Development of Dynamic Ankle Prosthesis (review) / 中国康复理论与实践

ABSTRACT

Mechanism design and control theory of dynamic ankle prosthesis are important research directions of active lower limb prosthesis. This paper started from the research status at home and abroad, reviewed the background, purpose and significance of dynamic ankle prosthesis, pointed out the shortcomings of passive ankle prosthesis design and kinematics, provided opinions and suggestions for the design and development of powered ankle prosthesis. According to the different driving modes, the research progress of pneumatic, hydraulic and motor driven ankle prosthesis mechanism design was systematically described, and the timeliness and energy dissipation of prosthesis under different driving modes were discussed. According to the different feedback accuracy and real-time of finite-state machine, trajectory tracking and direct volitional control, an optimization scheme was proposed to improve the function of dynamic ankle prosthesis control mode.