhou Huacheng Software Technology Co.Ltd.,Hangzhou 310051,China

School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

Key Research and Development Program of Zhejiang ProvinceScientific Research Project of Agriculture and Social Development of HangzhouNational Natural Science Foundation of ChinaState Key Program of National Natural Science Foundation of China

2021C030502020ZDSJ08815227500462333023

2024

10.1007/s42235-024-00490-x

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(3)
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