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Design,Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function

Journal of Bionic Engineering 2024年第3期21卷 1321-1333页

作者： Majun Song Zhongyi Li Jingjing Jiang Weihai Chen Sheng Guo Hao Zheng Lianzheng Niu Hangzhou Innovation Institute Beihang UniversityHangzhou310051China Hangzhou Huacheng Software Technology Co.Ltd. Hangzhou310051China School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing100044China

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 *** 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 ***,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 ***,a prototype and its verification platform were built,and kinematic validation of the hip prosthetic mechanism was carried *** 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 ***,the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism.

关键词： Hip prosthetic mechanism Parallel mechanism walking stability Kinematic validation

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