動的適応性を備えた能動型マルチユニット人工股関節ソケットのマルチタスクシナリオにおける最適化手法

As a core functional component of the prosthetic system, the prosthetic socket's adaptability to the residual limb is directly correlated with the prosthetic's performance, comfort level, and safety profile. Although traditional sockets can satisfy basic suspension requirements, they commonly suffer from inherent drawbacks in practical applications, including uneven pressure distribution, poor air permeability, and inadequate adaptability to the morphological variations of individual residual limbs. To enhance socket adaptability across multi-task scenarios, this study proposes an intelligent physiological adaptation-based optimal design method for active upper-limb prosthetic sockets. Specifically, this method first employs a dynamic force optimization algorithm for multi-contact units oriented to prosthetic manipulation tasks, which real-timely optimizes the output force of each unit under varying external loads to achieve stable socket suspension with minimal interface pressure. Second, biomechanical experiments are conducted to obtain the pain threshold distribution characteristics of forearm soft tissues under compressive loads, thereby providing a physiological basis for the spatial layout of the contact units. Furthermore, the mechanical performance of different socket structures is evaluated under various representative task scenarios, with peak normal force, mean normal force, and force distribution variance adopted as the key comfort evaluation indices. The results demonstrate that the proposed active multi-unit socket, particularly the double-layered eight-unit symmetric radial staggered configuration, enables a robust balance between comfort and stability across diverse task scenarios, thereby establishing an effective and scalable design paradigm for long-term adaptive upper-limb prosthetic sockets.