主被动混合驱动的假脚-踝关节系统分析-analysis of the prosthetic foot - ankle joint system driven by active and passive hybrid drive.docxVIP

II II 主被动混合驱动的假脚-踝关节系统研究 混合驱动的假脚-踝关节系统是可行的。 关键词：主被动假脚-踝关节系统；扭矩特性曲线；结构设计；动力学仿真 作 者：沙海天 指导教师：李 娟 PAGE PAGE IV Research on foot-ankle system of hybrid active-passive driving Research on foot-ankle system of hybrid active-passive driving Abstract Ankle prosthesis is an alternative tool for patients with knee amputation to recuperate ankle function. With the development of economy and the improvement of peoples living standard, traditional ankle prostheses with the basic walking function could no longer meet the need of amputees. Devising a more comfortable ankle prosthesis with proper gait trajectory has become an urgent need in the field of prosthetic design. In this paper, an ankle prosthesis was designed on the basis of the characteristics of gait phase to help amputees regain the ability to walk. The work has important social significance and academic value. In summary, the main contents of the paper are as follows. Research on the biomechanical properties of human ankle joint. Firstly, the human ankle joint gait characteristics in each phase of walking were elaborated. Then the basic characteristics, biomechanical characteristics and the ankle torque characteristic curve of the ankle joint were obtained by analysis of kinematics and biomechanics on various parameter data curve of the ankle joint. The relationship between the torque and the angle of ankle joint in each phase of a gait cycle was analyzed in detail, which provides a theoretical basis for the structure design and dynamic simulation of active and passive foot-ankle system. The design of foot-ankle system. Based on the torque characteristic curve of the ankle joint, the design of the overall structure for the foot-ankle was put forward and accomplished in the paper. Some of the key mechanisms were analyzed by mathematical modeling and the parameters of the key components were verified by calculation. The basic working principle for the foot-ankle system was explained in a gait cycle. The process of en