Development of a Stance & Swing Phase Control Transfemoral Prosthesis

입각기와 유각기 제어 대퇴의지의 개발

In this study, a transfemoral prosthesis system of which stance phase and swing phase are controlled during walking has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics and behaviour of the knee damper which absorbs the impact energy generated at the heel contact was investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase was also studied for its mechanical characteristics. The prosthesis was subject to the clinical test ant the gait characteristics obtained were very close to those of normal. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.