• 제어로봇시스템학회논문지
• /
• 제21권10호
• /
• pp.944-950
• /
• 2015

Recent studies on ankle-foot prostheses used for transtibial amputees have focused on the adaptation of the ankle angle of the prosthesis according to ground conditions. For adaptation to various ground conditions (e.g., incline, decline, and step conditions), ankle-foot prostheses should first recognize the ground conditions as well as the current human motion pattern. For this purpose, the ground reaction forces and orientation angle of the tibia provide fundamental information. The measurement of the orientation angle, however, creates a challenge in practice. Although various sensors, such as accelerometers and gyroscopes, can be utilized to measure the orientation angles of the prosthesis, none of these sensors can be solely used due to their intrinsic drawbacks. In this paper, a time-varying complementary filtering (TVCF) method is proposed to incorporate the measurements from an accelerometer and a gyroscope to obtain a precise orientation angle. The cut-off frequency of TVCF is adaptively determined according to the human gait phase detected by a fuzzy logic algorithm. The performance of the proposed method is verified through experiments.

• 대한족부족관절학회지
• /
• 제25권3호
• /
• pp.111-116
• /
• 2021

Purpose: Variations in the preferred conservative and operative treatment methods for ankle arthritis may be observed in the practice of orthopedic surgeons. This study is based on the Korean Foot and Ankle Society (KFAS) member survey and aims to report the current trend and changes in the management of ankle arthritis over the last few decades. Materials and Methods: A web-based questionnaire containing 24 questions was sent to all KFAS members in July 2021. The questions were mainly related to the preferred techniques and clinical experience in osteotomy, arthrodesis, and total ankle arthroplasty (TAA) for patients with ankle arthritis. Results: Sixty-three out of 550 surgeons (11.5%) responded to the survey. The responses to 6 out of the total of 24 questions (25.0%) achieved the levels needed to reflect a tendency. Answers that showed a tendency were related to the following: a surgical approach for arthrodesis (anterior approach), use of auto-bone graft for arthrodesis (iliac bone), a nonunion rate of more than 10% following arthrodesis, main reason related to unsatisfactory results after arthrodesis (nonunion or delayed union), the main reason to change total ankle prosthesis (unstable supply of prosthesis), the unusualness of revision TAA and conversion of fusion to TAA. Diversity was found in several aspects of treatment (degree of experience and satisfaction in supramalleolar osteotomy, fixation method for arthrodesis, preferred TAA prosthesis and longevity, degree of experinece, annual number of TAA operation. Conclusion: This study proposes updated information with regard to the current trends in the management of ankle arthritis in Korea. Both consensus and variations in the approach to patients with ankle arthritis were identified through this survey. With an increasing preference for TAA, the need for the development of a prosthesis optimized for Koreans and a stable supply of prostheses were the suggestions made by the study.

• 대한족부족관절학회지
• /
• 제11권1호
• /
• pp.18-22
• /
• 2007

Purpose: To provide basic data on anatomy of the ankle joint in adults using magnetic resonance imaging as well as to compare measurements with available data of corresponding dimension in the different sizes of the total ankle replacements design ($HINTEGRA^{(R)}$). Materials and Methods: Magnetic resonance (MR) sagittal and coronal images from one hundred-forty nine were studied. Post traumatic, arthritic, or grossly deformed ankles at any reason were excluded. Lengths, widths of the main parts of this articulation and also the radius of curvature of talar dome were measured in the MR images. Statistical analysis was performed on these measurements. Results: On MR coronal image data, average tibial width was $30.0{\pm}4.1\;mm$ and talar width was $27.0{\pm}3.4\;mm$. On sagittal image date, average anteroposterior length of the distal tibia was $39.0{\pm}4.2\;mm$, average anteroposterior length of the talus was $31.3{\pm}2.8\;mm$, and average sagittal radius of curvature of talar dome was $20.1{\pm}2.9\;mm$. All measurements in male were significantly larger than in female (p<0.01), but a significant difference according to age was not found. Conclusion: Ankle morphometric data define a basis of size, particularly useful in the design of ankle prostheses.

• 재활복지공학회논문지
• /
• 제10권4호
• /
• pp.305-313
• /
• 2016

두 발을 번갈아 옮기며 몸을 앞으로 움직이는 단순한 동작의 반복으로 보이는 보행이란 과정은 실제 인체 내의 대부분의 근육 및 인대, 뼈가 연관되어 이루어지는 복잡한 행동이다. 신체 일부가 소실된 하퇴 절단자의 경우 생체조직이 온전히 보전되어 있는 일반인과는 달리 남은 생체 부위와 의지의 공학적인 성능에만 의존해 보행을 해야 한다는 어려운 상황에 직면하게 된다. 따라서 하퇴절단자를 위한 하퇴의지는 우선 환자가 기본적인 보행이 가능케 함과 동시에 최대한 복잡한 지면 상태에 적응할 수 있도록 설계가 되어야 한다. 원활한 보행을 위해서는 배/저굴 방향의 발목의 회전이 매우 중요하고 고르지 못한 지면 상태를 극복하기 위해서는 내/외전 방향의 족부의 회전 기능이 요구된다. 최근 생체역학적인 연구를 접목한 다양한 하퇴의지가 개발되고 있으나, 이러한 고가의 고성능 하퇴의지의 경우 주로 활동성이 높은 하지절단 환자들에 초점이 맞춰져 있다. 본 연구에서는 하퇴의지 착용자의 대다수인 활동성이 낮은 K2 레벨의 환자들을 위한 하퇴의지를 개발했다. 기본적인 보행 능력 향상을 위해서 배/저굴 방향으로의 회전이 가능한 유압식 발목을 개발했고, 이를 통해서 배/저굴 방향으로 각각 $2.5^{\circ}$와 $4^{\circ}$의 회전이 가능함을 확인했다. 또한 수동 조절이 가능한 유압 노즐을 탑재해 환자 개개인에 적합한 발목 회전 저항력을 설정할 수 있도록 설계했다. 내/외전 방향으로의 족부의 회전이 가능하도록 이중고무 방식의 중간재를 삽입해 각각 $3.6^{\circ}$와 $4.1^{\circ}$의 회전이 가능하도록 설계되어 측경사나 작은 장애물들을 극복할 수 있도록 제작했다. 본 연구를 통해 개발된 하퇴의지는 K2 레벨의 하퇴절단자들이 일상생활 중에 겪게 되는 다양한 지면 환경을 극복하는데 도움을 줄 것이다.