CN102885661A - Dynamic prosthetic knee joint - Google Patents
Dynamic prosthetic knee joint Download PDFInfo
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- CN102885661A CN102885661A CN2012104177800A CN201210417780A CN102885661A CN 102885661 A CN102885661 A CN 102885661A CN 2012104177800 A CN2012104177800 A CN 2012104177800A CN 201210417780 A CN201210417780 A CN 201210417780A CN 102885661 A CN102885661 A CN 102885661A
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Abstract
The invention discloses a dynamic prosthetic knee joint which comprises a stump hip joint, a thigh stump prosthetic socket, a prosthetic knee joint, a prosthetic shank tube and an artificial foot. The dynamic prosthetic knee joint is characterized by also comprising a gyro sensor module, an acceleration sensor module, sole pressure sensor modules, a singlechip module and a driving motor module; the analog input port of the singlechip module is respectively connected with one sensor signal interface of the gyro sensor module and two signal interfaces of the acceleration sensor module, the digital input port of the singlechip module is respectively connected with two sensor signal interfaces of the sole pressure sensor modules, and the digital output port of the singlechip module is respectively connected with two control signal interfaces of the driving motor module; and the singlechip module controls the motion of the prosthetic knee joint by comprehensively analyzing sensor signals.
Description
Technical field
The present invention relates to the human body prosthesis technique, be specially a kind of power type artificial limb knee-joint, this knee joint has the motor pattern perceptive function, can effectively identify lower limb different rows walking modes, and then realization is to the man-machine harmony motor control of lower limb prosthetic systems.
Background technology
Artificial limb knee-joint is the important motor function compensator of amputee.Artificial limb knee-joint is installed is recovered the incomplete original form of limbs of patient or function, alleviate dysfunction, make that the patient can live independently, study and work.What come into the market at present mainly contains single-axis knee joint, polycentric knee joint, locking device knee joint, load-bearing knee joint with locking function, hydraulic pressure or air pressure control knee joint, intelligent artificial limb knee-joint and bionic knee joint etc., has satisfied to a certain extent prosthetic wearing person's requirement.But above artificial limb knee-joint is " passive type " artificial limb, do not comprise or do not have the actuating unit of help people 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 bibliographical information is exactly typical passive type polycentric knee joint, it has added supports resistant to bending locking system, increased the stability of standing and sitting down, but still drive the crooked and stretching, extension of artificial limb by amputee's stump when walking, long-time walking can make wearer produce feeling of fatigue." the improved knee joint " of No. 99255918.9 bibliographical informations 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 counterclockwise fast rotational and clockwise slow circumvolve, 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.Although Chinese invention patent ZL200910068093.0 document has been reported a kind of " active mode human leg prosthetic limb ", the motion that it can be artificial limb knee-joint provides driving force, but this artificial limb knee-joint does not have the body motion information checkout gear, do not possess human motion mode decision function, therefore can not realize the man-machine harmony control of artificial limb motion.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, a kind of power type artificial limb knee-joint is provided, this knee joint has the motor pattern perceptive function, adopt the gyro sensor of installing on the receptive cavity, the pressure transducer that install in acceleration transducer and vola, and take single-chip microcomputer as control core, randomness and single-sensor detection information for human motion exist deviation and the disconnected possibility of erroneous judgement, two kinds of existing sensor fusion methods of integrated use template and ballot method, sort out by the pattern to sensor parameters, and the ballot of carrying out between the sensor in conjunction with historical data when the contradiction judgement occurring is judged, lower limb different rows walking modes is effectively identified, and then realization is to the man-machine harmony motor control of power type lower limb prosthetic systems.
The technical scheme that the present invention solve the technical problem is, design a kind of power type artificial limb knee-joint, comprise deformed limb hip joint, thigh deformed limb prosthetic socket, artificial limb knee-joint, artificial limb shank pipe and false foot, it is characterized in that this knee joint also comprises gyro sensor module, acceleration sensor module, plantar pressure sensor module, one-chip computer module and drive motors module; Described gyro sensor module comprises gyro sensor and gyroscope signal modulate circuit, is installed in the dead ahead of thigh deformed limb prosthetic socket outside, is positioned on the centre position of deformed limb hip joint and artificial limb knee-joint; Acceleration sensor module comprises acceleration transducer and acceleration transducer signals modulate circuit, is installed in the lateral surface of receptive cavity, on position between deformed limb hip joint and the artificial limb knee-joint; The plantar pressure sensor module is comprised of front plantar pressure sensor and rear plantar pressure sensor, is installed in respectively the forward and backward sole center of false foot; The drive motors module comprises direct current generator and positive and reverse rotation control circuit thereof, is installed on the upper position between artificial limb knee-joint and the artificial limb shank pipe; One-chip computer module mainly is comprised of singlechip chip, minimum system basic circuit, analog input interface circuit, switching value input interface circuit and switching value output interface circuit, is installed on the position that is lower than described drive motors module below between artificial limb knee-joint and the artificial limb shank pipe; The analog input port of described one-chip computer module is connected with the two-way sensor signal interface of plantar pressure sensor module respectively respectively at its digital quantity input port that is connected of the two paths of signals interface with one tunnel sensor signal interface of gyro sensor module and acceleration sensor module, and its digital output port is connected with the two path control signal interface of drive motors module respectively; One-chip computer module is controlled the motion of artificial limb knee-joint by the analysis-by-synthesis to each sensor signal.
Compared with prior art, power type artificial limb knee-joint of the present invention is on the architecture basics of existing power type artificial limb knee-joint, by the pressure transducer of gyro sensor, acceleration transducer being installed at prosthetic socket and being installed in the vola, set up deformed limb lateral movement information acquisition module, overcome the defective of system's single-sensor data deficiencies; Each sensor information by the single-chip microcomputer detection, utilize the sensor fusion method, calculate the leg speed of human motion, and realize differentiation to level land/go upstairs/go downstairs/go up a slope/typical road conditions such as descending, judge the motor pattern draw human body, and heel contact to earth/full foot supports/heeloff/identification in the different walking stages such as shaking peroid, according to different situations control drive motors, power is provided, realizes the coordination control of artificial limb knee-joint and human motion.
Description of drawings
Fig. 1 is the agent structure sketch map of a kind of embodiment of power type artificial limb knee-joint of the present invention;
Fig. 2 is the forward sight structural representation of a kind of embodiment of power type artificial limb knee-joint of the present invention;
Fig. 3 is the left TV structure sketch map of a kind of embodiment of power type artificial limb knee-joint of the present invention;
Fig. 4 is overall structure and the control circuit sketch map of a kind of embodiment of power type artificial limb knee-joint of the present invention.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof.
The power type artificial limb knee-joint of the present invention's design (is called for short knee joint, referring to Fig. 1-3), comprise deformed limb hip joint 6, thigh deformed limb prosthetic socket 7, artificial limb knee-joint 8, artificial limb shank pipe 9 and false foot 10, it is characterized in that this knee joint also comprises gyro sensor module 1, acceleration sensor module 2, plantar pressure sensor module 3, one-chip computer module 4 and drive motors module 5;
Described gyro sensor module 1(abbreviation module 1) comprises gyro sensor 11 and 12 two parts of gyroscope signal modulate circuit, be installed in thigh deformed limb prosthetic socket 7(and be called for short receptive cavity 7) dead ahead (being the dead ahead of human body thigh) of outside, be positioned on the centre position of deformed limb hip joint 6 and artificial limb knee-joint 8; Acceleration sensor module 2(is called for short module 2) comprise acceleration transducer 21 and 22 two parts of acceleration transducer signals modulate circuit, be installed in the lateral surface (being the lateral surface of human body thigh) of receptive cavity 7, on position between deformed limb hip joint 6 and the artificial limb knee-joint 8; Plantar pressure sensor module 3(is called for short module 3) formed by front plantar pressure sensor 31 and rear plantar pressure sensor 32, be installed in respectively the forward and backward sole center of false foot 10; Drive motors module 5(is called for short module 5) mainly comprise direct current generator 51 and 52 two parts of positive and reverse rotation control circuit thereof, be installed in the top, position between artificial limb knee-joint 8 and the artificial limb shank pipe 9; One-chip computer module 4(is called for short module 4) mainly formed by singlechip chip 41, minimum system basic circuit 42, analog input interface circuit 43, switching value input interface circuit 44 and switching value output interface circuit 45, be installed between artificial limb knee-joint 8 and the artificial limb shank pipe 9 and be lower than on the position of described drive motors module 5 belows.
The described module 1 of knee joint of the present invention is used for measuring and gathering angle and the angular velocity signal of deformed limb motion, specifically comprises 12 two parts of gyro sensor 11 and gyroscope signal modulate circuit.Measured angular velocity signal is after amplifying conditioning, analog input interface circuit 43 through module 4 carries out filtering voltage regulation, be connected with the AI0 port of singlechip chip 41, by signal analysis, can draw angular velocity and the angle of deformed limb hip joint 6, and then calculate the leg speed of human motion, and level land/go upstairs/go downstairs/go up a slope/typical road conditions such as descending are differentiated.
The described module 2 of knee joint of the present invention is used for measuring and gathering the acceleration of deformed limb motion, specifically comprises 22 two parts of acceleration transducer 21 and acceleration transducer signals modulate circuit.Acceleration transducer can be measured respectively the output signal of X-direction, and (X-direction is the human body fore-and-aft direction, the place ahead of the body of choosing motion is the positive direction of X-axis) and the output signal of Y direction (Y direction is the above-below direction of human motion, the top of the body of choosing motion is the positive direction of Y-axis), measured two-way acceleration signal is after amplifying conditioning, analog input interface circuit 43 through module 4 carries out filtering voltage regulation, be connected with the AI2 port with the AI1 of singlechip chip 41 respectively, by signal analysis, the acceleration of deformed limb hip joint motion be can draw, and then leg speed and the movement tendency of human motion calculated.
The described module 3 of knee joint of the present invention for detection of with the session information that gathers artificial limb motion gait, specifically comprise 32 two parts of front plantar pressure sensor 31 and rear plantar pressure sensor, be installed in respectively center, false foot 10 forward and backward sole vola, measured two-way plantar pressure signal is after drawing processing on the switching value input interface circuit 44 of module 4, be connected with the DI1 port with the DI0 of singlechip chip 41, by signal analysis, can draw heel contacts to earth/full foot supports/heeloff/information in the different walking stages such as shaking peroid.
The described one-chip computer module of knee joint of the present invention 4 is used for signal analysis and the control of whole system, mainly comprise singlechip chip 41 with computing function, by power supply, crystal oscillator, reset, minimum system basic circuit (prior art) 42, analog input interface circuit 43, switching value input interface circuit 44 and 45 5 parts of switching value output interface circuit that switch consists of.Module 4 is installed between artificial limb knee-joint 8 and the artificial limb shank pipe 9 and is lower than on the position of module 5.Its analog input port AI0 is connected with the sensor signal interface of module 1, its analog input port AI1 is connected with the two-way sensor signal interface of module 2 respectively with AI2, its digital quantity input port DI0 is connected with the two-way sensor signal interface of module 3 respectively with DI1, its digital output port DO0 and DO1 be connected with the two path control signal interface of module 5 respectively (referring to Fig. 4); Described module 4 is controlled the motion of artificial limb knee-joint 8 by the analysis-by-synthesis to each sensor signal.
The function of the described drive motors module 5 of knee joint of the present invention is to promote artificial limb knee-joint 8 motions by change-speed gearing and worm structure (prior art), comprises also that specifically direct current generator 51 and positive and reverse rotation control circuit 52 thereof form.Module 5 is installed on the upper position between artificial limb knee-joint 8 and the artificial limb shank pipe 9.Described rotating control signal is connected with DO1 with the DO0 of one-chip computer module 4 respectively, can be by control the rotating and reverse of motor, and through change-speed gearing and worm structure, for the flexion and extension of artificial limb knee-joint 8 provides power.
The present invention does not address part and is applicable to prior art.
The kneed motion principle of the present invention and work process are as follows: knee joint of the present invention is on the basis of existing common power type artificial limb knee-joint, design and installation gyro sensor 1 on prosthetic socket 7, acceleration transducer 2, plantar pressure sensor 3 is installed in false foot 10 bottoms, utilize one-chip computer module 4 to detect each sensor information, characteristic value information according to the sensor extraction, through analysis-by-synthesis, realization is to effective identification of sports consciousness under the human body walking pattern, kinetic characteristic according to the artificial limb stages is divided leg speed, divide road conditions, divide gait to drive direct current generator 51, power type artificial limb knee-joint 8 is controlled, initiatively realized the motion of more coordinating with human body.
After the deformed limb motion of wearing the artificial limb knee-joint receptive cavity, the module 1 that is assemblied in above the prosthetic socket 7 produces angular velocity signal and the angle signal that hip joint 6 fore-and-aft directions swing, acceleration sensor module 2 is along with this motion produces deformed limb at the acceleration signal of X-axis and Y direction, plantar pressure sensor module 3 along with this motion provide the support phase and shaking peroid information; 4 pairs of angular velocity signals that obtain of one-chip computer module, angle signal, acceleration signal and plantar pressure signal carry out analysis-by-synthesis, for the single signal detection error that causes because of factors such as Uneven road, human body vibrations in the walking process and the kinestate misjudge that causes therefrom, adopt the template that the pattern of sensor parameters is sorted out to carry out sensor fusion (prior art); For the situation that the contradiction judgement occurs, (prior art) judged in the ballot of then carrying out between each sensor judged result in conjunction with historical data, can realize the effective identification to the human body walking pattern, minute leg speed, minute road conditions, minute gait drive 5 realizations of direct current generator module to the man-machine harmony control of power type artificial limb knee-joint 8.
Claims (1)
1. power type artificial limb knee-joint, comprise deformed limb hip joint, thigh deformed limb prosthetic socket, artificial limb knee-joint, artificial limb shank pipe and false foot, it is characterized in that this knee joint also comprises gyro sensor module, acceleration sensor module, plantar pressure sensor module, one-chip computer module and drive motors module; Described gyro sensor module comprises gyro sensor and gyroscope signal modulate circuit, is installed in the dead ahead of thigh deformed limb prosthetic socket outside, is positioned on the centre position of deformed limb hip joint and artificial limb knee-joint; Acceleration sensor module comprises acceleration transducer and acceleration transducer signals modulate circuit, is installed in the lateral surface of receptive cavity, on position between deformed limb hip joint and the artificial limb knee-joint; The plantar pressure sensor module is comprised of front plantar pressure sensor and rear plantar pressure sensor, is installed in respectively the forward and backward sole center of false foot; The drive motors module mainly comprises direct current generator and positive and reverse rotation control circuit thereof, is installed on the upper position between artificial limb knee-joint and the artificial limb shank pipe; One-chip computer module mainly is comprised of singlechip chip, minimum system basic circuit, analog input interface circuit, switching value input interface circuit and switching value output interface circuit, is installed on the position that is lower than described drive motors module below between artificial limb knee-joint and the artificial limb shank pipe; The analog input port of described one-chip computer module is respectively at being connected with one tunnel sensor signal interface of gyro sensor module and the two paths of signals interface of acceleration sensor module, its digital quantity input port is connected with the two-way sensor signal interface of plantar pressure sensor module respectively, and its digital output port is connected with the two path control signal interface of drive motors module respectively; One-chip computer module is controlled the motion of artificial limb knee-joint by the analysis-by-synthesis to each sensor signal.
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| CN2012104177800A CN102885661A (en) | 2012-10-29 | 2012-10-29 | Dynamic prosthetic knee joint |
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| CN2012104177800A CN102885661A (en) | 2012-10-29 | 2012-10-29 | Dynamic prosthetic knee joint |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143524A (en) * | 2017-12-27 | 2018-06-12 | 大连民族大学 | A kind of leg artificial limb |
| CN110051361A (en) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | A kind of wearable lower limb skeleton motion detection device |
| CN110718129A (en) * | 2019-05-13 | 2020-01-21 | 上海大学 | Six-degree-of-freedom knee joint motion simulation system |
| CN110974497A (en) * | 2019-12-30 | 2020-04-10 | 南方科技大学 | Electric artificial limb control system and control method |
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
| CN111685918A (en) * | 2020-05-25 | 2020-09-22 | 上海工程技术大学 | Rigidity-adjustable foot artificial limb device |
| CN112137779A (en) * | 2020-09-30 | 2020-12-29 | 哈工大机器人湖州国际创新研究院 | Intelligent artificial limb and mode judgment method thereof |
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN113616396A (en) * | 2021-08-31 | 2021-11-09 | 北京信息科技大学 | Prosthesis analysis system |
| CN117224295A (en) * | 2023-11-09 | 2023-12-15 | 浙江强脑科技有限公司 | Intelligent leg prosthesis control method, intelligent leg prosthesis, device, equipment and storage medium |
| CN117257281A (en) * | 2023-11-22 | 2023-12-22 | 浙江强脑科技有限公司 | Leg prosthesis fall protection method, device, equipment and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143524A (en) * | 2017-12-27 | 2018-06-12 | 大连民族大学 | A kind of leg artificial limb |
| CN110718129A (en) * | 2019-05-13 | 2020-01-21 | 上海大学 | Six-degree-of-freedom knee joint motion simulation system |
| CN110051361A (en) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | A kind of wearable lower limb skeleton motion detection device |
| CN110974497A (en) * | 2019-12-30 | 2020-04-10 | 南方科技大学 | Electric artificial limb control system and control method |
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
| CN111685918A (en) * | 2020-05-25 | 2020-09-22 | 上海工程技术大学 | Rigidity-adjustable foot artificial limb device |
| CN112137779A (en) * | 2020-09-30 | 2020-12-29 | 哈工大机器人湖州国际创新研究院 | Intelligent artificial limb and mode judgment method thereof |
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN113616396A (en) * | 2021-08-31 | 2021-11-09 | 北京信息科技大学 | Prosthesis analysis system |
| CN117224295A (en) * | 2023-11-09 | 2023-12-15 | 浙江强脑科技有限公司 | Intelligent leg prosthesis control method, intelligent leg prosthesis, device, equipment and storage medium |
| CN117257281A (en) * | 2023-11-22 | 2023-12-22 | 浙江强脑科技有限公司 | Leg prosthesis fall protection method, device, equipment and storage medium |
| CN117257281B (en) * | 2023-11-22 | 2024-04-09 | 浙江强脑科技有限公司 | Leg prosthesis fall protection method, device, equipment and storage medium |
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