CN102758994B - Dynamic hip joint prosthesis - Google Patents
Dynamic hip joint prosthesis Download PDFInfo
- Publication number
- CN102758994B CN102758994B CN201210260340.9A CN201210260340A CN102758994B CN 102758994 B CN102758994 B CN 102758994B CN 201210260340 A CN201210260340 A CN 201210260340A CN 102758994 B CN102758994 B CN 102758994B
- Authority
- CN
- China
- Prior art keywords
- joint
- sensor
- shaped component
- hip
- damping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Prostheses (AREA)
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 biomimetic features design field.May be used for robot, exerciser for lower limbs, aviation is launched or the hip joint of automobile safety collision dummy designs, and also can be used as the reference of other joint designs.
Background technology
Hip joint connects lower limb and pelvis, is the important joint of human body.Its freedom of motion 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 inside and outside swing two degree of freedom, and range of movement meets human anatomy data.Human body achieves complicated motion by the cooperation of femur and acetabular bone, and controls stability of joint by ligament.But dummy's hip joint design difficulty is comparatively large, not only will realize the multi-direction motion within the specific limits of multiple degrees of freedom, and as passive dummy, also will keep certain joint damping, maintain the stability in joint.Dummy carries the critical function of Data Detection in an experiment simultaneously, so in joint designs, needs selection and the installation of considering sensor.
Emulation dummy in currently available technology all can not be used for simulating situation when ultimate load is born in joint, during the load that especially withstands shocks during human body sitting posture, hip joint plays the transmission effect of important power, and its simulation study has great significance to fields such as automobile, aviation and physical culture.
Summary of the invention
In hip prosthesis design, need the installation, the adjustment of joint-friction power etc. of the scope of activities of each degree of freedom in concern joint, joint damping, joint-friction power, angular displacement sensor.The object of the invention is for requiring the dynamic hip prosthesis of a kind of novel emulation of design for above.
The dynamic hip prosthesis structural design of the present invention needs to realize 3 functions: (1) two degree of freedom, take sitting posture as reference state, forward swing 0 ~ 25 °, rear pendulum 0 ~ 90 °, abduction 0 ~ 40 °, adduction 0 ~ 30 °; (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 technical solution used in the present invention is:
A kind of emulation hip prosthesis, comprise agent structure, torso member and thigh end piece, it is characterized in that: described agent structure is a U-shaped component, the overhanging transverse axis in described torso member two ends is that described U-shaped component provides support, described U-shaped component negative and the overhanging frontal plane transverse axis of torso member form a revolute pair, realize the swing of thigh end piece; Described U-shaped component two side plates and thigh end piece are connected to form another one revolute pair, realize thigh left and right side-sway;
Described U-shaped component is flexibly connected with described torso member by the hole on base plate; And be flexibly connected with thigh end piece 3 by two holes coaxial on two side plates and the affixed rotating shaft of thigh end piece;
Range of motion is limited by the hard boss 7 be arranged on inside described U-shaped component 1 side plate 5, and by the soft block 8 be adhered on described hard boss 7 obtain joint reach capacity position time absorption to impact force, the damping of simulation human synovial.
Especially, described soft block 8 is macromolecular material, and described hard boss 7 comprises groove structure, prevents soft block 8 from compression process, producing warpage.
Preferably, joint damp type can regulate, and by the size of set nut 11 regulating friction force, and then regulates the size of described joint damping, rotates to prevent friction disc 9 by anti-rotation pad 10.
Carry out angular displacement as hip joint by sensor to measure in real time, specifically, described hip prosthesis comprises mounting frame for sensor 13, angular displacement sensor 12 is arranged on described articular prosthesis by described mounting bracket 13, realize the real-time measurement of joint motions angle, described support 13 to utilize when installing on mounting hole and sensor elongated hole adjustment sensor and rotating shaft between position, guarantee centering.
Preferably, the additional protective cover 14 of described sensor 12.
By technical scheme of the present invention, have employed compact reliable structure and achieve the freedom of motion of hip joint, range of movement, damping adjustment and motion measurement function, also may be used for the design in other joints.
Accompanying drawing explanation
Accompanying drawing 1: the present invention emulates hip prosthesis three-dimensional structure diagram;
Accompanying drawing 2: the present invention emulates hip prosthesis sectional view;
Accompanying drawing 3: joint damping adjustment device;
Accompanying drawing 4: the limit method of hip side-sway joint and joint damping;
Accompanying drawing 5: sensor installation method schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
Emulation hip prosthesis of the present invention, for right hips, hip joint general structure as shown in Figure 1.Wherein hip joint agent structure is a U-shaped component 1, and trunk 2 is for simulating human pelvis, and parts 3 are for simulating human thigh's (or femur).Concrete annexation is see accompanying drawing 2, and wherein the hole of U-shaped component 1 bottom surface and the overhanging frontal plane transverse axis of trunk 2 form a revolute pair, realize thigh 3 swing (being called for short: put joint before and after hip); Two holes coaxial on U-shaped component 1 two side plates, by a rotating shaft affixed with thigh 3, form another one revolute pair, realize thigh left and right side-sway (being called for short: hip side-sway joint).Above-mentioned annexation is not that unique, similar connected mode also can be applicable to this.Two intersecting axis utilizing three components to be formed, realize two degree of freedom motions of hip joint.The position of thigh relative to trunk is determined in these two motions jointly, and its anglec of rotation can utilize sensor to carry out kinetic measurement respectively.
Described U-shaped component 1 is hip joint main body, complex structure.Consider processing and easy to assembly, be designed to welded structure.First by two side plates and base plate preliminary working, then be welded into an entirety, through Wetted constructures, after release unrelieved stress, carry out final machine work.This design, both can make U-shaped structure the simplest, can ensure again that each closed the positional precision between knothole, and saving member material.
Described trunk 2, simulation human pelvis, the transverse axis that two ends are overhanging, for U-shaped component 1 provides support.
Described thigh 3 (or femur) is the package assembly of multiple part, and it is affixed that pin 6 is passed through in thigh top connection 4 and rotating shaft 5.
As for the restriction of range of motion, see accompanying drawing 2, utilize the hard boss 7 on trunk 2 and U-shaped component 1 base plate and side plate interior sides, ensure that range of motion meets the demands.Realize the absorption to impact force when reaching the limit of position in joint, the damping of simulation human synovial, is provided with the soft block 8 of processing of high molecular material, and utilizes the groove structure on hard boss 7, prevent soft block 8 from compression process, producing warpage at boss end simultaneously.
The simulation of described joint damping, is realized by adjusting joint friction force, makes joint can overcome the deadweight of limbs, can keep a certain attitude when not having External Force Acting.For preventing friction disc from rotating, the anti-rotation pad 10 that each macromolecular material friction disc 9 and A3 steel are made combinationally uses, see accompanying drawing 3.The convex of anti-rotation pad 10 endoporus coordinates with joint spindle keyway, ensures, while realization friction, to avoid unnecessary relatively rotating between axle head set nut 11 and rotating shaft, reach anti-loosing effect.Consider the wearing and tearing in processing, error and use procedure, the friction force in each joint adjusts on demand.Utilize the set nut 11 of axle head to realize the adjustment of joint-friction power, nut circumference adopts lock-screw to realize locking.
For putting joint and hip side-sway joint two type before and after hip, devise limit method respectively.When realizing the ways to restrain putting range of motion before and after hip, relying on hard boss 7 (being called hard block, lower same) on trunk (analog bone basin stand) and hip U-shaped component side plate, ensureing that range of motion meets the demands.And utilize the soft block 8 that is bonded on hard block 7, realize the absorption to impact force when joint reaches the limit of position, the damping of simulation human synovial.Hard block 7 is designed with groove structure, and object is to prevent soft block from being produced warpage by compression process.Soft block 8 adopts macromolecular material, and circumferential 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 hip U-shaped component side plate to realize scope of activities.Soft block 8 is same bonding with hard block 7, and circumferential original size is 22 °, and compressible angle is 15 °.
The real-time measurement of described joint motions angle, is realized by angular displacement sensor 12.Because locus limit, and to ensure that working sensor is at optimum measurement angular range, again due to the restriction of angular transducer 12 physical dimension, require that the mounting hole spacing of two M1.6 is not more than 14mm, undesirable on being directly installed on U-shaped.So for putting joint and hip side-sway joint before and after hip, devise mounting frame for sensor 13, design the installation position of sensor simultaneously.Because this sensor is poor in part corner scope serviceability, need in use to avoid as far as possible.So also consider when sensor is installed, the overall principle allows the rear end of sensor (terminals) point to U-shaped component limited block 7 direction.To utilize during support installing on mounting hole and sensor elongated hole adjustment sensor and rotating shaft between position, guarantee centering.The additional protective cover 14 of sensor, specifically see accompanying drawing 5.
Dynamic hip prosthesis take sitting posture as reference state, be hit load effect time, can realize forward swing 0 ~ 25 °, rear pendulum 0 ~ 90 °, abduction 0 ~ 40 °, adduction 0 ~ 30 °, movement angle can be measured in real time, joint has certain damping, and can regulate as requested.
To sum up, utilize the present invention successfully can achieve the requirement of range of movement in hip joint swing and inside and outside swing two degree of freedom, damping can adjust, and maintains limbs and is keeping attitude without External Force Acting.Movement angle can be measured in real time by angular transducer, serves the functional requirement that dummy etc. detects data in an experiment.
It should be noted that; the foregoing is only preferred embodiment of the present invention; not thereby limit scope of patent protection of the present invention, the present invention can also carry out the improvement of materials and structures to the structure of above-mentioned various parts, or adopts technically equivalent ones to replace.Therefore the equivalent structure change that all utilizations instructions of the present invention and diagramatic content are done, or directly or indirectly apply to other correlative technology fields and be all in like manner all contained in the scope that the present invention contains.
Claims (3)
1. a dynamic hip prosthesis, comprise agent structure (1), torso member (2) and thigh end piece (3), described agent structure (1) is a U-shaped component (1), the overhanging transverse axis in described torso member (2) two ends is that described U-shaped component (1) provides support, the frontal plane transverse axis that described U-shaped component negative (4) is overhanging with torso member (2) forms a revolute pair, realizes thigh end piece (3) swing; Two side plates (5) of described U-shaped component and thigh end piece (3) constitute by an active connection another one revolute pair, realize thigh left and right side-sway;
Described U-shaped component (1) is flexibly connected with described torso member (2) by the hole on base plate (4); And be flexibly connected with thigh end piece (3) by two coaxial holes on two side plates and the affixed rotating shaft of thigh end piece (3);
Range of motion is limited by the hard boss (7) be arranged on described U-shaped component (1) side plate (5) inner side, and by the soft block (8) be adhered on described hard boss (7) obtain joint reach capacity position time absorption to impact force, the damping of simulation human synovial, is characterized in that:
Described U-shaped component (1) adopts welded structure, and it carries out preliminary working by two side plates and base plate, is welded as a whole, carries out Ageing Treatment, release unrelieved stress and final machine work formation;
Described soft block (8) is bonded in described hard boss (7) end, and its circumferential original size is 22 °, and compressible angle is 15 °;
Described hip prosthesis comprises mounting frame for sensor (13), angular displacement sensor (12) is arranged on described articular prosthesis by described mounting frame for sensor (13), realize the real-time measurement of joint motions angle, described mounting frame for sensor (13) install time to utilize on mounting hole and sensor elongated hole adjustment sensor and rotating shaft between position, guarantee centering, the terminals of described sensor point to U-shaped component hard boss (7) direction, and described sensor (12) additional protective cover (14);
The damping of described joint can regulate, and by the size of set nut (11) regulating friction force, and then regulates the size of described joint damping, rotates to prevent friction disc (9) by anti-rotation pad (10).
2. dynamic hip prosthesis according to claim 1, it is characterized in that, described soft block (8) is macromolecular material, and described hard boss (7) comprises groove structure, prevents soft block (8) from compression process, producing warpage.
3. dynamic hip prosthesis according to claim 1 and 2, it is characterized in that, be reference state with sitting posture, when being subject to impact loading, described dynamic hip prosthesis realizes forward swing 0 ~ 25 °, rear pendulum 0 ~ 90 °, abduction 0 ~ 40 °, adduction 0 ~ 30 °.
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 |
|---|---|
| CN102758994A CN102758994A (en) | 2012-10-31 |
| CN102758994B true CN102758994B (en) | 2014-12-24 |
Family
ID=47053564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210260340.9A Expired - Fee Related CN102758994B (en) | 2012-07-25 | 2012-07-25 | Dynamic hip joint prosthesis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102758994B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017208410B3 (en) * | 2017-05-18 | 2018-08-16 | Zf Friedrichshafen Ag | 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 |
| CN111702803B (en) * | 2020-06-22 | 2022-12-16 | 广东工业大学 | Damping-adjustable swinging and rotating device |
| CN112589830B (en) * | 2020-11-19 | 2022-04-12 | 哈尔滨工业大学（深圳） | Passive buffer device and hopping robot |
| CN112432795B (en) * | 2020-12-17 | 2022-10-18 | 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0300703D0 (en) * | 2003-01-13 | 2003-02-12 | Browne Wilkinson Oliver | Orthopaedic skeletal demonstration aid |
| CN100492444C (en) * | 2005-07-12 | 2009-05-27 | 四川大学 | Bionic articulation structure of human model and its usage |
| ES2659713T3 (en) * | 2008-04-30 | 2018-03-19 | Officine Ortopediche Rizzoli S.R.L. | Automatic prosthesis for people with amputation above the knee |
-
2012
- 2012-07-25 CN CN201210260340.9A patent/CN102758994B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102758994A (en) | 2012-10-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102758994B (en) | Dynamic hip joint prosthesis | |
| CN102793596B (en) | Dynamic knee joint, dynamic ankle joint prosthesis and dynamic lower-limb prosthesis | |
| CN109223456B (en) | Lower limb exoskeleton robot system based on man-machine terminal interaction | |
| Walsh | Biomimetic design for an under-actuated leg exoskeleton for load-carrying augmentation | |
| CN103505342B (en) | External skeleton type gait rehabilitation training device | |
| US7597017B2 (en) | Human locomotion simulator | |
| CN102940542B (en) | Artificial limb ankle joint with four passive degrees of freedom | |
| KR101222916B1 (en) | Waist support structure, and robot suit for wearable robot for assisting the muscular strength of lower extremity using thereof | |
| CN112937717B (en) | Bionic mechanical leg and bionic robot | |
| CN106137687B (en) | A kind of lower limb exoskeleton robot | |
| CN113084862B (en) | Exoskeleton robot ankle joint with three flexible driving branches | |
| KR101573858B1 (en) | Hip joint apparatus and wearable robot having the same | |
| Kennedy LaPrè et al. | A robotic ankle–foot prosthesis with active alignment | |
| CN103767815B (en) | Forward type dynamic property ankle foot healing orthosis | |
| JP2023055750A (en) | Joint device | |
| Rummel et al. | Passive stabilization of the trunk in walking | |
| US20210100673A1 (en) | Orthesis, system and method for adapting an orthesis | |
| CN203122695U (en) | Frame carrier hip part two-stage coupling device for assistance type exoskeleton | |
| CN113043249A (en) | Wearable exoskeleton robot of whole body of high accuracy assembly | |
| CN111993387A (en) | Enhanced load exoskeleton capable of improving gait stability | |
| KR101589679B1 (en) | Back joint apparatus and wearable robot having the same | |
| CN108836759B (en) | Anti-falling system based on lower limb exoskeleton robot | |
| CN109702765B (en) | Power joint device and lower limb assisting equipment | |
| CN204389193U (en) | A kind of air-drop dummy | |
| CN104596784A (en) | Air-drop dummy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20160725 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |