CN102758994A - Dynamic hip joint prosthesis - Google Patents
Dynamic hip joint prosthesis Download PDFInfo
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- CN102758994A CN102758994A CN2012102603409A CN201210260340A CN102758994A CN 102758994 A CN102758994 A CN 102758994A CN 2012102603409 A CN2012102603409 A CN 2012102603409A CN 201210260340 A CN201210260340 A CN 201210260340A CN 102758994 A CN102758994 A CN 102758994A
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Abstract
The invention discloses a dynamic hip joint prosthesis, and adopts an MDOF (multi-degree of freedom) multi-shaft joint design scheme. The dynamic hip joint prosthesis includes U-shaped components (1), a trunk part (2) and thigh end parts (3), which form a hip forward and backward swing joint and a hip side swing joint. The joint moving range is ensured through bosses (7) on side plates of the U-shaped components (1), the impact when the joints reach limit positions are absorbed through soft baffle blocks (8), the friction force is adjusted through lock nuts (11) and further the joint damping is adjusted; and a sensor (12) is mounted through a sensor support (13), so that the joint angular displacement can be measured in real time. The simulated hip joint model can realize hip joint forward and backward swing and inward and outward swing, the joint damping can be adjusted, a trunk can keep a posture under the condition of no external force, and the motion angle can be measured by the sensor in real time.
Description
Technical field
The invention belongs to the biomimetic features design field.Can be used for robot, exerciser for lower limbs, aviation is launched or automobile safety collision dummy's hip joint design, also can be used as the reference of other joint designs.
Background technique
Hip joint connects lower limb and pelvis, is the important joint of human body.Its freedom of movement comprises and bends and stretches, takes down the exhibits, rotates, and belongs to how free multiaxial joint.In robot and emulation dummy overall construction design, need to realize swing and two degrees of freedom of inside and outside swing, and range of movement meets the human anatomy data.Human body has been realized complicated motion through the cooperation of femur and acetabular bone, and through ligament control stability of joint.But dummy's hip joint design difficulty is bigger, not only will realize the multi-direction motion within the specific limits of multi-freedom degree, and as passive dummy, also will keep certain joint damping, keeps the stability in joint.The dummy is bearing the critical function of Data Detection in experiment simultaneously, so in joint designs, need to consider Selection of Sensor and installation.
Situation when present emulation dummy of the prior art all can not be used to simulate the joint and bears limit load; When especially withstanding shocks load during human body sitting posture; Hip joint plays the transfer function of important power, and its simulation study has great significance to fields such as automobile, aviation and physical culture.
Summary of the invention
In the hip prosthesis design, the installation of the sphere of activities of each degrees of freedom of needs concern joint, joint damping, joint frictional force, angular displacement sensor, joint frictional force adjustment etc.The objective of the invention is for designing the dynamic hip prosthesis of a kind of novel emulation to above requirement.
The dynamic hip prosthesis structural design of the present invention need realize 3 functions: (1) two degrees of freedom is a reference state with the sitting posture, 0 ~ 25 ° of forward swing, 0 ~ 90 ° of back pendulum, 0 ~ 40 ° of abduction, 0 ~ 30 ° of interior receipts; (2) movement angle can be measured in real time; (3) joint has certain damping, and can regulate as requested.
In order to realize above-mentioned functions, the technological scheme that the present invention adopts is:
A kind of emulation hip prosthesis; Comprise agent structure, torso member and thigh end piece; It is characterized in that: said agent structure is a U type member; The overhanging horizontal axis in said torso member two ends is that said U-shaped member provides support, and the overhanging frontal plane horizontal axis of said U-shaped member base plate and torso member constitutes a revolute pair, realizes the swing of thigh end piece; Two side plates of said U type member and thigh end piece are connected to form the another one revolute pair, realize thigh left and right sides side-sway;
Said U-shaped member flexibly connects through hole on the base plate and said torso member; And through coaxial two holes and the affixed rotating shaft and 3 flexible connections of thigh end piece of thigh end piece on two side plates;
Range of motion limits through the hard boss 7 that is arranged on said U-shaped member 1 side plate 5 inboards, and when obtaining the joint and reach capacity the position through the soft block 8 on the bonding and said hard boss 7 to the absorption of striking force, the damping of simulation human synovial.
Especially, said soft block 8 is a macromolecular material, and said hard boss 7 comprises groove structure, prevents that soft block 8 from producing warpage in compression process.
Preferably, the joint damped type can be regulated, through the size of locking nut 11 adjusting frictional force, and then the size of regulating the damping of said joint, rotate to prevent friction plate 9 by anti-rotation pad 10.
Can carry out angular displacement through sensor as hip joint measures in real time; Particularly; Said hip prosthesis comprises mounting frame for sensor 13, and angular displacement sensor 12 is installed on the said articular prosthesis through said mounting bracket 13, realizes the real-time measurement of joint motions angle; Said support 13 will utilize the slotted hole on mounting hole and the sensor to adjust the position between sensor and the rotating shaft when installing, and guarantees centering.
Preferably, said sensor 12 adds protective housing 14.
Through technological scheme of the present invention, adopted compact reliable structure to realize hip joint motion degrees of freedom, range of movement, damping adjusting and motion measurement function, also can be used for the design in other joints.
Description of drawings
Accompanying drawing 1: emulation hip prosthesis three-dimensional structure diagram of the present invention;
Accompanying drawing 2: emulation hip prosthesis sectional drawing of the present invention;
Accompanying drawing 3: joint damping controlling device;
Accompanying drawing 4: the limit method of hip side-sway joint and joint damping;
Accompanying drawing 5: sensor installation method schematic representation.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is explained further details.
Emulation hip prosthesis of the present invention is an example with the right hips, and the hip joint general structure is shown in accompanying drawing 1.Wherein the hip joint agent structure is a U type member 1, and trunk 2 is used to simulate human pelvis, and parts 3 are used to simulate human body thigh (or femur).Concrete annexation is referring to accompanying drawing 2, and wherein the hole of U type member 1 bottom surface and trunk 2 overhanging frontal plane horizontal axis constitute a revolute pair, realizes that thigh 3 swings (are called for short: pendulum joint before and after the hip); Coaxial two holes on 1 two side plates of U type member through a rotating shaft affixed with thigh 3, constitute the another one revolute pair, realize that thigh left and right sides side-sway (is called for short: the hip side-sway joint).Above-mentioned annexation is not unique, and similarly Placement also can be applicable to this.Two intersecting axis that utilize three members to form are realized two degrees of freedom motions of hip joint.These two the common positions of confirming thigh with respect to trunk of motion, its angle of swing can utilize sensor to carry out dynamic measurement respectively.
Described U-shaped member 1 is the hip joint main body, complex structure.Consider processing and easy to assembly, be designed to welded structure.At first, be welded into an integral body again,, after the release residual stress, carry out final machining through ageing treatment with two side plates and base plate preliminary working.This design both can make U type spare structure the simplest, can guarantee the positional accuracy between each joint holes again, and the saving member material.
Described trunk 2, the simulation human pelvis, the horizontal axis that two ends are overhanging is for U-shaped member 1 provides support.
Described thigh 3 (or femur) is the package assembly of a plurality of parts, and thigh upper connection 4 is affixed through pin 6 with rotating shaft 5.
As for the restriction of range of motion, referring to accompanying drawing 2, utilize the hard boss 7 on trunk 2 and U-shaped member 1 base plate and the side plate inboard, guarantee that range of motion meets the demands.Realize the absorption to striking force when reaching the limit of the position in the joint simultaneously, the damping of simulation human synovial is provided with the soft block 8 of processing of high molecular material at the boss end, and utilizes the groove structure on the hard boss 7, prevents that soft block 8 from producing warpage in compression process.
The simulation of described joint damping is to realize through regulating joint frictional force, makes the joint can overcome the deadweight of limbs, can keep a certain attitude there not being external force to do the time spent.For preventing that friction plate from rotating, each macromolecular material friction plate 9 and the anti-rotation pad 10 combination uses that the A3 steel is processed are referring to accompanying drawing 3.The convex of anti-rotation pad 10 endoporus cooperates with the joint spindle keyway, guarantees when realizing friction, to avoid unnecessary relatively rotating between axle head locking nut 11 and the rotating shaft, reaches anti-loosing effect.Consider the wearing and tearing in processing, the sum of errors using process, the frictional force in each joint is adjusted on demand.Utilize the adjustment of the locking nut 11 realization joint frictional force of axle head, nut circumferentially adopts lock screw to realize locking.
To two types of pendulum joint and hip side-sway joints before and after the hip, designed limit method respectively.When realizing the ways to restrain of hip front and back pendulum range of motion, rely on hard boss 7 on trunk (analog bone basin stand) and the hip U type member side plate (being called hard block, down together), guarantee that range of motion meets the demands.And utilize to be bonded in the soft block 8 on the hard block 7, to the absorption of striking force, simulate the human synovial damping when realization joint reaches the limit of the position.Be designed with groove structure on the hard block 7, purpose is in order to prevent that the soft block process that is compressed from producing warpage.Soft block 8 adopts macromolecular material, and circumferentially original size is 22 °, and compressible angle is 15 °.Fig. 4 is the limit method of hip side-sway joint, utilizes the hard boss 7 on the hip U type member side plate to realize the sphere of activities.Soft block 8 same and hard blocks 7 are bonding, and circumferentially original size is 22 °, and compressible angle is 15 °.
The real-time measurement of described joint motions angle realizes through angular displacement sensor 12.Because the spatial position is limit, and will guarantee working sensor at the optimum measurement angular range, because the restriction of angle transducer 12 physical dimensions requires the mounting hole spacing of two M1.6 to be not more than 14mm, be directly installed on the U type spare undesirable again.So for pendulum joint and hip side-sway joint before and after the hip, designed mounting frame for sensor 13, simultaneously the installation position of sensor designs.Because this sensor is relatively poor in part angle range service behaviour, need avoid in use as far as possible.So when sensor is installed, also consider, the overall principle is to let the rear end (terminal) of sensor point to U type member limiting stopper 7 directions.Support will utilize the slotted hole on mounting hole and the sensor to adjust the position between sensor and the rotating shaft when installing, guarantee centering.Sensor adds protective housing 14, specifically referring to accompanying drawing 5.
Dynamically hip prosthesis is reference state with the sitting posture; When being hit loading, can realize 0 ~ 25 ° of forward swing, 0 ~ 90 ° of back pendulum, 0 ~ 40 ° of abduction, 0 ~ 30 ° of interior receipts, movement angle can be measured in real time; The joint has certain damping, and can regulate as requested.
To sum up, utilize the present invention can successfully realize the requirement of range of movement on hip joint swing and two degrees of freedom of inside and outside swing, damping can be adjusted, and keeps limbs and keeps attitude in no external force effect.Movement angle can be measured through angle transducer in real time, serves the dummy and waits the function requirement that in experiment, detects data.
It should be noted that; The above is merely preferred embodiment of the present invention; Be not so limit scope of patent protection of the present invention, the present invention can also carry out the improvement of material and structure to the structure of above-mentioned various component, or adopts the technical equivalents thing to replace.So the equivalent structure that all utilizations specification of the present invention and diagramatic content are done changes, or directly or indirectly apply to other correlative technology fields and all in like manner all be contained in the scope that the present invention contains.
Claims (6)
1. dynamic hip prosthesis; Comprise agent structure (1), torso member (2) and thigh end piece (3); It is characterized in that: said agent structure (1) is a U type member (1); The overhanging horizontal axis in said torso member (2) two ends is that said U-shaped member (1) provides support, and said U-shaped member base plate (4) constitutes a revolute pair with the overhanging frontal plane horizontal axis of torso member (2), realizes thigh end piece (3) swing; Two side plates (5) of said U type member and thigh end piece (3) the another one revolute pair that constitutes by an active connection realizes thigh left and right sides side-sway;
Said U-shaped member (1) flexibly connects through hole on the base plate (4) and said torso member (2); And through coaxial two holes and the affixed rotating shaft and thigh end piece (3) flexible connection of thigh end piece (3) on two side plates.
Range of motion limits through the hard boss (7) that is arranged on said U-shaped member (1) side plate (5) inboard; And when obtaining the joint and reach capacity the position through the soft block (8) on the bonding and said hard boss (7) to the absorption of striking force, the damping of simulation human synovial.
2. dynamic hip prosthesis according to claim 1 is characterized in that, said soft block (8) is a macromolecular material, and said hard boss (7) comprises groove structure, prevents that soft block (8) from producing warpage in compression process.
3. dynamic hip prosthesis according to claim 1; It is characterized in that the joint damping can be regulated, for example regulate the size of frictional force through locking nut (11); And then the size of regulating the damping of said joint, rotate to prevent friction plate (9) by anti-rotation pad (10).
4. according to each described dynamic hip prosthesis of claim 1 to 3; It is characterized in that; Said hip prosthesis comprises mounting frame for sensor (13), and angular displacement sensor (12) is installed on the said articular prosthesis through said mounting bracket (13), realizes the real-time measurement of joint motions angle; Said support (13) will utilize the slotted hole on mounting hole and the sensor to adjust the position between sensor and the rotating shaft when installing, guarantee centering.
5. dynamic hip prosthesis according to claim 4 is characterized in that, said sensor (12) adds protective housing (14).
6. according to each described dynamic hip prosthesis in the claim 1 to 5, it is characterized in that, is reference state with the sitting posture, when receiving impact loading, can realize 0 ~ 25 ° of forward swing, 0 ~ 90 ° of back pendulum, 0 ~ 40 ° of abduction, 0 ~ 30 ° of interior receipts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260340.9A CN102758994B (en) | 2012-07-25 | 2012-07-25 | Dynamic hip joint prosthesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260340.9A CN102758994B (en) | 2012-07-25 | 2012-07-25 | Dynamic hip joint prosthesis |
Publications (2)
| Publication Number | Publication Date |
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| CN102758994A true CN102758994A (en) | 2012-10-31 |
| CN102758994B CN102758994B (en) | 2014-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210260340.9A Expired - Fee Related CN102758994B (en) | 2012-07-25 | 2012-07-25 | Dynamic hip joint prosthesis |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107221245A (en) * | 2017-07-14 | 2017-09-29 | 天津天堰科技股份有限公司 | A kind of articulation mechanism |
| CN110621897A (en) * | 2017-05-18 | 2019-12-27 | Zf腓特烈斯哈芬股份公司 | Ball joint |
| CN111702803A (en) * | 2020-06-22 | 2020-09-25 | 广东工业大学 | Damping-adjustable swinging and rotating device |
| CN112432795A (en) * | 2020-12-17 | 2021-03-02 | 中国标准化研究院 | Dummy for children |
| CN112589830A (en) * | 2020-11-19 | 2021-04-02 | 哈尔滨工业大学（深圳） | Passive buffer device and hopping robot |
| CN112729883A (en) * | 2020-12-17 | 2021-04-30 | 中国标准化研究院 | Dummy for testing sitting posture pressure comfort |
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| CN1728195A (en) * | 2005-07-12 | 2006-02-01 | 四川大学 | Biological modeling articulation structure of human phantom and usage |
| CN1735915A (en) * | 2003-01-13 | 2006-02-15 | 奥利弗·布朗-威尔金森 | Orthopaedic demonstration aid |
| CN102316828A (en) * | 2008-04-30 | 2012-01-11 | 瑞泽丽欧拓派迪亚公司 | Automatic prosthesis for above-knee amputees |
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2012
- 2012-07-25 CN CN201210260340.9A patent/CN102758994B/en not_active Expired - Fee Related
Patent Citations (3)
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| CN1735915A (en) * | 2003-01-13 | 2006-02-15 | 奥利弗·布朗-威尔金森 | Orthopaedic demonstration aid |
| CN1728195A (en) * | 2005-07-12 | 2006-02-01 | 四川大学 | Biological modeling articulation structure of human phantom and usage |
| CN102316828A (en) * | 2008-04-30 | 2012-01-11 | 瑞泽丽欧拓派迪亚公司 | Automatic prosthesis for above-knee amputees |
Non-Patent Citations (1)
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| 柳松阳，徐元铭，杨春信: "航空航天仿真试验假人研制", 《北京航空航天大学学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110621897A (en) * | 2017-05-18 | 2019-12-27 | Zf腓特烈斯哈芬股份公司 | Ball joint |
| CN110621897B (en) * | 2017-05-18 | 2021-06-29 | Zf腓特烈斯哈芬股份公司 | Ball joint |
| CN107221245A (en) * | 2017-07-14 | 2017-09-29 | 天津天堰科技股份有限公司 | A kind of articulation mechanism |
| CN111702803A (en) * | 2020-06-22 | 2020-09-25 | 广东工业大学 | Damping-adjustable swinging and rotating device |
| CN112589830A (en) * | 2020-11-19 | 2021-04-02 | 哈尔滨工业大学（深圳） | Passive buffer device and hopping robot |
| CN112589830B (en) * | 2020-11-19 | 2022-04-12 | 哈尔滨工业大学（深圳） | Passive buffer device and hopping robot |
| CN112432795A (en) * | 2020-12-17 | 2021-03-02 | 中国标准化研究院 | Dummy for children |
| CN112729883A (en) * | 2020-12-17 | 2021-04-30 | 中国标准化研究院 | Dummy for testing sitting posture pressure comfort |
| WO2022126911A1 (en) * | 2020-12-17 | 2022-06-23 | 中国标准化研究院 | Dummy for sitting posture pressure comfort test |
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| Publication number | Publication date |
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| CN102758994B (en) | 2014-12-24 |
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