歩調適応機能を有する階段昇降可能な大腿義足の開発

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  • DEVELOPMENT OF AN A/K PROSTHESIS, WHICH ENABLES A/K AMPUTEES TO USE A STAIRCASE AND TO WALK WITH VALIOUS WALKING PERIODS

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This paper describes an attempt to develop a new multi-functional above-knee prosthesis and the performance of walking experiments with amputees wearing it. The new prosthesis, named WLP-8R II (Waseda Leg Prosthesis version 8 Refined mark II), mounts the Electric/Hydraulic Hybrid Actuator, which has the following two characteristics. (1) A mechanism to generate a powerful torque by a DC-motor large enough to extend the knee joint against the gravitation of the upper body. So an amputee wearing the WLP-8R II can ascend a staircase with this mechanism. (2) A mechanism to change the extention torque at the knee joint generated by a spring during the swing phase. With this mechanism, an amputee can walk with various walking periods. First, in connection with the development of the new A/K prosthesis, the Electric/Hydraulic Hybrid Actuator composed of two power assemblies, an electric power assembly and a hydraulic power assembly, is discussed. For walking on a flat floor and descending stairs, an amputee can walk only with the hydraulic power assembly that generates extension torque at the knee joint and plantar-flexion torque at the ankle joint during stance phase. These torques prevent the knee joint from flexing suddenly. And particularly for walking on a flat floor, the electric power assembly changes the extension torque generated by a spring at the knee joint according to the walking period. For ascending stairs, an amputee can walk using the Electric/Hydraulic Hybrid Actuator. During stance phase, the hydraulic power pushes up the piston of the knee joint, and the electric power driven by the DC-motor is transmitted through the ball-screw to the force which pushes up the piston-rod of the knee joint. The weight of the WLP-8R II and the battery are 3.9kg and 3.2kg, respectively. Second, the results of walking experiments by amputees wearing the WLP-8R II are described and discussed. Two A/K amputees could walk on a flat floor with various walking periods (1.07s〜1.43s) and walk on a staircase like normal subjects do.

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