CN114886626A - Artificial limb and control method thereof - Google Patents

Abstract

The invention provides an artificial limb and a control method thereof, a knee angle monitoring component is arranged on a knee crank structure, a plurality of sensors are arranged on a main control component to collect and identify the motion attitude and motion position data of a shank and a thigh, the knee angle monitoring component realizes the small-stroke linear movement of magnetic steel through ingenious design to ensure that an angle sensor can always receive a magnetic field change signal, thereby quickly and accurately judging the gait intention of a user, a damping adjusting structure consisting of a hydraulic oil cylinder component, a throttle valve opening monitoring component and a driving component is arranged in a matching way, the damping of the artificial limb is synchronously and accurately adjusted according to the judged gait tendency of the user, and intelligent damping adjustment can be carried out according to different stages of the gait under the same gait, the intelligent artificial limb of the invention can assist a patient who amputates below the thigh to comfortably and flexibly complete different gait actions, the technical problems in the prior art are solved.

Description

A kind of prosthesis and control method thereof

technical field

The invention relates to the technical field of medical devices, in particular to a prosthetic limb and a control method thereof.

Background technique

With the continuous development of science and technology, various intelligent products that can bring convenience to people's lives are being used more and more. In the medical field, the use of intelligent prosthetics can greatly improve the living standards of patients with amputations below the thigh. The most basic knee joint prosthesis is a mechanical prosthesis, which can only meet the needs of the patient to walk on the ground. The expansion and contraction damping provided by the damper is constant. Flexible and laborious. With the development of technology, intelligent prosthetics have appeared on the market. The recognition of movement mainly adopts the method of receiving biological signals of the human body, such as thigh EMG signals or brain wave signals, etc., and predicts the user's subsequent movement through the received signals. Therefore, the damping of the damper can be adjusted actively to realize the adjustment of the damping of the prosthesis in different motion states.

Chinese patent CN202111158478.3 discloses a prosthetic limb and a control method thereof. The prosthetic limb includes: a cavity with a accommodating cavity; a knee joint component, which is rotatably connected to the cavity; a motion state detection component for detecting the knee joint Movement state information of the components; hydraulic cylinder components, used to provide damping for the knee joint components; drive components, used to adjust the size of the hydraulic cylinder component damping; position sensor components, used to detect the position information of the driving components; main control components, respectively It is electrically connected with the motion state detection component, the position sensor component, the myoelectric signal line and the driving component, and is used for controlling the driving component to adjust the damping of the hydraulic cylinder component according to the motion state information, the myoelectric signal and the position information. The present invention adjusts the damping size of the hydraulic cylinder assembly through the current use state of the user, so as to realize the adjustment of the state of the knee joint bracket of the prosthesis according to the user's walking state, which is convenient for the user to use.

However, in the prior art solution, due to the immature human-computer interaction technology, the program has low accuracy and slow response to human biosignal recognition, so patients are prone to jams, falls, etc. during use, which has great safety. In addition, the intelligent prosthesis has no built-in power supply, and the power supply problem needs to be solved by an external portable charger, and many external connection cables also cause a lot of inconvenience.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a prosthesis and a control method thereof in view of the deficiencies of the prior art. And the movement posture and movement position data of the thigh, the knee angle monitoring component realizes the linear movement of the magnetic steel with a small stroke through ingenious design, ensuring that the angle sensor can always receive the magnetic field change signal, so as to quickly and accurately judge the user's gait intention. The damping adjustment structure composed of the oil cylinder component, the throttle valve opening monitoring component and the driving component can synchronously adjust the damping of the prosthesis accurately according to the user's gait trend judged, and can also be given according to the different stages of the gait under the same gait. With intelligent damping adjustment, the intelligent prosthesis of the present invention can assist patients with amputations below the thigh to complete different gait movements comfortably and flexibly, thereby solving the above-mentioned technical problems existing in the prior art.

To achieve the above object, the present invention provides the following technical solutions:

A prosthetic limb, comprising: a casing; further comprising: a shaft part, the shaft part is fixedly installed in the casing; a knee crank, the knee crank is rotatably installed on the shaft part; a knee angle monitoring assembly, the The knee angle monitoring assembly is connected and arranged between the shaft portion and the knee crank; and a main control assembly, the main control assembly is installed in the housing and is disposed facing the knee angle monitoring assembly; the knee crank is opposite to When the shaft part rotates, it drives the knee angle monitoring component to act synchronously and generates a changing magnetic field, and the main control component recognizes the changing magnetic field and obtains the motion state information of the knee crank.

Preferably, the knee angle monitoring assembly includes: a slot structure; and a magnetic steel assembly, wherein the magnetic steel assembly is limited and clamped in the slot structure, and when the knee crank rotates, the magnetic steel assembly is Under the action of the guide limit of the slot structure, a small stroke of linear movement occurs to generate a changing magnetic field.

Preferably, the main control assembly includes: a main control board; and a knee angle sensor, the knee angle sensor is disposed close to the magnetic steel assembly, and the knee angle sensor identifies the changing magnetic field generated by the magnetic steel assembly and feeds it back to the main control board.

Preferably, the knee angle monitoring assembly further comprises: a shaft hoop, the knee crank rotates relative to the shaft hoop, and a transverse groove is formed on the shaft hoop along the axial direction of the shaft portion; A guide rail part, the guide rail part is installed on the knee crank to rotate synchronously with the knee crank, an arc-shaped groove is opened on the guide rail part along the rotation direction of the knee crank, and the arc-shaped groove is arranged along the rotation direction of the knee crank. The oblique curve structure in which the opening direction of the transverse groove is twisted; the transverse groove and the arc-shaped groove form the clamping groove structure, and when the guide rail part rotates, the magnetic steel assembly is guided by the arc-shaped groove in the transverse groove to perform operation. move.

Preferably, the shaft hoop is coaxially fixedly sleeved on the shaft portion and covered by the knee crank, which limits the rotation of the knee crank to limit the maximum size that the knee crank can reach. Straight position.

Preferably, a limiting portion protrudes from the shaft hoop on the front side of the prosthetic knee, a turning groove is formed on the lower part of the knee crank along the rotation direction, and the limiting portion is located in the turning groove, and the When the knee crank is rotated to the maximum straightening position, the limiting portion collides with the end portion of the turning groove located on the front side of the prosthetic knee.

Preferably, it also includes: a hydraulic oil cylinder assembly, which is installed in the casing and provides power or damping for the knee crank; and a hydraulic oil cylinder assembly installed in the casing and electrically connected to the main control assembly a drive assembly and a throttle valve opening degree monitoring assembly, the throttle valve opening degree monitoring assembly is connected and arranged between the drive assembly and the throttle valve of the hydraulic cylinder assembly and monitors the rotational angle information of the drive assembly, the The main control assembly controls the adjustment of the damping of the hydraulic cylinder assembly by the drive assembly according to the rotational position information of the drive assembly.

Preferably, the casing is configured as a hollow cavity.

Preferably, the throttle valve opening monitoring assembly includes: a magnetic ring connecting piece, the magnetic ring connecting piece includes a connecting shell and a magnetic ring embedded in the connecting shell, the connecting shell is connected to the hydraulic pressure Between the throttle valve of the oil cylinder assembly and the drive shaft of the drive assembly, when the drive shaft rotates, the magnetic ring generates a changing magnetic field; an angle sensor, the angle sensor identifies the changing magnetic field of the magnetic ring and feeds it back to the main control component, so as to obtain the rotational position information of the driving component, and the main control component controls the rotation of the driving component to adjust the opening degree of the throttle valve.

Preferably, the main control assembly further comprises: a lower leg gesture recognition sensor group, the lower leg gesture recognition sensor group recognizes the motion state of the prosthetic limb and feeds it back to the main control board.

Preferably, the lower leg gesture recognition sensor group includes a gyroscope and an acceleration sensor; the knee angle sensor and the lower leg gesture recognition sensor group are welded on the main control board.

Preferably, it also includes: a battery, the shaft part is set as a hollow structure, the battery is installed in the shaft part, and the battery supplies power to the hydraulic cylinder assembly, the main control assembly and the drive assembly.

The present invention also provides a prosthetic control method, comprising the following steps:

S1: When the knee crank rotates, it drives the magnetic steel assembly to move linearly to generate a changing magnetic field, the knee angle sensor recognizes the changing magnetic field and feeds it back to the main control board, and the lower leg posture recognition sensor group recognizes the motion state of the prosthesis and feeds it back to the main control board;

S2: The main control component determines the user's next motion intention from the overall motion information of the prosthesis obtained by each sensor;

S3: The main control component controls the rotation of the driving component according to the determined motion intention to adjust the opening of the throttle valve;

S4: The throttle valve opening monitoring component detects the opening position of the throttle valve and feeds it back to the main control board. When the desired opening position is reached, the main control board controls the drive component to stop rotating, completing the damping adjustment of the hydraulic cylinder component.

The beneficial effects of the present invention are:

(1) In the present invention, a knee angle monitoring component is arranged on the knee crank component and a plurality of sensors are arranged on the main control component to collect and identify the movement posture and movement position data of the calf and thigh, so as to quickly and accurately judge the user's gait. According to the user's gait trend, the damping of the prosthesis can be accurately adjusted synchronously according to the user's gait trend. Different stages of gait are given intelligent damping adjustment, and the intelligent prosthesis of the present invention can assist patients with amputations below the thigh to complete different gait movements comfortably and flexibly;

(2) In the present invention, a knee angle monitoring assembly is provided in the knee crank assembly, which includes a guide rail portion that rotates synchronously with the knee crank, a shaft hoop fixed relative to the knee crank, and a magnetic steel assembly. An arc-shaped groove is set in the circumferential direction of the crank rotation, and a transverse groove is set on the side of the shaft hoop facing the guide rail along the axial direction of the knee shaft body. With the rotation of the knee crank, the magnetic steel assembly is guided by the movement of the arc groove to make a reciprocating linear motion along the horizontal groove. The rotary motion of the knee crank is cleverly used to drive the magnetic steel assembly to move linearly to generate a changing magnetic field, so as to obtain the knee angle data. The magnetic steel assembly only moves linearly with a small stroke under the guide limit of the slot structure, ensuring that the angle sensor can always accurately and quickly receive the changing magnetic field and judge the user's gait intention, and the magnetic steel assembly is wrapped by the guide rail and the shaft hoop It has good stability, no risk of falling off and loosening, and the overall structure of the present invention has high integration degree and good compactness;

(3) The shaft hoop in the present invention also has the function of limiting the rotation of the knee crank assembly in an unexpected state. When a large external force impacts the connection between the hydraulic cylinder assembly and the housing or the knee crank assembly , when the knee crank rotates to the maximum straight position, it is blocked by the limit part of the shaft hoop, so as to prevent the user from falling due to the reverse bending of the knee crank, and fully guarantee the safety of the user;

(4) The present invention has built-in rechargeable battery on the prosthesis, which can be used after mechanically connecting and fixing the prosthesis and the thigh. No external data cable is required during use, which fully guarantees the convenience of the user.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

2 is a sectional view of the overall structure in the present invention;

3 is a schematic diagram of the connection structure of the knee crank assembly and the knee angle monitoring assembly in the present invention;

4 is a schematic diagram of the installation structure of the knee angle monitoring assembly in the present invention;

Fig. 5 is the enlarged view of A place in Fig. 2;

6 is a front view of the structure of the main control assembly in the present invention;

Fig. 7 is the structural representation of the guide rail part in the present invention;

FIG. 8 is a schematic diagram of the installation structure of the center axle hoop and the magnetic steel assembly of the present invention;

9 is a front view of the structure of the guide rail part in the present invention;

10 is a schematic diagram of the matching structure of the center axle hoop and the knee crank assembly of the present invention;

Fig. 11 is a partial enlarged view of Fig. 5;

Figure 12 is a schematic diagram of the overall structure of the present invention (excluding the shell);

13 is a schematic diagram of the connection structure of the hydraulic cylinder assembly and the drive assembly in the present invention;

FIG. 14 is a front view of FIG. 8 .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

Example 1

A prosthesis, as shown in Figures 1-4, includes: a casing 3; further includes: a shaft portion 11, which is fixedly installed in the casing 3; and a knee crank 12, which rotates Installed on the shaft portion 11; the knee angle monitoring assembly 2, the knee angle monitoring assembly 2 is connected and arranged between the shaft portion 11 and the knee crank 12; and the main control assembly 5, the main control assembly 5 is installed In the housing 3 and facing the knee angle monitoring assembly 2; when the knee crank 12 rotates relative to the shaft 11, it drives the knee angle monitoring assembly 2 to act synchronously and generates a changing magnetic field, the The main control assembly 5 recognizes the changing magnetic field and thereby acquires the motion state information of the knee crank 12 .

In this embodiment, the shaft portion 11 and the knee crank 12 form a knee crank assembly 1, and the knee crank assembly 1 is installed in the housing 3 of the prosthesis and can be rotated within a certain angle range to simulate the movement of the human knee joint. Bending and straightening movements in the process. The shaft portion 11 is fitted into the housing 3 and the knee crank 12, and is fixedly connected to the housing 3. Bearings 13 are installed on both sides of the knee crank 12, so that the knee crank 12 can go around the shaft portion. 11 Make a turn.

Preferably, as shown in FIG. 4 , the knee angle monitoring assembly 2 includes: a slot structure 20 ; and a magnetic steel assembly 21 . When the knee crank 12 rotates, the magnetic steel assembly 21 moves linearly with a small stroke under the guiding and limiting action of the slot structure 20 to generate a changing magnetic field.

Preferably, as shown in FIGS. 5-6 , the main control assembly 5 includes: a main control board 51; The changing magnetic field generated by 21 is fed back to the main control board 51 .

In this embodiment, the magnetic steel assembly 21 only moves linearly with a small stroke under the guide limit of the slot structure 20 to ensure that the magnetic steel assembly 21 can always be within the signal receiving range of the knee angle sensor 52, thereby ensuring the knee angle The sensor 52 can accurately and quickly receive the changing magnetic field.

Preferably, as shown in FIG. 4 and FIGS. 7-8 , the knee angle monitoring assembly 2 further includes: a shaft hoop 22, the knee crank 12 rotates relative to the shaft hoop 22, and the shaft hoop 22 is provided with a transverse groove 221 along the axial direction of the shaft portion 11; a guide rail portion 23, the guide rail portion 23 is mounted on the knee crank 12 to rotate synchronously with the knee crank 12, the guide rail portion 23 An arc-shaped groove 231 is formed on the upper part along the rotation direction of the knee crank 12 , and the arc-shaped groove 231 is configured as an oblique curve structure twisted along the opening direction of the transverse groove 221 ; the transverse groove 221 and the arc-shaped groove 231 The slot structure 20 is formed. When the guide rail portion 23 rotates, the magnetic steel assembly 21 is guided by the arc-shaped slot 231 to move in the horizontal slot 221 .

The key point of the design of the knee angle monitoring assembly 2 in this embodiment is that during the flexion and extension of the knee crank 12 of the knee joint, the knee crank 12 performs a rotational movement, and the guide rail 23 fixed on the knee crank 12 rotates synchronously with the knee crank 12. The above-mentioned arc-shaped groove 231 is arranged on the 23, and the magnetic steel assembly 21 stuck on it does a reciprocating linear motion along the transverse groove 221 of the shaft hoop 22 along with the movement of the guide rail 23, because the shaft hoop 22 is fixed on the shaft portion 11. The locking is fixed and the shaft portion 11 itself does not rotate. After the horizontal groove 221 is opened on the shaft hoop 22, the bracket part of the magnetic steel assembly 21 is embedded in the arc-shaped groove 231, and the magnetic steel 211 is embedded in the horizontal groove 221. The arc-shaped groove 231 is opened along the circumferential direction and is an oblique curve, and the rotary motion of the knee crank 12 is used to drive the magnetic steel assembly 16 to move, and the data of the knee angle is obtained by the magnetic field change generated by the reciprocating linear motion of the magnetic steel 211, using The rotary motion of the knee crank 12 drives the magnetic steel assembly 21 to move linearly in a small range, and the knee angle sensor 52 is arranged at the closest position facing the magnetic steel assembly 21 to ensure that the knee angle sensor 52 can always receive the magnetic steel accurately and quickly. The changing magnetic field of the component 21 has an ingenious structural design.

As a preferred embodiment, as shown in FIG. 2 and FIG. 5 , the knee angle sensor 52 is disposed on the other side of the guide rail 23 relative to the magnetic steel assembly 21 facing the magnetic steel assembly 21 , thus ensuring that the knee angle sensor 52 It is closest to the magnetic steel assembly 21, and can well receive the magnetic field change of the magnetic steel assembly 21, and has strong signal receiving ability.

In addition, it is worth noting that the magnetic steel assembly 21 is surrounded by the arc-shaped groove 231 and the horizontal groove 221 for movement, and there is no risk of falling off and loosening, and the knee angle sensor 52 is integrated on the main control board 51, the overall structure is compact, and the movement High stability and detection sensitivity.

Preferably, the magnetic steel assembly 21 is located between the shaft hoop 22 and the guide rail 23, and the two ends are respectively clamped in the transverse groove 221 and the arc groove 231; the magnetic steel assembly 21 includes: a bracket, The bracket is clamped in the arc-shaped groove 231 ; and the magnetic steel 211 is adhered to the bracket by strong glue, and the magnetic steel 211 is clamped in the transverse groove 221 .

In this embodiment, the bracket of the magnetic steel assembly 21 is clamped in the arc-shaped groove 231. Due to the rotation of the knee crank 12, the magnetic steel 211 will move back and forth in the transverse groove 221 along the arc-shaped groove 231, resulting in the change of the magnetic field. .

Preferably, as shown in FIG. 9 , the twisted angle of the arc groove 231 along the opening direction of the transverse groove 221 is α, where 5°≤α≤10°; as shown in FIG. 14 , the transverse groove 221 The length is L, where 1cm≤L≤3cm.

As a preferred embodiment, α=7°, L=1.5cm.

In this embodiment, the twist angle of the arc-shaped groove 231 is small, the length of the transverse groove 221 to be matched is short, and the displacement of the magnetic steel assembly 21 in linear reciprocating movement is short.

Preferably, as shown in FIG. 6 , the main control assembly 5 further includes: a lower leg gesture recognition sensor group 53 , the lower leg gesture recognition sensor group 53 recognizes the motion state of the prosthesis and feeds it back to the main control board 51 .

Preferably, the knee angle sensor 52 and the lower leg posture recognition sensor group 53 are welded on the main control board 51 .

In this embodiment, the rotation of the lower leg prosthesis drives the above-mentioned sensors fixed on the main control assembly 5 to move, and the knee angle monitoring assembly 2 is arranged to cooperate with the knee angle sensor 52 to identify the bending angle between the thigh and the lower leg. The calf posture recognition sensor group 53 is set to identify the motion state of the entire calf prosthesis in the entire three-dimensional space, so as to collect the motion posture data of the calf in real time, and combine the knee angle sensor to comprehensively judge the motion posture data of the thigh, and the collection of two motion posture data. , the recognition of the user's gait can be completed, and the recognition method can obtain the gait information of the user's entire leg more comprehensively and accurately, and is stable and reliable.

It should be added that the knee angle sensor 52 in this embodiment is set as a magnetic field sensor. For example, the KMT32B magnetic field angle sensor in the prior art can be used, which is actually a chip, and its working principle is a (X-Y) parallel to the surface of the chip. When the direction of the magnetic field changes in the plane), the output signal will change, and the change in the angle of the external magnetic field can be calculated. Since the position of the angle chip is static, the angle change of the magnetic field is the angle change of the knee joint. In this embodiment, the magnetic steel 211 moves linearly in the transverse groove 221 . At this time, the moving direction of the magnetic steel 211 is parallel to the surface of the chip, so that the magnetic field change can be accurately identified.

The lower leg posture recognition sensor group 53 in this embodiment is an angular velocity and acceleration sensor, which is a physical sensor that integrates a gyroscope sensor and an acceleration sensor. Or flipping, etc., the acceleration sensor is used to measure the acceleration change during the change of the prosthetic posture, and the combination of the two can completely identify the spatial motion posture of the calf.

Preferably, as shown in FIG. 1 , it also includes: a hydraulic cylinder assembly 4 , the hydraulic cylinder assembly 4 is installed in the housing 3 and provides power or damping for the knee crank 12 ; as shown in FIGS. 12-13 , and a drive assembly 6 and a throttle valve opening degree monitoring assembly 7 installed in the housing 3 and electrically connected to the main control assembly 5, and the throttle valve opening degree monitoring assembly 7 is connected to the Between the drive assembly 6 and the throttle valve 41 of the hydraulic cylinder assembly 4 and monitor the rotation angle information of the drive assembly 6, the angle rotated by the drive assembly 6 is the opening of the throttle valve 41, and the main control assembly 5 The adjustment of the damping of the hydraulic cylinder assembly 4 by the drive assembly 6 is controlled according to the rotational position information of the drive assembly 6 .

Preferably, the casing 3 is configured as a hollow cavity, and the knee crank assembly 1 , the hydraulic cylinder assembly 4 and the driving assembly 6 are installed in the hollow cavity of the casing 3 from top to bottom.

In this embodiment, the driving component 6 provides rotational torque to control the throttle valve 41 to adjust the valve opening, and the main control component 5 is used to receive the knee angle monitoring component 2 , the throttle valve opening monitoring component 7 and the lower leg The gesture recognition sensor group 53 reads the data, and controls the drive assembly 6 to rotate.

Preferably, as shown in FIG. 13 , the throttle valve opening monitoring assembly 7 includes: a magnetic ring connector 71 , and the magnetic ring connector 71 includes a connection shell and a magnetic ring embedded in the connection shell, so The connecting shell is connected and arranged between the throttle valve 41 of the hydraulic cylinder assembly 4 and the drive shaft of the drive assembly 6. When the drive shaft rotates, the magnetic ring generates a changing magnetic field; the angle sensor 72, the angle sensor 72 Identify the changing magnetic field of the magnetic ring and feed it back to the main control assembly 5 to obtain the rotational position information of the driving assembly 6, and the main control assembly 5 controls the rotation of the driving assembly 6 to adjust the opening of the throttle valve 41. degree size.

In this embodiment, the angle sensor 72 recognizes the changing magnetic field of the magnetic ring 712 , so as to recognize the opening degree of the current throttle valve 41 and feed it back to the main control assembly 5 , when the throttle valve 41 reaches the preset opening degree , the main control assembly 5 controls the drive assembly 6 to stop rotating.

Preferably, as shown in FIG. 12 , the hydraulic cylinder assembly 4 includes: a hydraulic cylinder 42 , and the hydraulic cylinder 42 is rotatably installed in the housing 3 through a lower cylinder shaft 43 at the bottom of the hydraulic cylinder 42 . The piston rod 421 is rotatably mounted on the knee crank 12 through the upper shaft 44 of the oil cylinder. During operation, the linear reciprocating motion of the piston rod 421 is converted into the rotary motion of the knee crank 12; and the throttle valve 41 is adjusted by the throttle valve 41. The oil circuit switch of the hydraulic cylinder 42 is controlled to adjust the flow speed of the internal hydraulic oil, so as to control the hydraulic cylinder to have different damping effects.

Preferably, the drive assembly 6 is mounted on the hydraulic cylinder 42 and connected to the throttle valve 41 of the hydraulic cylinder 42 for adjusting the damping of the hydraulic cylinder assembly 4 .

The intelligent prosthesis of this embodiment can autonomously judge and recognize the user's gait intention during use (such as walking slowly, walking fast, going up and down stairs, going up and down slopes, squatting and standing up, even riding, etc.). The sensor with very mature technology, the recognition process is fast and accurate. After the recognition is completed, precise adjustment is made synchronously, and the damping of the prosthesis is changed, so that the patient feels comfortable and flexible in different postures.

It is worth noting that the intelligent prosthesis of this embodiment can also provide intelligent damping adjustment according to different stages of the gait under the same gait, so that the user can save a great deal of physical strength during use. For example, in the normal walking state, when the user lifts the prosthesis and swings back, the damper damps the least, making the prosthesis flexible and labor-saving. The weight of the human body prevents the user from falling. In addition, when a special motion state in which the user has a risk of falling is identified, the damping is adjusted to completely lock the entire knee joint, helping the user to stand stably.

Embodiment 2

The same or corresponding components in this embodiment and the above-mentioned embodiments are marked with corresponding reference numerals as in the above-mentioned embodiments. For the sake of simplicity, only the points of difference from the above-mentioned embodiments will be described below. The difference between this embodiment and the above-mentioned embodiment is:

Preferably, as shown in FIG. 8 , the shaft hoop 22 is coaxially and fixedly sleeved on the shaft portion 11 and is covered by the knee crank 12 , which limits the rotation of the knee crank 12 . In order to limit the maximum straight position that the knee crank 12 can reach, it prevents the user from falling down due to the reverse bending of the knee joint.

Preferably, as shown in FIG. 10 , a limiting portion 220 is protruded from the shaft hoop 22 on the front side of the prosthetic knee, and the lower portion of the knee crank 12 is provided with a turning groove 120 along the rotation direction. The portion 220 is located in the turning slot 120. As shown in FIG. 11, when the knee crank 12 is rotated to the maximum straightening position, the limiting portion 220 and the turning slot 120 are located at the end portion 121 of the front side of the prosthetic knee. In contrast, FIG. 2 shows the knee crank 12 in a state near the maximum extension position.

In this embodiment, the shaft hoop 22 has both the functions of a position limiter and a chute of the magnetic steel assembly 21 .

For the limiting effect, in order to prevent the user from falling due to knee joint reflex when the user is impacted by an external force, the prosthesis in this embodiment is designed with multiple limiting functions for the knee crank 12 . First, for the process of straightening the knee joint: when the piston rod 421 of the hydraulic cylinder assembly 4 extends to the highest position, since the knee crank 12 is connected with the piston rod 421, it cannot continue to rotate. This is the knee joint extension during normal use. The first straight limit, at this time, the shaft hoop 22 has not yet worked; if the impact of the external force is large, the connection between the hydraulic cylinder assembly 4 and the housing 3 or the knee crank 12 is broken, and the knee crank 12 will continue to rotate at this time. Until the shaft hoop 22 is limited, the angle of the knee crank 12 is 4° from the horizontal plane (the angle can be adjusted by the locking position of the shaft hoop 22), which avoids the knee joint recurve.

It should be noted that the shaft hoop 22 is fixed and locked on the shaft portion 11 by bolts, and the limiting portion 220 is used for fixing bolts, and the locking position of the limiting portion 220 can be designed according to the desired knee crank Adjust the maximum straight position.

Embodiment 3

The same or corresponding components in this embodiment and the above-mentioned embodiments are marked with corresponding reference numerals as in the above-mentioned embodiments. For the sake of simplicity, only the points of difference from the above-mentioned embodiments will be described below. The difference between this embodiment and the above-mentioned embodiment is:

Preferably, as shown in FIG. 8 , it further includes: a battery 81 , the shaft portion 11 is set as a hollow structure, the battery 81 is installed in the shaft portion 11 , and the battery 81 is the hydraulic cylinder assembly 4 , The main control assembly 5 and the drive assembly 6 are powered.

In this embodiment, the battery 81 is set as a rechargeable battery, the prosthesis does not need an external mobile power supply during use, and the user does not need to worry about the constant movement caused by various external data cables during use, and the use is comfortable. it is good.

Preferably, as shown in FIG. 1 , the shaft cover plate 82 is further included. The shaft cover plate 82 is covered on both ends of the shaft portion 11 to prevent the battery 81 from loosening and water entering.

Embodiment 4

The present invention also provides a prosthetic control method, comprising the following steps:

S1: When the knee crank 12 rotates, it drives the magnetic steel assembly 21 to move linearly to generate a changing magnetic field. The knee angle sensor 52 recognizes the changing magnetic field and feeds it back to the main control board 51. The lower leg posture recognition sensor group 53 recognizes the motion state of the prosthesis and feeds back it to the main control board 51. main control board 51;

S2: the main control component 5 determines the user's next motion intention from the overall motion information of the prosthesis obtained by each sensor;

S3: The main control assembly 5 controls the rotation of the drive assembly 6 according to the determined motion intention to adjust the opening of the throttle valve 41, thereby controlling the damping of the hydraulic cylinder assembly 4;

S4: The throttle valve opening monitoring component 7 detects the opening position of the throttle valve 41 and feeds it back to the main control board 51. When the desired opening position is reached, the main control board 51 controls the driving component 6 to stop rotating, and the hydraulic cylinder is completed. Damping adjustment for component 4.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A prosthesis, comprising:

a housing;

it is characterized by also comprising:

a shaft portion mounted in the housing;

a knee crank rotatably mounted on the shaft portion;

the knee angle monitoring component is connected and arranged between the shaft part and the knee crank; and

the main control assembly is arranged in the shell and is opposite to the knee angle monitoring assembly;

when the knee crank rotates relative to the shaft part, the knee angle monitoring component is driven to synchronously act and generate a variable magnetic field, and the main control component identifies the variable magnetic field and obtains the motion state information of the knee crank.

2. A prosthetic of claim 1, wherein the knee angle monitoring assembly comprises:

a slot structure; and

the magnetic steel component is clamped in the clamping groove structure in a limiting manner, and when the knee crank rotates, the magnetic steel component linearly moves under the guiding and limiting effect of the clamping groove structure to generate a variable magnetic field.

3. A prosthetic of claim 2, wherein said primary control assembly comprises:

a main control board; and

and the knee angle sensor is arranged close to the magnetic steel component, and is used for identifying a variable magnetic field generated by the magnetic steel component and feeding the variable magnetic field back to the main control board.

4. A prosthetic of claim 2, wherein the knee angle monitoring assembly further comprises:

the knee crank rotates relative to the shaft hoop, and a transverse groove is formed in the shaft hoop along the axial direction of the shaft part;

the guide rail part synchronously rotates along with the knee crank, an arc-shaped groove is formed in the guide rail part along the rotation direction of the knee crank, and the arc-shaped groove is of an oblique curve structure which is twisted along the forming direction of the transverse groove;

the transverse groove and the arc-shaped groove form the clamping groove structure, and when the guide rail part rotates, the magnetic steel assembly is guided by the arc-shaped groove to move in the transverse groove.

5. A prosthetic of claim 4, wherein said shaft is secured to said shaft portion and is covered by said knee crank to limit rotation of said knee crank to limit the maximum extension that said knee crank can reach.

6. A prosthetic knee according to claim 5, wherein a limit portion is protrudingly provided on said collar at the front side of the knee, the front and lower portions of said knee crank are provided with a rotation groove along the rotation direction thereof, said limit portion is located in said rotation groove, and when said knee crank is rotated to said maximum extended position, said limit portion is abutted against the end portion of the rotation groove located at the front side of the prosthetic knee.

7. A prosthetic device according to any of claims 1-6, further comprising:

a hydraulic cylinder assembly mounted within the housing and providing power or damping to the knee crank; and

install in the casing and all with drive assembly and throttle valve opening monitoring subassembly that the master control subassembly electricity is connected, throttle valve opening monitoring subassembly connect set up in between drive assembly and the hydraulic cylinder subassembly and monitor drive assembly's turned angle information, master control subassembly controls drive assembly to the damped regulation work of hydraulic cylinder subassembly according to drive assembly's rotational position information.

8. A prosthetic of any of claims 3-6, wherein the primary control assembly further comprises:

and the calf posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board.

9. A prosthetic of claim 7, further comprising:

the shaft part is of a hollow structure, and the battery is installed in the shaft part and supplies power to the hydraulic oil cylinder assembly, the main control assembly and the driving assembly.

10. A prosthesis control method, comprising the steps of:

s1: when the knee crank rotates, the magnetic steel component is driven to linearly move to generate a variable magnetic field, the knee angle sensor identifies the variable magnetic field and feeds the variable magnetic field back to the main control board, and the shank posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board;

s2: the main control assembly determines the next movement intention of the user according to the overall movement information of the artificial limb acquired by each sensor in the step S;

s3: the main control assembly controls the driving assembly to rotate according to the judged movement intention so as to adjust the opening of the throttle valve;

s4: the throttle valve opening monitoring assembly detects the opening position of the throttle valve and feeds the opening position back to the main control board, and when the required opening position is reached, the main control board controls the driving assembly to stop rotating, so that damping adjustment of the hydraulic oil cylinder assembly is completed.

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