CN101496751A - Active mode human leg prosthetic limb - Google Patents
Active mode human leg prosthetic limb Download PDFInfo
- Publication number
- CN101496751A CN101496751A CNA2009100680930A CN200910068093A CN101496751A CN 101496751 A CN101496751 A CN 101496751A CN A2009100680930 A CNA2009100680930 A CN A2009100680930A CN 200910068093 A CN200910068093 A CN 200910068093A CN 101496751 A CN101496751 A CN 101496751A
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- knee joint
- direct current
- tibia
- connecting rod
- current generator
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Abstract
The invention relates to an active type human leg prosthesis. The prosthesis is characterized by comprising a four-link mechanism formed by a knee joint part, a connecting part and a tibia part, wherein the connecting part comprises a front connecting rod and a rear connecting rod which are zygomorphic; upper ends of the front connecting rod and the rear connecting rod are connected with the knee joint part as one link of the four-link mechanism; lower ends of the front connecting rod and the rear connecting rod are connected with the tibia part as the other link of the four-link mechanism; a connecting piece of the knee joint part is connected with a linear transformation part of the tibia part through a rotating part; the tibia part comprises a linear drive mechanism for converting rotating motion of a direct current motor into linear motion; the lower end of a strutting piece base of the tibia part comprises a ferrule with a bolt to be connected with an artificial foot; the direct current motor for generating power is fixed on the lower part of the tibia part, and the position of the direct current motor in motion is not changed relative to the linear drive mechanism; and the rotating motion of the direct current motor is converted into linear motion to drive bending and stretching rotation of the knee joint part.
Description
Technical field
The present invention relates to the human body prosthesis technique, be specially a kind of active mode human leg prosthetic limb that utilizes direct current generator that power is provided.
Technical background
Artificial limb is the important motor function compensator of amputee.Artificial limb is installed is recovered incomplete original form of limbs of patient or function, alleviate dysfunction, make that the patient can live independently, study and work.The artificial leg that comes into the market at present has single-axis knee joint, polycentric knee joint, band lock knee joint, load-bearing knee joint with locking function, hydraulic pressure or air pressure control knee joint, intelligent artificial limb knee-joint and bionical knee joint etc., has satisfied prosthetic wearing person's requirement to a certain extent.But above artificial limb is " passive type " artificial limb, do not comprise or do not have an actuating unit that helps people's walking, stair activity initiatively, the flexing in joint depends on deformed limb, stretching also is to lean on the release of mechanical energy storage to realize, this has just limited people with disability's motor capacity to a great extent.For example, " artificial limb knee-joint " of Chinese patent application 200480040062.X number report.This is designed to the passive type polycentric knee joint, adds the crooked locking system of opposing, has increased the stability of standing and sitting down, and still still drives the crooked and stretching, extension of artificial limb by amputee's stump when walking, and long-time walking can make wearer produce feeling of fatigue." the improved knee joint " of No. 99255918.9 reports of Chinese patent application also is the passive type single-axis knee joint.This artificial limb is equipped with buffer unit, when knee joint is rotated, can realize being rotated counterclockwise fast and turn clockwise slowly, solved the inconvenient and unsafe problem of walking, but this artificial limb does not provide the power of walking yet in the process of walking, and the single-axis knee joint design stability can not guarantee to stand the time.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, a kind of active mode human leg prosthetic limb is provided, this artificial limb utilizes direct current generator to provide power for amputee's motion, can reduce the energy expenditure of user, make artificial limb really become the part of human body and just as an accessory, initiatively provide power for human body, improve result of use and quality at level walking, stair activity with when climbing the slope.
The technical scheme that the present invention solve the technical problem is, designs a kind of active mode human leg prosthetic limb, it is characterized in that it comprises the quadric chain that knee joint part, coupling part and tibia partly constitute; Described coupling part comprises left and right symmetric front rod and rear connecting rod, the upper end of front rod and rear connecting rod partly is connected with knee joint as a bar of quadric chain, and the lower end of front rod and rear connecting rod partly is connected with the tibia as another bar of quadric chain; The connector of described knee joint part is connected by the linear transformation part of tumbler with the tibia part; Described shin section branch comprises rotatablely moving of direct current generator is converted to straight-line linear driving mechanism; Shin section branch support member base bottom comprises the lasso that a band screw is used to connect false foot; The direct current generator that produces power is fixed in the bottom of tibia part, the relative linear driving mechanism invariant position of direct current generator at the volley; Rotatablely moving of direct current generator changes the bending stretching, extension rotation that rectilinear motion drives the knee joint part into.
Compared with prior art, the big leg mechanism of active mode human of the present invention's design utilizes direct current generator to drive four-bar linkage artificial limb mechanism, use the collinear mechanism of rotation change and realized the fixing of direct current generator position, thereby when moving, user can initiatively provide required drive, simplify prosthetic device simultaneously, reduce the artificial limb volume and weight, make things convenient for user to walk for a long time, and stability when guaranteeing to stand.
Description of drawings
Fig. 1 is the side-looking structural representation of a kind of embodiment of active mode human leg prosthetic limb of the present invention;
Fig. 2 is the backsight structural representation of a kind of embodiment of active mode human leg prosthetic limb of the present invention;
Fig. 3 is the partial exploded view of a kind of embodiment of active mode human leg prosthetic limb of the present invention;
Fig. 4 is the knee joint part modular construction decomposing schematic representation of a kind of embodiment of active mode human leg prosthetic limb of the present invention;
Fig. 5 is knee joint and the tibia coupling part STRUCTURE DECOMPOSITION sketch map of a kind of embodiment of active mode human leg prosthetic limb of the present invention;
Fig. 6 is the shin section subassembly STRUCTURE DECOMPOSITION sketch map of a kind of embodiment of active mode human leg prosthetic limb of the present invention.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof.Embodiment and accompanying drawing thereof only are used to describe in detail the present invention, do not constitute the restriction to claim of the present invention.
The active mode human leg prosthetic limb of the present invention's design (being called for short artificial limb, referring to Fig. 1-6) is characterized in that it comprises that knee joint part 1, coupling part 2 and tibia part 3 constitute quadric chain; Described coupling part 2 comprises left and right symmetric front rod 2.1,2.1 ' and left and right symmetric rear connecting rod 2.2,2.2 ', described left and right front rod 2.1,2.1 ' is connected with knee joint part 1 as a bar of quadric chain with left and right rear connecting rod 2.2,2.2 ' upper end, and left and right front rod 2.1,2.1 ' is connected with tibia part 3 as another bar of quadric chain with left and right rear connecting rod 2.2,2.2 ' lower end; The connector 1.5 of described knee joint part 1 is connected with the linear transformation part 3.1 of tibia part 3 by tumbler 1.9; Described tibia part 3 comprises rotatablely moving of direct current generator 3.2 is converted to straight-line linear transformation part 3.1; Support member base 3.4 bottoms of tibia part 3 comprise the lasso 3.44 that a band screw 3.5 is used to connect false foot; The direct current generator 3.2 that produces power is fixed on the support member base 3.4 of tibia part 3, at the volley direct current generator 3.2 relative support member base 3.4 and frame support member 3.3 invariant positions.Rotation is stretched in the bending that changes rectilinear motion active drive knee joint part into that rotatablely moves of direct current generator.
The further structure of artificial limb embodiment of the present invention is (referring to Fig. 1,2,3 and 4): described knee joint part 1 comprises end cap 1.1, connector 1.5 and tumbler 1.9; The screwed hole 1.51 that screw 1.6 passes connector 1.5 is fixed in the screwed hole 1.41 of end cap 1.1 rearward end grooves 1.4, and connector shaft 1.7 realizes being connected of tumbler 1.9 and connector 1.5 with hubcap 1.8.The both sides of described end cap 1.1 have symmetrical about 8 font boss 1.2 and 1.2 ', about be equipped with two pairs of symmetrical axis holes on the 8 font boss 1.2 and 1.2 ', promptly end cap front-axle hole 1.21,1.21 ' and end cap after axis hole 1.22,1.22 '.Knee joint part 1 also comprises and is used for the end cap front axle 2.3 and the end cap rear axle 2.5 that are connected with coupling part 2, be used to install the symmetrical left and right end cap front-axle hole 1.21,1.21 ' of end cap front axle 2.3, be used to install axis hole 1.22,1.22 ' behind the symmetrical left and right end cap of end cap rear axle 2.5, simultaneously, the distance between the axis hole (1.22,1.22 ') is the length of a bar of coupling part 2 behind described end cap front-axle hole (1.21,1.21 ') and the end cap.The pyramid 1.3 of described end cap 1.1 upper ends connects the connector (not drawing among the figure) of the prosthetic socket bottom of amputee's stump.
Described coupling part 2 (referring to Fig. 5) comprises left and right symmetric front rod 2.1,2.1 ', left and right symmetric rear connecting rod 2.2,2.2 ', end cap front axle 2.3, end cap rear axle 2.5, support member front axle 2.4, support member rear axle 2.6.Sidepiece left-right symmetric 8 words that described end cap front axle 2.3 and end cap rear axle 2.5 are used to be connected knee joint part 1 protrude 1.2,1.2 ', end cap front axle 2.3 upper shaft hole 2.11, the 8 font boss 1.2 by left front connecting rod 2.1 link to each other with end cap 1.8 with right side front-axle hole 1.21 ', right front connector 2.1 ' with 1.2 ' left side front-axle hole 1.21; End cap rear axle 2.5 links to each other with end cap 1.8 by axis hole 1.22, the upper shaft hole 2.21 of left back connector 2.2, the upper shaft hole 2.11 ' of right back connector 2.2 ', the left side front-axle hole 1.22 ' of 8 font boss 1.2 ' behind the right side of 8 font boss 1.2 successively.Support member front axle 2.4 and support member rear axle 2.6 are used to be connected frame support member 3.3 upper ends of tibia part 3, and support member front axle 2.4 links to each other with end cap 1.8 with left side front-axle hole 3.31 ', left front connector 2.1 ' by lower shaft hole 2.12, right side, the support member 3.3 upper end front-axle hole 3.31 of left front connector 2.1 successively; Axis hole 3.32 ' links to each other with hubcap 1.8 behind lower shaft hole 2.22 ' by axis hole 3.32, the lower shaft hole 2.22 of left back connector 2.2, right back connector 2.2 ' behind the right side, support member 3.3 upper end of support member rear axle 2.6, the left side.Four axles by coupling part 2, be end cap front axle 2.3, support member front axle 2.4, end cap rear axle 2.5 and support member rear axle 2.6, with described symmetrical left and right front rod 2.1,2.1 ' and symmetrical left and right rear connecting rod 2.2,2.2 ' knee joint part 1 and tibia part 3 are linked together.
Described tibia part 3 comprises supporting mechanism and driving mechanism.Described supporting mechanism comprises frame support member 3.3 and support member base 3.4; Described frame support member 3.3 is the frame column structure of U word for cross section, equipped driving mechanism (referring to Fig. 6) in the frame support member 3.3.Described driving mechanism comprises direct current generator 3.2 and linear transformation part 3.1.Linear transformation part 3.1 comprises fixed axis 3.12 and fixed axis end cap 3.13, and fixed axis 3.12 links to each other with hubcap 1.8 with tumbler lower shaft hole 1.91 by the axis hole 3.11 of linear transformation part 3.1, has realized being connected of linear transformation part 3.1 and tumbler 1.9.Four screwed holes are arranged on the direct current generator base 3.22, and four screwed holes in the groove 3.41 of this screwed hole and support member base 3.4 are corresponding one by one, with four screws 3.5 direct current generator 3.2 are fixed on the support member base 3.4; The upper surface of support member base 3.4 has four screwed holes corresponding one by one with four screwed holes of frame support member 3.3 lower surfaces, support member base 3.4 can be fixed on the frame support member 3.3 with four screws 3.5.This mounting structure has guaranteed that direct current generator 3.2 is relative with the position of frame support member 3.3 motionless, can reduce the infringement to direct current generator 3.2 in the artificial limb motor process.Support member base 3.4 bottoms comprise a lasso 3.44 with hold-down screw 3.43 and screwed hole 3.42, and this lasso 3.44 is used for connecting false foot (not drawing among the figure).
In order to increase the bearing capacity of artificial limb, the embodiment of the invention has adopted symmetrical four-bar linkage structure (referring to Fig. 5): symmetrical front rod 2.1,2.1 ' the preceding bar as four connecting rods; Symmetrical rear connecting rod 2.2,2.2 ' back bar as four connecting rods; Sidepiece left-right symmetric 8 words of knee joint part 1 protrude 1.2, the 1.2 ' upper boom as four connecting rods (bar); Support member 3.3 upper ends of tibia part 3 are as the lower beam (another bar) of four connecting rods.End cap front axle 2.3 upper shaft hole 2.11, the 8 font boss 1.2 by left front connecting rod 2.1 link to each other with end cap 1.8 with right side front-axle hole 1.21 ', right front connector 2.1 ' with 1.2 ' left side front-axle hole 1.21; End cap rear axle 2.5 links to each other with end cap 1.8 by axis hole 1.22, the upper shaft hole 2.21 of left back connector 2.2, the upper shaft hole 2.11 ' of right back connector 2.2 ', the left side front-axle hole 1.22 ' of 8 font boss 1.2 behind the right side of 8 font boss 1.2 successively; Support member front axle 2.4 links to each other with end cap 1.8 with left side front-axle hole 3.31 ', left front connector 2.1 ' by lower shaft hole 2.12, right side, the support member 3.3 upper end front-axle hole 3.31 of left front connector 2.1 successively; Axis hole 3.32 ' links to each other with hubcap 1.8 behind lower shaft hole 2.22 ' by axis hole 3.32, the lower shaft hole 2.22 of left back connector 2.2, right back connector 2.2 ' behind the right side, support member 3.3 upper end of support member rear axle 2.6, the left side.As previously mentioned, described knee joint part 1 and tibia part 3 have also all adopted symmetrical structure.
The knee bend of artificial limb of the present invention and stretching process and principle are as follows: the BENDING PROCESS and the principle of knee are: because the pyramid 1.3 of end cap 1.1 upper ends of described knee joint part 1 is connected on the connector of prosthetic socket bottom, so end cap 1.1 relative user stumps are fixed.After the energising, direct current generator 3.2 control motor shafts 3.21 clockwise rotations, linear transformation part 3.1 is converted to the downward rectilinear motion of linear transformation part 3.1 with rotatablely moving of motor shaft, and then drive tumbler 1.9 and also do and move downward, tumbler 1.9 is clockwise rotated around connector 1.6, drive the left and right sides front rod 2.1 of coupling part 2,2.1 ' clockwise rotate around end cap front axle 2.3, right back connecting rod 2.2,2.2 ' clockwise rotate around end cap rear axle 2.5, the support member 3.3 that drives tibia part 3 clockwise rotates around support member rear axle 2.6 and support member front axle 2.4, realizes the active bending of knee.The stretching process of knee is opposite with the BENDING PROCESS of above-mentioned knee, does not give unnecessary details.
What need supplementary notes is, the connection or the installation position speech of parts such as active mode human leg prosthetic limb structure of the present invention described " upper and lower ", " forward and backward ", " left and right " illustrate according to embodiment, only has relative property, perhaps only be in order to narrate conveniently, not represent the uniqueness and the necessary property of this installation site.The specific embodiment of active mode human leg prosthetic limb of the present invention can be done as required fully and nonessentially suitably adjust and change.
The present invention does not address part and is applicable to prior art.
Claims (1)
1. an active mode human leg prosthetic limb is characterized in that it comprises the quadric chain that knee joint part, coupling part and tibia partly constitute; Described coupling part comprises left and right symmetric front rod and rear connecting rod, the upper end of front rod and rear connecting rod partly is connected with knee joint as a bar of quadric chain, and the lower end of front rod and rear connecting rod partly is connected with the tibia as another bar of quadric chain; The connector of described knee joint part is connected by the linear transformation part of tumbler with the tibia part; Described shin section branch comprises rotatablely moving of direct current generator is converted to straight-line linear driving mechanism; Shin section branch support member base bottom comprises the lasso that a band screw is used to connect false foot; The direct current generator that produces power is fixed in the bottom of tibia part, the relative linear driving mechanism invariant position of direct current generator at the volley; Rotatablely moving of direct current generator changes the bending stretching, extension rotation that rectilinear motion drives the knee joint part into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100680930A CN101496751B (en) | 2009-03-11 | 2009-03-11 | Active mode human leg prosthetic limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100680930A CN101496751B (en) | 2009-03-11 | 2009-03-11 | Active mode human leg prosthetic limb |
Publications (2)
| Publication Number | Publication Date |
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| CN101496751A true CN101496751A (en) | 2009-08-05 |
| CN101496751B CN101496751B (en) | 2011-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100680930A Expired - Fee Related CN101496751B (en) | 2009-03-11 | 2009-03-11 | Active mode human leg prosthetic limb |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102106766A (en) * | 2011-03-03 | 2011-06-29 | 上海大学 | Novel linear driving device |
| CN101675903B (en) * | 2008-09-15 | 2012-02-22 | 香港理工大学 | Wearable device to assist with the movement of limbs |
| CN102885661A (en) * | 2012-10-29 | 2013-01-23 | 河北工业大学 | Dynamic prosthetic knee joint |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| WO2018087997A1 (en) * | 2016-11-10 | 2018-05-17 | 国立大学法人東京大学 | Knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| WO2021251500A1 (en) * | 2020-06-12 | 2021-12-16 | 本田技研工業株式会社 | Joint device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003236750B2 (en) * | 2002-08-22 | 2006-08-10 | Victhom Human Bionics Inc. | Actuated leg prosthesis for above-knee amputees |
| SE528516C2 (en) * | 2005-04-19 | 2006-12-05 | Lisa Gramnaes | Combined active and passive leg prosthesis system and a method for performing a movement cycle with such a system |
| US7485152B2 (en) * | 2005-08-26 | 2009-02-03 | The Ohio Willow Wood Company | Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature |
| CN101336849B (en) * | 2008-08-07 | 2010-06-02 | 清华大学 | Cylinder fixation type four-bar mechanism intelligent artificial limb knee joint |
| CN201356682Y (en) * | 2009-03-11 | 2009-12-09 | 河北工业大学 | Powered artificial human leg |
-
2009
- 2009-03-11 CN CN2009100680930A patent/CN101496751B/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101675903B (en) * | 2008-09-15 | 2012-02-22 | 香港理工大学 | Wearable device to assist with the movement of limbs |
| CN102106766A (en) * | 2011-03-03 | 2011-06-29 | 上海大学 | Novel linear driving device |
| CN102885661A (en) * | 2012-10-29 | 2013-01-23 | 河北工业大学 | Dynamic prosthetic knee joint |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103271783B (en) * | 2013-05-16 | 2015-04-15 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| WO2018087997A1 (en) * | 2016-11-10 | 2018-05-17 | 国立大学法人東京大学 | Knee joint |
| CN109982665A (en) * | 2016-11-10 | 2019-07-05 | 国立大学法人东京大学 | Knee joint |
| JPWO2018087997A1 (en) * | 2016-11-10 | 2019-09-26 | 国立大学法人 東京大学 | Knee joint |
| US11696840B2 (en) | 2016-11-10 | 2023-07-11 | The University Of Tokyo | Knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN111110409B (en) * | 2020-01-16 | 2022-03-25 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| WO2021251500A1 (en) * | 2020-06-12 | 2021-12-16 | 本田技研工業株式会社 | Joint device |
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| CN101496751B (en) | 2011-08-10 |
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