基于电液直驱的动力踝足假肢对行走步态的影响

The traditional passive ankle prosthesis cannot meet the need of lower-limb amputees because it cannot provide an active force. Thus, this paper proposes a powered ankle prosthesis based on the direct-drive electro-hydraulic system and studies its effect on the walking gait of lower-limb amputees. A brushless DC servo motor, a bidirectional gear pump, and a hydraulic cylinder operate as kernel components and provide the initiative compliance and active force output of the ankle by fitting its impedance control in real-time using a neuromuscular model-based feedforward controller. The simulation results show that this system fits the dynamic characteristics of the human ankle to a greater extent in comparison with the traditional passive ankle prosthesis, offering lower-limb amputees the appropriate buffer and power when walking and effectively improving their walking gait.