智能膝关节对膝上截肢患者生理步态的实现具有重要的影响。通过分析正常人生理步态，设计新型液压阻尼膝关节结构，提出站立相和摆动相的训练方法。并利用下肢功能模拟与测评装置，对设计膝关节进行模拟测试，确定假肢膝关节控制目标为摆动相最大弯曲角度介于 60～70°。在 0.8、1.2、1.8 m/s 三种行走速度下，所设计膝关节阻尼器阀门闭合度为 0% 时，摆动相最大弯曲角度分别为（86±2）°、（91±3）°、（97±3）°，闭合度发生变化时，最大摆动弯曲角度均可调整到 60～70° 之间，且所需阀门闭合度百分比分别为 25%、40%、70%，揭示了智能膝关节实现生理步态阻尼调整的规律。 The performance of intelligent prosthetic knee has an important effect on the realization of physiological gait of transfemoral amputees. A new type of single axis hydraulic damping knee prosthesis was designed based on the analysis of physiological gait. The training methods of the stance and swing phase were proposed. Knee prosthesis test was done through simulation and measurement device. The control target of peak flexion angle during swing of knee prosthesis is chosen to be 60–70°. When the damper valve closure was 0%, maximum swing-phase knee flexion angle of knee prosthesis were (86±2)°, (91±3)° and (97±3)° with the speed of 0.8 m/s, 1.2 m/s and 1.8 m/s, respectively. Once the valve closure was changed, maximum swing-phase knee flexion angle with different speeds could be adjusted between 60° and 70° and the required valve closure percentage were separately 25%, 40% and 70%. The damping adjustment law of intelligent knee prosthesis to achieve physiological gait was revealed.
13. Orhanli T, Yilmaz A. Application and comparison of finite state control of above-knee prosthesis with pneumatic cylinder at different phases// Signal Processing and Communications Applications Conference. Malatya, Turkey, 2015: 2234-2237.