CN103271783B - Artificial limb knee joint with assistance function - Google Patents

Artificial limb knee joint with assistance function Download PDF

Info

Publication number
CN103271783B
CN103271783B CN 201310182128 CN201310182128A CN103271783B CN 103271783 B CN103271783 B CN 103271783B CN 201310182128 CN201310182128 CN 201310182128 CN 201310182128 A CN201310182128 A CN 201310182128A CN 103271783 B CN103271783 B CN 103271783B
Authority
CN
China
Prior art keywords
cylinder
piston
joint
prosthetic
knee
Prior art date
Application number
CN 201310182128
Other languages
Chinese (zh)
Other versions
CN103271783A (en
Inventor
王人成
马绍兴
武龙
沈强
Original Assignee
清华大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 清华大学 filed Critical 清华大学
Priority to CN 201310182128 priority Critical patent/CN103271783B/en
Publication of CN103271783A publication Critical patent/CN103271783A/en
Application granted granted Critical
Publication of CN103271783B publication Critical patent/CN103271783B/en

Links

Abstract

本发明属于生物医学工程和康复辅具技术领域,特别涉及一种具有助力功能的假肢膝关节。 The present invention is in the biomedical engineering rehabilitation aids and technical field, and particularly relates to prosthetic knee joint having a booster function. 该假肢膝关节的上端与假肢接收腔连接,下端通过小腿连接杆、踝关节与脚板连接,包括做为假肢关节功能性组件的固定气缸多轴假肢膝关节组件、做为假肢关节智能性组件的气缸节流阀开度控制机构、做为假肢关节主动供能组件的膝关节助力伸展驱动机构三大部分。 The upper end of the prosthetic knee prosthesis receiving chamber connected to the lower end of the connecting rod through the leg, ankle and foot is connected, a multi-axis including a cylinder fixed prosthetic knee joint prosthesis component as functional components, as intelligent prosthetic joint assembly throttle opening control means of the cylinder, as active prosthetic joint for knee extension driving mechanism can assist assembly of three parts. 本发明在功能上能够实现智能主动控制,稳定性好,噪声小,能够适应更多的地形特点,能够帮助截肢患者自主坐起,自主交替上下楼梯等功能,兼顾被动式和主动式假肢膝关节的功能优势。 On the functions of the invention enables intelligent active control, good stability, low noise, more able to adapt to the terrain, and can help amputees sit autonomous, independent alternately up and down stairs and other functions, both passive and active prosthetic knee joint functional advantages.

Description

一种具有助力功能的假肢膝关节 Prosthetic knee having a booster function

技术领域 FIELD

[0001] 本发明属于生物医学工程和康复辅具技术领域,涉及一种假肢膝关节,特别涉及一种由电机驱动丝杠和弹簧推动气缸活塞运动的具有助力功能的假肢膝关节。 [0001] The present invention belongs to the biomedical engineering rehabilitation aids and technical field relates to a prosthetic knee joint, particularly relates to prosthetic knee joint having a booster function to promote movement of the cylinder-piston driven by a motor and lead screw springs.

背景技术 Background technique

[0002] 大腿假肢按照驱动方式区分可以分为两种类型:一种是以截肢患者残端为动力源的被动式大腿假肢,一种是由外部动力源驱动关节屈伸的主动式大腿假肢。 [0002] thigh prosthesis according to the driving mode can be distinguished into two types: one is the power source for the amputation stump passive thigh prosthesis, one is active flexion and extension of the thigh prosthesis driven by an external power source. 目前市场上大部分大腿假肢为被动式,被动式大腿假肢又可分为普通型和智能型两种。 Currently on the market most of the thigh prosthesis is passive, passive thigh prosthesis can be divided into two kinds of common and intelligent. 普通型被动式大腿假肢膝关节阻尼力矩大小在安装时设定,难以适应步速等外部环境的变化。 Normal passive thigh size prosthetic knee damping torque is set at installation, it is difficult to adapt to changes in the external environment and the like pace. 智能型被动式大腿假肢通过具有自适应功能的阻尼器,当步速等外部环境变化时,假肢关节阻尼力矩动态调节使得假肢侧能够快速响应健侧步态及外部环境的变化,具有很好的动态跟随性和步态对称性。 Intelligent passive leg prosthesis via an adaptive damper function, when the external environment changes pace the like, prosthetic joint prosthesis damping torque such that the dynamic adjustment can be quickly respond to changes in the contralateral side gait and the external environment, has a good dynamic Follow and gait symmetry. 主动式大腿假肢由外部动力源为假肢膝关节提供伸缩力矩,控制假肢膝关节的屈伸,因此实现被动式大腿假肢难以实现的功能,如可以不借助其它力量站起来,以交替步伐上楼梯等。 Active prosthetic knee joint prosthesis provides a telescopic thigh torque control flexion and extension of the prosthetic knee joint by an external power source, thus achieving the function of passive thigh prosthesis difficult to achieve, as can stand up without the aid of other forces, like stairs steps alternately.

[0003] 专利US6764520B2发明了一种磁流变智能型被动式下肢假肢,其核心技术为磁流变液假肢膝关节。 [0003] Patent US6764520B2 invention a magnetorheological intelligent passive lower limb prosthesis, which is a core technology MRF prosthetic knee. 该关节利用磁流变液可以通过调整电磁场大小控制液体的粘度实现对假肢膝关节阻尼力矩的自适应控制。 The joint use of magneto-rheological fluid to control the viscosity of the liquid adaptive prosthetic knee damping torque control by adjusting the field size. 专利US201100873391A1发明了一种液压缸式的智能型被动式下肢假肢膝关节,利用微电机调节液压节流阀开口大小实现对假肢膝关节阻尼力矩的自适应控制。 Patent US201100873391A1 invention a hydraulic cylinder type intelligent passive knee lower limb prosthesis, the use of micro-motor adjusting the opening size of the throttle valve of the hydraulic control of the adaptive prosthetic knee damping torque. 专利CN101336849A发明了一种气缸固定式四杆机构假肢膝关节,通过微型直线电机调节节流阀开口大小实现对假肢膝关节阻尼力矩的自适应控制。 Patent CN101336849A invention is a four cylinder fixed prosthetic knee joint mechanism, by adjusting the throttle opening size of miniature linear motor control adaptive prosthetic knee damping torque. 由于气体的可压缩性比液体大,因此通常气缸的假肢膝关节只能控制摆动期的步态,液压缸的假肢膝关节即可控制摆动期,也可以控制支撑期的步态。 Due to the compressibility of the gas is larger than the liquid, the prosthetic knee generally cylinder can control the gait swing phase, the prosthetic knee of the hydraulic cylinder to control swing phase can be controlled support of the gait. 专利US20100312363A1发明了一种具有拮抗肌和反拮抗肌功能的主动式下肢假肢膝关节,该假肢膝关节由两个电机控制膝关节的屈伸运动,能够为关节运动提供动力,实现交替步伐上楼梯等功能。 Patent No. US20100312363A1 invention the active knee lower limb prosthesis having an antagonistic muscles and antagonistic muscles inverse function of the prosthetic knee flexion and extension movement of the knee joint by two motor control, capable of providing power to articulation, alternatively be implemented on the pace stairs Features.

[0004] 综上所述,被动式智能大腿假肢在平地行走时具有较好的步态跟随性和对称性,且体积和噪声都很小。 [0004] In summary, the intelligent passive thigh prosthesis having a better gait symmetry and at follow ground walking, and the volume is very small, and noise. 主动式大腿假肢关节因驱动电机的功率很大,使得电池和噪声都较大。 Active thigh joint prosthesis because a large driving power of the motor, so that the battery and noise are larger.

发明内容 SUMMARY

[0005] 本发明针对现有技术的不足,提出一种具有助力功能的假肢膝关节,它不仅具备被动式智能大腿假肢在平地行走时良好的步态对称性和步态跟随性,也具备主动式假肢膝关节能够交替上楼梯和不借助外力站起来的优点。 [0005] The present invention addresses the deficiencies of the prior art, is proposed prosthetic knee joint having a booster function, it not only has a passive smart prosthesis at thigh 'walking gait and good followability gait symmetry, but also includes active the prosthetic knee joint is possible and without the aid of stairs are alternately advantages of an external force to stand up. 本发明兼顾被动式和主动式假肢膝关节的功能优势,克服主动式大腿假肢能耗大,噪声大等缺点。 The present invention both passive and active prosthetic knee functional advantages, to overcome the large thigh prosthesis active energy consumption, noise and other shortcomings.

[0006] 为了达到上述目的,采用的技术方案为: [0006] To achieve the above object, the technical solution is adopted:

[0007] 该假肢膝关节的上端与假肢接收腔连接,下端通过小腿连接杆、踝关节与脚板连接,包括固定气缸多轴假肢膝关节组件、气缸节流阀开度控制机构、膝关节助力伸展驱动机构三大部分; [0007] The upper end of the prosthetic knee prosthesis receiving chamber connected to the lower end of the connecting rod by a leg, ankle and foot is connected, a multi-axis prosthetic knee joint comprising a stationary cylinder assembly, the cylinder throttle opening control mechanism, the knee extension booster The drive mechanism of three parts;

[0008] 所述固定气缸多轴假肢膝关节组件由上关节体、关节前臂、关节后臂、气缸及其相关零部件组成;上关节体与假肢接收腔相连,关节前臂和关节后臂分别与上关节体、气缸连接,共同组成铰链多杆机构;气缸内设置活塞和可压缩弹簧,活塞的输出端为活塞支柱,通过螺纹与上关节体连接固定;活塞在气缸中往复运动,进而推动上关节体屈伸运动,活塞向下运动,可压缩弹簧被压缩,储存能量,活塞向上运动,被压紧的可压缩弹簧被释放,释放能量,关节转动并带动关节从屈曲状态变为伸展状态;可压缩弹簧在假肢组件中起到了助力弹簧的作用; [0008] The fixed cylinder assembly by a multi-axis prosthetic knee joint on the body, the joint arm, the articulated arm, cylinder and related component parts; connected to the joint prosthesis body and the receiving chamber, forearms and articular joint arm, respectively the joint body, a cylinder connected together to form the hinge multi-lever mechanism; a piston, and a compressible spring within the cylinder, the output end of the piston as the piston posts, by threads on the joint body is connected and fixed; reciprocation of the piston in the cylinder, thus promoting the joint flexion and extension thereof, the downward movement of the piston, the compressible spring is compressed to store energy, the upward movement of the piston, the compressible spring is pressed is released, the released energy, and driven by rotation of the joints from joint flexion state to an expanded state; can the compression spring acts as a spring to assist in the prosthesis assembly;

[0009] 所述气缸节流阀开度控制机构由直线电机和节流阀组成;节流阀为针式节流阀,其阀头部分为圆锥形,插入气缸进气口中;直线电机推动节流阀进行直线往复运动,阀头插入气缸进气口的深度往复变化,使进气口的开合程度不断变化,进而调节气体的阻尼大小;气体阻尼大小跟气缸进(出)气口的开合程度有关,开口越大,气体阻尼越小,开口越小,气体阻尼越大。 [0009] The throttle opening degree control cylinder by a linear motor mechanism and a throttle composition; throttle of a throttle needle, into which a conical valve head, inserted into the cylinder intake port; linear motor driven section valve reciprocates linearly valve head inserted into the cylinder depth reciprocally change the intake port, the intake port of the degree of opening and closing changing, thereby regulating the damping force of gas; opening and closing gas damper sizes with cylinder intake (a) the air inlet degree, the greater the openings, the smaller the gas damper, the smaller the opening, the greater the gas damper.

[0010] 所述膝关节助力伸展驱动机构包括直流无刷电机、齿轮传动组件、丝杠、气缸下端盖,其下端通过小腿端盖组件与小腿连接杆连接,为假肢提供外力;丝杠与直流无刷电机的输出端相连,将电机的旋转运动转换为直线往复运动;丝杠螺母通过导向杆与气缸下端盖连为一体,当直流无刷电机转动时,丝杠螺母推动气缸下端盖,进而压缩气缸中的可压缩弹簧,可压缩弹簧推动活塞在气缸中做直线往复运动,推动上关节体运动。 [0010] The drive mechanism comprises a knee extension assist brushless DC motor, gear assembly, lead screw, the cylinder cover, through which the lower end of the lower leg connecting rod cap and leg assembly to provide an external force to the prosthesis; screw and DC an output terminal connected to the brushless motor, to convert rotary motion of the motor into a linear reciprocating motion; spindle nut integrally connected by the cap, when the rotation of the brushless DC motor, the spindle nut guide cylinder push rod and the cylinder head cover, and further a compressible compression spring in the cylinder, a compressible spring pushes the piston linearly reciprocates in the cylinder, pushing the joint body motion.

[0011] 所述膝关节助力伸展驱动机构的直流无刷电机采用Maxon EC30高功率直流无刷电机。 [0011] The drive mechanism of the knee extension assist brushless DC motor using Maxon EC30 high-power brushless DC motor.

[0012] 所述固定气缸多轴假肢膝关节组件中的活塞由活塞体、密封圈、活塞支柱、活塞直杆和活塞弯杆组成;活塞直杆和活塞弯杆通过螺纹连接或过盈配合固定为一体,活塞弯杆的上端与活塞支柱形成铰链连接。 [0012] The fixed cylinder multi-axis knee joint prosthesis component of the piston body by a piston, seal, strut piston, piston rod and piston bent straight rods; straight piston rod and piston bent rod is fixed by screwing or interference fit integrally forming the upper end of the piston bent rod connected to the piston of the hinge pillar.

[0013] 本发明的有益效果为: [0013] Advantageous effects of the present invention are:

[0014] 本发明中,固定气缸多轴假肢膝关节组件为假肢关节功能性组件,气缸节流阀开度控制机构组件为假肢关节智能性组件,膝关节助力伸展驱动机构组件为假肢关节主动供能组件。 [0014] In the present invention, the fixed cylinder assembly is a multiaxial prosthetic knee prosthetic joint functional assembly, the cylinder assembly of the throttle opening control means for the intelligent prosthetic joint assembly, the knee extension power drive mechanism for the active component is a prosthetic joint energy components. 该假肢膝关节特点鲜明,功能完备,在功能上能够实现智能主动控制,稳定性好,噪声小,能够适应更多的地形特点,能够帮助截肢患者自主坐起,自主交替上下楼梯等功能,兼顾被动式和主动式假肢膝关节的功能优势。 The prosthetic knee distinctive features, functions, functionally capable of intelligent active control, good stability, low noise, more able to adapt to the terrain, and can help amputees sit autonomous, independent alternately up and down stairs and other functions, taking into account functional advantages of passive and active prosthetic knee joint.

附图说明 BRIEF DESCRIPTION

[0015] 图1 (a)和图1 (b)分别是本发明的轴测图和假肢外观示意图; [0015] FIG. 1 (a) and 1 (b) is a perspective view, respectively, of the present invention and a schematic view of the appearance of the prosthesis;

[0016] 图2 Ca)和图2 (b)是本发明的主视图和侧视图; [0016] FIG. 2 Ca) and 2 (b) is a front view and a side view of the present invention;

[0017] 图3是多轴膝关节及气缸相关零部件的爆破图; [0017] FIG. 3 is a multi-axis knee joint and related parts exploded view of the cylinder;

[0018] 图4 (a)、图4 (b)分别是假肢关节特殊角度示意图; [0018] FIG. 4 (a), FIG. 4 (b) are schematic perspective of a special prosthetic joint;

[0019] 图5是气缸及其相关零部件爆破图; [0019] FIG. 5 is an exploded view of a cylinder and associated parts;

[0020] 图6 (a)和图6 (b)分别是气缸节流阀开度控制机构组件示意图及图中区域A的局部放大图; [0020] FIG. 6 (a) and 6 (b) are throttle valve opening control means of the cylinder assembly and a schematic drawing of an enlarged view of an area A;

[0021] 图7 Ca)和图7 (b)分别是膝关节助力伸展驱动机构组件的剖视图和爆破图; [0021] FIG. 7 Ca) and 7 (b) are knee extension assist mechanism drive assembly and exploded view of the cross-sectional view;

[0022] 附图标记说明: [0022] REFERENCE NUMERALS:

[0023] 1-多轴膝关节;2-气缸;3_关节屈伸助力组件;4_小腿端盖组件;5_气缸节流阀开度控制机构组件;6_假肢接收腔;7_小腿连接杆;8_踝关节;9_脚板;11_上关节体;12_关节前臂;13_关节后臂;14-活塞支柱;15-活塞弯杆;16-活塞直杆;21_气缸缸体;22_气缸上端盖;23_活塞;24_可压缩弹簧;25_气孔塞;31_小腿腔;32_助伸电机;33-气缸下端盖;34_丝杠;35_丝杠导杆;36_圆螺母;37_丝杠轴深沟球轴承;41_小腿端盖;42_丝杠端齿轮;43_介轮;44_电机端齿轮;45_小轴;46_齿轮轴深沟球轴承;47_小腿端盖螺栓;51_针阀;52_直线电机;111-前臂上铰链轴组件;112_后臂上铰链轴组件;121-关节前臂螺栓;141_活塞支柱固定螺栓;142_销轴;151_活塞弯杆轴承;211_前臂下铰链轴组件;212_后臂下铰链轴组件;213_端盖定位螺栓;231-活塞底部螺栓;232_活塞X型密封圈;233_活塞导 [0023] 1- multi-axis knee joint; 2- cylinder; 3_ flexion and extension booster assembly; 4_ leg end cap assembly; 5_ throttle opening degree control cylinder mechanism assembly; 6_ prosthesis receiving cavity; 7_ shank link rod; 8_ ankle; 9_ foot; 11_ the joint body; 12_ forearm joint; 13_ rear articulated arm; 14- strut piston; bent rod 15 of the piston; 16- straight piston rod; 21_ cylinder block ; on a 22-cylinder cap; 23_ piston; 24_ compressible spring; the 25-hole plug; 31_ calf cavity; 32_ extension promoter motor; cover the cylinder 33; 34_ screw; screw guide rod 35_ ; dimenSion round nut; deep groove ball bearing screw shaft 37_; 41_ calf cap; 42_ threaded end gear; 43_ intermediate wheel; 44_ motor side gear; 45_Degree small shaft; deep gear shaft 46_ groove ball bearings; 47_ cap bolt legs; 51_ needle; linear motor 52_; 111- hinge shaft assembly forearm; 112_ arm hinge shaft after assembly; 121- forearm joint bolt; 141_ fixing bolt strut piston ; 142_ pin; 151_ bent rod bearing a piston; hinge shaft assembly at 211_ forearm; hinge shaft assembly at 212_ rear arm; 213_ cap bolts; 231- bottom of the piston bolt; 232_ piston-ring X ; 233_ piston guide 环;331-端盖X型密封圈;332_端盖导向环。 Ring; 331- X-ring cover; 332_ cap guide ring.

具体实施方式 Detailed ways

[0024] 本发明提供了一种具有助力功能的假肢膝关节,下面结合附图和具体实施方式对本发明作详细的说明。 [0024] The present invention provides a prosthetic knee joint having a booster function, in conjunction with the accompanying drawings and the following specific embodiments of the present invention will be described in detail.

[0025] 本发明的整体结构如图1 (a)和图1 (b)所示,由多轴膝关节1、气缸2、关节屈伸助力组件3、小腿端盖组件4、气缸节流阀开度控制机构组件5、假肢接收腔6、小腿连接杆7、踝关节8和脚板9等组装而成。 [0025] The overall configuration of the present invention, FIG. 1 (a) and 1 (b), the multi-axis knee joint by a 1, a cylinder 2, flexion and extension booster assembly 3, the lower leg end cap assembly 4, the throttle opening cylinder control mechanism assembly 5, prosthetic receiving chamber 6, the connecting rod 7 calf, ankle and foot 8 9 assembled like. 其中多轴膝关节I和气缸2构成了固定气缸多轴假肢膝关节组件。 Wherein the multi-axis knee joint and the cylinder 2 I fixed cylinder constituting a multi-axis knee joint prosthesis component.

[0026] 结合图2 (a)和图2 (b),上关节体11和假肢接收腔6通过标准件固连在一起,接收腔用于穿戴在截肢患者残端上,接收腔的型号因残端的形状和尺寸而定。 [0026] in conjunction with FIG. 2 (a) and 2 (b), the joint body 11 and the member 6 by standard prosthetic fixedly connected receiving chamber, the receiving chamber for the patient worn on the amputation stump, receiving cavity model by shape and size depending on the stump. 小腿端盖41与小腿连接杆7通过特定接头固连在一起,小腿连接杆7与脚板9铰接在一起形成踝关节8。 End cap 41 is connected to the lower leg calf rod 7 is fixedly connected together by a specific joint, lower leg connecting rod 7 and the foot 9 8 hinged together to form the ankle joint. 本发明只给出接收腔6,小腿连接杆7,踝关节8和脚板9的示意图,具体结构不做详细讨论。 The present invention is given only receiving chamber 6, the lower leg connecting rod 7, a schematic view of the ankle and foot 8 to 9, a specific configuration is not discussed in detail.

[0027] 人体正常膝关节和腿的结构复杂,假肢的设计目标之一是能够更加真实的模拟正常关节的步态特征,首要条件是需要模拟关节的运动瞬心。 [0027] structure of the body's normal knee and leg complex, one of the design goals of prosthetic gait characteristics can be more realistic simulation of normal joint, the first condition is the need to simulate the movement of instantaneous center of the joint. 所以,本发明采用固定气缸多轴假肢膝关节组件来实现这一功能,使假肢步态更接近于正常步态。 Therefore, the present invention employs a multi-axis cylinder fixed prosthetic knee component to achieve this function, so that the prosthesis closer to normal gait gait. 固定气缸多轴假肢膝关节组件由多轴膝关节I和气缸及其相关零部件2组成。 A cylinder fixed by the multi-axis multi-axis knee prosthetic knee joint assembly and related components I 2 and the cylinder components.

[0028] 相对于单轴膝关节,多轴膝关节的运动瞬心实时变化,通过这一特点,本发明对杆长进行设计,使其能够更加真实的模拟正常人体膝关节的运动。 [0028] with respect to the single-axis knee, changes in real time multi-axis knee joint instantaneous motion center, by this feature, the present invention is to design a long lever so that it can be more realistic simulation of the normal motion of the human knee joint. 本发明中的四杆机构膝关节的角度变化范围为0°〜135°。 Four-bar mechanism of the knee joint of the present invention, the angle range of 0 ° ~135 °. 运动瞬心与正常膝关节瞬心高度一致。 Instantaneous motion center of the normal knee instantaneous center highly consistent. 多轴膝关节I(如四杆机构膝关节)主要由上关节体11、关节前臂12、关节后臂13和气缸缸体21组成。 Multi-axis knee joint I (such as a four bar linkage knee joint) of the joint main body 11, the forearm joint 12, joint 13 and the arm cylinder block 21 composition. 上关节体11和关节前臂12通过前臂上铰链轴组件111 (空心轴和滚针轴承的组合)形成铰链,关节前臂螺栓121穿过铰链轴防止关节前臂与上关节体脱开。 Upper joint member 11 and joint 12 forearm on the forearm assembly 111 of the hinge shaft (hollow shaft and a combination of a needle bearing) is formed by a hinge, a bolt 121 passing through the arm joint hinge shaft to prevent joint and the forearm joint dislocated. 上关节体11和关节后臂13通过后臂上铰链轴组件112形成四杆机构的另外一个铰链。 After the joint member 11 through the arm 13 and the rear articulated arm assembly 112 formed in the hinge shaft of the hinge a further four-bar mechanism. 关节前臂12和关节后臂13分别通过前臂下铰链轴组件211和后臂下铰链轴组件212与气缸缸体21形成铰链。 Forearm articulated joints 12 and the rear arm 13, respectively, at the hinge axis of the hinge assembly the shaft assembly 211 and the rear arm 212 and the cylinder block 21 is formed by the hinge arm. 四杆机构的原动件为上关节体11,通过用活塞支柱螺栓141固连在上关节体11上的活塞支柱14与气缸中的活塞组件相连。 Motive member is a four-bar mechanism 11 to the joint body, a piston connected via a bolt 141 fixed strut strut piston 14 and the cylinder on the piston assembly 11 attached to the joint body. 活塞支柱14和活塞弯杆15通过销轴142和活塞弯杆轴承151形成铰链,同时,活塞弯杆15和活塞直杆16通过销轴142和活塞弯杆轴承151也形成一个铰链。 The piston post 14 and the bent rod 15 of the piston is formed by a hinge pin 142 and a bent rod bearing a piston 151, while the bent rod 15 of the piston and the piston rod 16 also form a linear hinge pin 142 through bearings 151 bent rod and the piston. 将活塞直杆16下端穿过带有圆形密封圈气缸上端盖22,并通过活塞底部螺栓231与活塞23固连在一起。 Straight piston rod 16 through the lower end cap 22 having a circular ring cylinder and the piston bottom by a bolt 231 together with the piston 23 solid. 通过上述连接,当活塞23在汽缸中运动时,便可推动上关节体11绕铰链转动,气缸缸体21便成为四杆机构的机架,上关节体11为原动件。 By the connection, when the movement of the piston 23 in the cylinder can be pushed to the joint body 11 is rotated about the hinge, cylinder block 21 becomes four rack mechanism, the joint member 11 is motive.

[0029] 端盖定位螺栓213将气缸上端盖22固定在气缸壁上。 [0029] The end cap bolts 213 to the cylinder cap 22 is fixed on the cylinder wall. 采用〇型密封圈进行密封。 Using the square-ring seal. 活塞23与活塞直杆16固连在一起形成的活塞组件从气缸上端盖22的中心孔中穿过。 Straight piston 23 and the piston rod of the piston assembly 16 is secured together to form an end cap central bore 22 through the cylinder. 将可压缩弹簧24置于活塞23之下,在支撑相,弹簧压缩储能,保持支撑相稳定性,并在支撑相末期伸展,释放能量,在本发明中起到了助力功能。 Compressible spring 24 is placed under the piston 23, the support phase, a compression spring accumulator, to maintain the stability of stance phase, and stretched with the end of the support, the release of energy, plays a power function in the present invention. 图1 (b)、图4 (a)和图4 (b)给出了膝关节转动的三个特殊位置的示意图:分别为膝关节角度(大腿与小腿之间的夹角)0°、90°和135°时的位置示意图。 FIG 1 (b), FIG. 4 (a) and 4 (b) shows a schematic three particular location of the knee joint rotation: each knee angle (the angle between the thigh and calf) 0 °, 90 ° and 135 ° position of FIG.

[0030] 活塞23和气缸下端盖33需要在气缸中运动,所以需要进行导向和动密封。 [0030] the piston 23 and the cylinder head cover 33 needs to move in the cylinder, it is necessary to guide and dynamic seal. 本发明采用活塞X型密封圈232进行动密封,采用活塞导向环233进行导向,采用气孔塞对气路进行密封。 The present invention uses a piston movable X-ring seal 232, by the piston guide ring 233 for guiding the used gas passage hole of the plug seal.

[0031] 气缸缸壁上分别开有进气孔和出气孔。 [0031] The cylinder wall of the cylinder are opened and air intake vents. 进气孔和出气孔均为细长小孔,为了方便加工,本发明将其设计为通孔。 Intake and outlet holes are elongated holes, in order to facilitate processing, the present invention will be designed as a through hole. 与外界相通的孔洞用气孔塞25堵住进行密封。 A hole communicated with the outside by a plug 25 plugged pores sealed.

[0032] 一个步态周期可以分为支撑相和摆动相两个阶段。 [0032] The gait cycle can be divided into a support phase and a swing phase in two stages. 支撑相为脚与地面接触的过程,摆动相为小腿自由摆动的过程。 Phase support leg contact with the ground during the swing phase of the leg swinging freely in the process. 其中支撑相为整个步态周期的前60%左右,摆动相为步态周期的后40%。 Wherein the supporting phase is about 60% before the entire gait cycle, 40% after the swing phase of the gait cycle. 由于大小腿多组肌肉的协同作用,小腿绕大腿的旋转运动并非自由旋转,并按照一定的运动规律转动。 Due to the large calf muscle synergy plurality of sets, a rotational movement about the thigh of the leg is not free to rotate, and rotational movement in accordance with a certain rule. 为了模拟这种特殊的运动规律,本发明通过可调节气体阻尼的气缸节流阀开度控制机构组件来实现健侧步态跟随功能。 To simulate this particular law of motion, according to the present invention by an adjustable gas damper cylinder assembly throttle opening control mechanism to achieve contralateral gait following function. 气体阻尼大小跟气缸进(出)气口的开合程度有关,开口越大,气体阻尼越小,开口越小,气体阻尼越大。 About the size of cylinder intake gas damper (a) the degree of opening and closing the intake port, the greater the openings, the smaller the gas damper, the smaller the opening, the greater the gas damper. 图5是气缸及其相关零部件爆破图;图6 (a)和图6 (b)分别是气缸节流阀开度控制机构组件示意图及图中区域A的局部放大图。 FIG 5 is a exploded view of a cylinder and associated parts; FIG. 6 (a) and 6 (b) are a partially enlarged view of a cylinder assembly of the throttle valve opening control means and a schematic diagram of region A in FIG. 气缸节流阀开度控制机构组件由针阀51和直线电机52组成。 Throttle opening control means of the cylinder assembly 51 and needle valve 52 composed of a linear motor. 直线电机52通过自身螺纹旋入关节组件中气缸缸体一侧的螺纹孔中。 Linear motor 52 itself is threaded into the cylinder block side of the joint assembly of the threaded hole. 直线电机52的主轴和针阀51通过成形连接固连在一起,图6中的局部放大剖视图A表示针阀与气孔的相对位置关系。 The linear motor 52 and the needle valve spindle 51 connected fixedly connected by shaping, in a partially enlarged sectional view of FIG 6 showing relative positional relationship between the needle A and the pores. 直线电机52推动针阀51前进,节流面积逐渐减小,关节组件中的气缸阻尼逐渐增大,以提供足够的支撑力,协同关节组件中多轴关节瞬心的位置特征,保证了支撑相的稳定性。 Linear motor 52 push the needle 51 forward, throttle area gradually decreases, the damping cylinder is gradually increased in the joint assembly, in order to provide adequate support, wherein the position of the joint assembly coordinated multi-axis articulation instantaneous center to ensure that the support phase stability. 支撑相结束后,步态周期进入摆动相,直线电机52带动针阀51后退,节流面积逐渐增大,关节组件中的气缸阻尼逐渐减小,使膝关节转动更加灵活。 After the end of the stance phase, into the swing phase of the gait cycle, the linear motor 52 drives the needle 51 retracted, throttle area is gradually increased, the damping cylinder is gradually reduced in the joint assembly, the knee joint rotates more flexible. 膝关节的阻尼可以根据支撑相和摆动相的不同时期实时调节。 Damping the knee joint can be adjusted in real time according to the stance phase and swing phase of different periods. 而且直线电机52可以根据行走速度及关节角度变化调节关节组件中气缸上下两个腔室的气压,即当步速快时,直线电机52后退,节流面积逐渐增大,关节组件中的气缸阻尼逐渐减小,即当步速慢时,直线电机前进,节流面积逐渐减小,关节组件中的气缸阻尼逐渐增大,使得膝关节阻尼可以根据步速变化实时调节,以适应不同步速对膝关节阻尼力的要求,实现健侧步态的跟随功能。 The linear motor 52 can vary and adjust the air pressure in the cylinder upper and lower joint assembly of the two chambers in accordance with the traveling speed and the angle of the joint, i.e. when the fast pace, the linear motor 52 backward, gradually increased throttle area, joint assembly of the damper cylinder gradually decreases, i.e. when the slow pace, the forward linear motor, throttle area gradually decreases, the damping cylinder is gradually increased in the joint assembly, the knee joint so that the damping can be adjusted in real time according to the step change in speed to adapt to the different paces knee damping force required to achieve contralateral gait follow function.

[0033] 人体下肢运动多种多样,如平地行走,上下楼梯,上下坡道,跨越障碍,坐起等。 [0033] variety of human lower limbs, such as walking on level ground, down stairs, up and down the ramp, across the barrier, sit and so on. 为了完成上述下肢运动动作,大小腿的肌肉骨骼系统需要为关节提供一定的关节力矩和能量。 In order to accomplish the above lower limb movement action, big legs of the musculoskeletal system needs to provide some energy for the joint torque and joints. 大腿截肢患者由于肢体残疾,下肢不能够正常的为下肢运动提供关节力矩和能量。 Knee amputation patients because of physical disability, can not be normal lower extremity joint torques and provide energy for the lower limbs. 在平地行走过程中,穿戴本发明的残疾人可以通过下肢残端提供平地行走步态,即通过假肢步态支撑相稳定性组件和假肢步态跟随组件即可以实现平地行走的下肢运动。 In the ground during walking, the wearer of the present invention may provide persons with disabilities flat lower limb stump by gait, a gait that is supported by the prosthetic component and the prosthetic gait phase stability follower assembly which can achieve ground walking movement of the lower limbs. 通过对正常人的步态分析可知,下肢在完成上下楼梯和不借助外力坐起动作时,关节需要的驱动力矩和能量远远大于平地行走时所需力矩和能量。 By the analysis of the normal gait seen, upon completion of the lower limbs and down stairs without the aid of external force action sit, and the driving torque required is much greater than the energy required for the joint torque and energy 'walking. 此时,单凭假肢步态支撑相稳定性组件,假肢步态跟随组件和截肢患者残端所提供的力无法完成上下楼梯和坐起的动作。 In this case, the stability of stance phase of gait alone prosthetic component and the prosthetic component gait following the amputation stump force provided by the patient could not complete the operation sit and down stairs. 所以,本发明采用关节屈伸助力组件为假肢提供助伸力矩。 Therefore, the present invention employs flexion and extension assembly provides a power assist torque of the prosthesis extends. 关节屈伸助力组件3采用助伸电机(直流无刷电机)间接推动活塞来实现助力的功能。 3 using the booster assembly joint flexion extension promoter motor (brushless DC motor) contribute indirectly to the piston functions to achieve the booster. 助伸电机在丝杠的帮助下将旋转运动转化为直线运动。 Co-stretched with the help of the motor the rotational motion of the lead screw into linear motion. 丝杠螺母与气缸下端盖固连在一起,推动弹簧和活塞向上运动便可以起到助伸的作用。 The spindle nut fixedly connected with the cylinder head cover, the upward movement of the piston urging spring and can play the role of co-extending. 例如,截肢患者穿戴本发明在坐起运动中,坐在椅子上时,膝关节角度为90度,活塞处于气缸底部,需要起立时,直流电机转动,在电机提供的外力作用下,推动气缸下端盖向上运动,间接推动活塞向上运动,由于四杆机构杆长的设定,膝关节角度轨迹将从90度逐渐变为O度,当膝关节角度变为O度时,截肢患者将处于站立状态,电机反转,将气缸下端盖退回原始位置。 For example, when the present invention is worn in amputees sit movement, sitting in a chair, the knee angle is 90 degrees, the piston is in the bottom of the cylinder, starting immediately needed, the DC motor rotates, the motor provided at an external force, pushing the lower end of the cylinder upward movement of the lid, indirectly push the piston upward movement, since the four actuator rod length is set, the angle of the knee joint 90 is gradually changed from the track of the O, O when the knee angle becomes degrees, will be in a standing state amputees , reversing the motor, the cylinder head cover at the original retracted position. 交替上下楼梯时,助伸功能方法和坐起相同,此处不做累述。 When alternately up and down stairs, sit extension promoter function and method of the same, here is not tired.

[0034] 如图7 (a)和图7 (b)所示,自带减速器的助伸电机32的输出轴与电机端齿轮44通过成形连接和螺纹销固连在一起。 [0034] FIG. 7 (a) and 7 (b), the extension promoter comes reducer motor output shaft side gear 32 and the motor 44 are connected together by forming a solid and a threaded pin. 介轮43和小腿端盖41通过齿轮深沟球轴承46和小轴45连接在一起,介轮43与电机端齿轮44啮合。 Intermediate wheel 43 via a gear 41 and the leg end cap 46 and the deep groove ball bearings with a small shaft 45 is connected, via wheel 43 meshing with the motor gear 44 side. 丝杠34和丝杠端齿轮42通过成形连接固连在一起,并与介轮43啮合。 The threaded end of the screw 34 and gear 42 fixedly connected together by a connection forming, and engaged with the intermediate wheel 43. 丝杠34顶端通过丝杠轴深沟球轴承37连接小腿腔31顶端,其中三个齿轮为同一规格的齿轮。 Bearing screw 34 to the top 31 to the top chamber 37 connected to the lower leg by deep groove ball screw shaft, wherein three gear is a gear of the same size. 圆螺母36套在丝杠上,并通过120°均布的丝杠导杆35穿过小腿腔31上端光滑小孔与气缸下端盖33固连在一起,直流无刷电机带动丝杠34转动,丝杠34便带动圆螺母36和气缸下端盖33构成滑块,在关节组件中的气缸中直线往复运动,推动关节组件中的活塞23上下运动,实现假肢伸展助力功能。 Round nut 36 on the threaded sleeve, and the screw through 120 ° of the guide bar 35 passes through uniform smooth upper aperture 31 and lower leg cylinder chamber cover 33 secured together, brushless DC motor driven lead screw 34 is rotated, round nut 34 will drive the screw 36 and the cylinder head cover 33 constituting the slider linearly reciprocates in the cylinder joint assembly, the pushing joint assembly 23 up and down movement of the piston, to achieve boosting function extension prosthesis. 由于助伸组件仅用于助伸,不连续工作,有耗能小,噪声小的优点。 Since the only component extending extension promoter promoter, does not work continuously, it has low energy consumption, low noise advantage.

[0035] 以上实施方式仅用于说明本发明,而并非对本发明的限制,有关技术领域的普通技术人员,在不脱离本发明的精神和范围的情况下,还可以做出各种变化和变型,因此所有等同的技术方案也属于本发明的范畴,本发明的专利保护范围应由权利要求限定。 [0035] The above embodiments are merely illustrative of the present invention, and are not restrictive of the invention, relating to ordinary skill in the art, without departing from the spirit and scope of the present invention, can make various changes and modifications , all equivalent technical solutions also within the scope of the present invention, the scope of the present invention patent is defined by the appended claims.

Claims (3)

1.一种具有助力功能的假肢膝关节,上端与假肢接收腔连接,下端通过小腿连接杆、踝关节与脚板连接,其特征在于,包括固定气缸多轴假肢膝关节组件、气缸节流阀开度控制机构、膝关节助力伸展驱动机构三大部分; 所述固定气缸多轴假肢膝关节组件由上关节体、关节前臂、关节后臂、气缸及相关零部件组成;上关节体与假肢接收腔相连,关节前臂和关节后臂分别与上关节体、气缸连接,共同组成铰链多杆机构;气缸内设置活塞和可压缩弹簧,活塞的输出端为活塞支柱,通过螺纹与上关节体连接固定;活塞在气缸中往复运动,进而推动上关节体屈伸运动,活塞向下运动,可压缩弹簧被压缩,储存能量,活塞向上运动,被压紧的可压缩弹簧被释放,释放能量,关节转动并带动关节从屈曲状态变为伸展状态; 所述气缸节流阀开度控制机构由直线电机 A prosthetic knee joint having a booster function, the upper end of the receiving chamber is connected with the prosthetic, the lower end of the connecting rod by a leg, ankle and foot is connected, characterized in that the cylinder comprises a fixed multi-axis knee joint prosthesis component, the throttle opening cylinder control mechanism, the drive mechanism of the knee extension assist three parts; the cylinder fixed on the multi-axis by a prosthetic knee joint assembly body, forearm joints, articular arm, cylinder and associated component parts; upper joint prosthesis body and the receiving chamber connected joint forearm and joint the rear arm respectively, the cylinder is connected to the joint body, composed of the hinge multi-lever mechanism; a piston, and a compressible spring within the cylinder, the output end of the piston as the piston posts, by threads on the joint body is connected and fixed; piston reciprocates in the cylinder, thus promoting the joint body flexion and extension movement, the downward movement of the piston, the compressible spring is compressed to store energy, the upward movement of the piston, the compressible spring is pressed is released, the released energy, and drive the rotation joints from the joint flexion state to an extended state; throttle opening of the cylinder by the linear motor control means 和节流阀组成;节流阀为针式节流阀,其阀头部分为圆锥形,插入气缸进气口中;直线电机推动节流阀进行直线往复运动,阀头插入气缸进气口的深度往复变化,使进气口的开合程度不断变化,进而调节气体的阻尼大小; 所述膝关节助力伸展驱动机构包括直流无刷电机、齿轮传动组件、丝杠、气缸下端盖,膝关节助力伸展驱动机构下端通过小腿端盖组件与小腿连接杆连接,为假肢提供外力;丝杠与直流无刷电机的输出端相连,将电机的旋转运动转换为直线往复运动;丝杠螺母通过导向杆与气缸下端盖连为一体,当直流无刷电机转动时,丝杠螺母推动气缸下端盖,进而压缩气缸中的可压缩弹簧,可压缩弹簧推动活塞在气缸中做直线往复运动,推动上关节体运动。 Composition and a throttle valve; throttle of a throttle needle, into which a conical valve head, inserted into the cylinder intake port; linear motor drives the throttle valve linear reciprocating motion, a valve inserted into the cylinder head intake ports depth reciprocal changes the degree of opening of the intake port closing changing, thereby regulating the size of the damping gas; extension of the knee joint drive mechanism includes a lower power brushless DC motor, gear assembly, lead screw, cylinder head cover, knee extension booster a drive mechanism connected to the lower end of the connecting rod end cap assembly through the lower leg and lower leg, providing an external force to the prosthesis; screw and connected to the output of the brushless DC motor, to convert rotary motion of the motor into a linear reciprocating motion; spindle nut guide rod cylinder the cover as a single entity, when the rotation of the brushless DC motor, the spindle nut driven cylinder cap, and further compress the compressible spring cylinder, a compressible spring pushes the piston linearly reciprocates in the cylinder, pushing the joint body motion.
2.根据权利要求1所述的一种具有助力功能的假肢膝关节,其特征在于,所述膝关节助力伸展驱动机构的直流无刷电机采用Maxon EC30高功率直流无刷电机。 The one of the knee joint prosthesis 1 having a booster function claim, wherein the drive assist means extending the knee Maxon EC30 brushless DC motor using a high-power brushless DC motor.
3.根据权利要求1所述的一种具有助力功能的假肢膝关节,其特征在于,所述固定气缸多轴假肢膝关节组件中的活塞由活塞体、密封圈、活塞支柱、活塞直杆和活塞弯杆组成;活塞直杆和活塞弯杆通过螺纹连接或过盈配合固定为一体,活塞弯杆的上端与活塞支柱形成铰链连接。 3. According to a prosthetic knee joint having a booster function according to claim 1, wherein said multi-axis prosthetic knee fixed cylinder piston assembly by the piston body, seals, piston strut piston rod and linear the piston rods bent; straight piston rod and piston rod bent through an interference fit or a threaded connection is integrally fixed, the upper end of the piston and the piston rod bent struts forming a hinge connection.
CN 201310182128 2013-05-16 2013-05-16 Artificial limb knee joint with assistance function CN103271783B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201310182128 CN103271783B (en) 2013-05-16 2013-05-16 Artificial limb knee joint with assistance function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201310182128 CN103271783B (en) 2013-05-16 2013-05-16 Artificial limb knee joint with assistance function

Publications (2)

Publication Number Publication Date
CN103271783A CN103271783A (en) 2013-09-04
CN103271783B true CN103271783B (en) 2015-04-15

Family

ID=49054011

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201310182128 CN103271783B (en) 2013-05-16 2013-05-16 Artificial limb knee joint with assistance function

Country Status (1)

Country Link
CN (1) CN103271783B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103494659B (en) * 2013-10-07 2015-05-27 河北工业大学 Control method for artificial limb knee and ankle joints
DE102014006228A1 (en) * 2014-04-30 2015-11-05 Otto Bock Healthcare Gmbh prosthesis
DE102015106392A1 (en) * 2015-04-24 2016-10-27 Otto Bock Healthcare Products Gmbh A method for controlling the stance phase damping an artificial knee joint
CN105012056B (en) * 2015-06-01 2018-03-09 北京航空航天大学 Skeletal structure having an outer knee lower limb bionic
CN105291132B (en) * 2015-12-03 2017-03-08 哈尔滨工业大学 A knee achieve active and semi-passive driven humanoid robot
CN105662664B (en) * 2016-01-12 2017-08-08 丁科才 A semi-automatic thigh prosthesis
CN106726028B (en) * 2016-12-16 2018-06-26 上海理工大学 Flow perpendicular to the knee joint for intelligently adjusting the damping cylinder
CN106539633B (en) * 2016-12-16 2018-06-26 上海理工大学 For Direct Smart knee damping cylinder pusher type flow regulator
CN106891359B (en) * 2017-04-19 2019-05-21 上海理工大学 Knee joint structure for lower limb exoskeleton robot

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101163457A (en) * 2005-04-19 2008-04-16 利萨·格拉姆奈斯 Combined active and passive leg prosthesis system and a method for performing a movement with such a system
CN101336849A (en) * 2008-08-07 2009-01-07 清华大学 Cylinder fixation type four-bar mechanism intelligent artificial limb knee joint
CN101496751A (en) * 2009-03-11 2009-08-05 河北工业大学 Active mode human leg prosthetic limb
CN101856283A (en) * 2010-05-26 2010-10-13 清华大学 Damping-adjustable type ankle-foot prosthesis
CN101938958A (en) * 2008-02-07 2011-01-05 奥托·博克保健有限公司 Orthopedic knee joint and method for controlling an orthopedic knee joint
CN201814690U (en) * 2010-09-19 2011-05-04 上海理工大学 Active bionic ankle joint artificial limb
CN102247229A (en) * 2011-04-08 2011-11-23 北京林业大学 Active and passive joint prosthesis
CN102316828A (en) * 2008-04-30 2012-01-11 瑞泽丽欧拓派迪亚公司 Automatic prosthesis for above-knee amputees
CN102973338A (en) * 2012-12-07 2013-03-20 上海交通大学 Active-passive type ankle joint prosthesis and movement mode thereof

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2601778C (en) * 2005-02-02 2014-08-12 Ossur Hf Prosthetic and orthotic systems usable for rehabilitation
US8500823B2 (en) * 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US8652218B2 (en) * 2008-04-21 2014-02-18 Vanderbilt University Powered leg prosthesis and control methodologies for obtaining near normal gait

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101163457A (en) * 2005-04-19 2008-04-16 利萨·格拉姆奈斯 Combined active and passive leg prosthesis system and a method for performing a movement with such a system
CN101938958A (en) * 2008-02-07 2011-01-05 奥托·博克保健有限公司 Orthopedic knee joint and method for controlling an orthopedic knee joint
CN102316828A (en) * 2008-04-30 2012-01-11 瑞泽丽欧拓派迪亚公司 Automatic prosthesis for above-knee amputees
CN101336849A (en) * 2008-08-07 2009-01-07 清华大学 Cylinder fixation type four-bar mechanism intelligent artificial limb knee joint
CN101496751A (en) * 2009-03-11 2009-08-05 河北工业大学 Active mode human leg prosthetic limb
CN101856283A (en) * 2010-05-26 2010-10-13 清华大学 Damping-adjustable type ankle-foot prosthesis
CN201814690U (en) * 2010-09-19 2011-05-04 上海理工大学 Active bionic ankle joint artificial limb
CN102247229A (en) * 2011-04-08 2011-11-23 北京林业大学 Active and passive joint prosthesis
CN102973338A (en) * 2012-12-07 2013-03-20 上海交通大学 Active-passive type ankle joint prosthesis and movement mode thereof

Also Published As

Publication number Publication date
CN103271783A (en) 2013-09-04

Similar Documents

Publication Publication Date Title
EP1928367B1 (en) Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature
JP4669510B2 (en) Vacuum pump for prosthetic devices having an impact absorption and control rotation
US7393364B2 (en) Electronically controlled prosthetic system
Hitt et al. The sparky (spring ankle with regenerative kinetics) project: Design and analysis of a robotic transtibial prosthesis with regenerative kinetics
Herr et al. New horizons for orthotic and prosthetic technology: artificial muscle for ambulation
Au et al. An ankle-foot emulation system for the study of human walking biomechanics
US20110166489A1 (en) Hip and Knee Actuation Systems for Lower Limb Orthotic Devices
US7331906B2 (en) Apparatus and method for repetitive motion therapy
US20090030530A1 (en) Electronically controlled prosthetic system
CN1275578C (en) Lower limb walking external skeleton capable of being worn
JP3570619B2 (en) Air cylinder device for a prosthetic limb
JP2012501425A (en) Biomimetic mechanical joint
CN102036638A (en) Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton
EP1871308B1 (en) Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US9289316B2 (en) Quasi-active prosthetic joint system
US7942935B2 (en) Device and system for prosthetic knees and ankles
CA2447937A1 (en) Vacuum pump and shock absorber for artificial limb
CN102211627B (en) Four-leg robot mechanism based on bionic design
Cherelle et al. Design and validation of the ankle mimicking prosthetic (AMP-) foot 2.0
Belforte et al. Pneumatic active gait orthosis
Hitt et al. Dynamically controlled ankle-foot orthosis (DCO) with regenerative kinetics: Incrementally attaining user portability
CN100436237C (en) Human-imitating double-foot robot artificial leg
JP2004249102A (en) Leg prosthesis
WO2003059278A3 (en) Passive motion apparatus providing a controlled range of motion
WO2006078871A3 (en) Lower extremity exoskeleton

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model
CF01