Abstract

We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion–extension and abduction–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.

中文翻译：

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具有多电机功能的髋关节假肢机构的设计、仿真和运动学验证

摘要

我们之前开发了一种具有髋关节屈伸和外展内收运动功能的动力髋关节假体机构，并对其理论和基于仿真的运动学进行了验证。根据医学研究，髋关节内外旋转对人体下肢的运动有积极的影响，我们在现有髋关节假体的基础上开发了一种新型髋关节假体机构，该假体具有与人体仿生髋关节类似的运动特性，并且运动学建模后分析了多个自由度（DoF）的运动特性。然后，建立了人机模型的步行模型，在髋关节假肢机构考虑髋关节内外旋的情况下，探讨了反映康复效果的截肢者步行稳定性。最后搭建了样机及其验证平台，对髋关节假肢机构进行了运动学验证。结果表明，设计的并联机构（PM）具有类似于人体仿生髋关节的类人运动特性，可作为髋关节假体。此外，现有的髋关节内外旋转运动特性可以通过这种髋关节假肢机制增强截肢者的行走稳定性。