A Robotic Test Rig for Performance Assessment of Prosthetic Joints.

Autor:	Etoundi AC; Bristol Robotics Laboratory, Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom., Dobner A; Bristol Robotics Laboratory, Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom., Agrawal S; Bristol Robotics Laboratory, Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom., Semasinghe CL; Bristol Robotics Laboratory, Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom., Georgilas I; Department of Mechanical Engineering, University of Bath, Bath, United Kingdom., Jafari A; Bristol Robotics Laboratory, Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2022 Mar 07; Vol. 8, pp. 613579. Date of Electronic Publication: 2022 Mar 07 (Print Publication: 2021).
DOI:	10.3389/frobt.2021.613579
Abstrakt:	Movement within the human body is made possible by joints connecting two or more elements of the musculoskeletal system. Losing one or more of these connections can seriously limit mobility, which in turn can lead to depression and other mental issues. This is particularly pertinent due to a dramatic increase in the number of lower limb amputations resulting from trauma and diseases such as diabetes. The ideal prostheses should re-establish the functions and movement of the missing body part of the patient. As a result, the prosthetic solution has to be tested stringently to ensure effective and reliable usage. This paper elaborates on the development, features, and suitability of a testing rig that can evaluate the performance of prosthetic and robotic joints via cyclic dynamic loading on their complex movements. To establish the rig's validity, the knee joint was chosen as it provides both compound support and movement, making it one of the major joints within the human body, and an excellent subject to ensure the quality of the prosthesis. Within the rig system, a motorised lead-screw simulates the actuation provided by the hamstring-quadricep antagonist muscle pair and the flexion experienced by the joint. Loads and position are monitored by a load cell and proximity sensors respectively, ensuring the dynamics conform with the geometric model and gait analysis. Background: Robotics, Prosthetics, Mechatronics, Assisted Living. Methods: Gait Analysis, Computer Aided Design, Geometry Models. Conclusion: Modular Device, Streamlining Rehabilitation. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. The reviewer VG declared a shared affiliation, with no collaboration, with the authors AE, AD, SA, CS, AJ to the handling editor at the time of the review. (Copyright © 2022 Etoundi, Dobner, Agrawal, Semasinghe, Georgilas and Jafari.)
Databáze:	MEDLINE
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