| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 94 === Above-knee amputees are unable to climb up stairs by prostheses step by step as normal people. This research attempts to observe the motion of normal people when walking up stairs and analyze the kinematic parameters in sagittal plane, including trunk forward tilt angle, hip and knee flexion angles, ankle dorsiflexion angle, and the displacement of center of mass (COM), so as to find the relationship between parameters.
Kinematic data are collected using 3-D Motion Analysis system with Helen Hayes Marker Set. A normal male ascends a four-step custom-made stair where two AMTI force plates underneath to measure the foot reactions. The result shows that the trunk tilts forward with almost the same angle. All angles of lower limb joints have significant angular changes. The COM keeps moving upward but moves forward only in two periods during the gait cycle.
The gait cycle is divided into nine stages which include two outputs, prosthetic knee and ankle, and five inputs, intact hip, knee, ankle, upward displacement of COM and distance between COM and center of pressure (COP) of intact foot. The relationship between inputs and outputs are thus found through comparison. This may help establish the moving strategy of above-knee amputees to ascend stairs by prostheses and provide design specifications of control of prostheses in the future.
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