新型髋膝一体化假肢结构设计与分析

Novel Integrated Hip and Knee Prosthetic Structure: Design and Analysis

摘要: 髋膝一体化假肢是针对髋关节截肢患者设计的下肢辅助设备，旨在帮助患者恢复自然步态并提高在不同环境中的移动能力。然而，传统髋离断假肢通常采用髋、膝关节独立驱动的设计，导致运动协调性不足，影响步态稳定性和能量传递效率。为优化髋膝关节协同运动并克服现有方案的局限性，本研究提出了一种新型髋膝一体化假肢结构，其核心创新在于采用可连续变传动机构，实现单一动力源驱动下的髋膝协同运动，同时集成自适应腿长调节机构，以适应不同截肢者腿长的解剖学差异。基于SolidWorks设计髋膝一体化假肢结构与关键部件有限元分析，结合ADAMS软件完成运动学仿真验证，结果表明，该设计能够有效实现髋膝关节的连续协同运动，显著提升运动协调性和步态自然度。本研究为下肢假肢的仿生设计与运动优化提供了重要的理论依据和技术支撑，对提高截肢患者的康复效果和生活质量具有积极意义。

Abstract: The hip-knee integrated prosthesis is a lower-limb assistive device designed for individuals with hip disarticulation amputations, aiming to restore natural gait and enhance mobility across diverse environments. However, conventional hip disarticulation prostheses typically employ independently driven hip and knee joints, resulting in inadequate motion coordination, which adversely affects gait stability and energy transfer efficiency. To optimize the coordinated movement of the hip and knee joints and overcome the limitations of existing designs, this study proposes a novel hip-knee integrated prosthesis. Its core innovation lies in the implementation of a continuously variable transmission mechanism, enabling coordinated hip-knee motion driven by a single power source, along with an integrated adaptive leg-length adjustment mechanism to accommodate anatomical variations in leg length among amputees. The structural design of the hip-knee integrated prosthesis and finite element analysis of critical components were conducted using SolidWorks. Kinematic simulations were subsequently performed using ADAMS software. The results demonstrate that the proposed design effectively achieves continuous, coordinated motion of the hip and knee joints, significantly enhancing motion coordination and gait naturalness. This research provides essential theoretical foundations and technical support for the biomimetic design and motion optimization of lower-limb prostheses, offering positive implications for improving rehabilitation outcomes and quality of life for amputees.