CN106388983B - Drive And Its Driving Method, displacement detecting method applied to joint - Google Patents
Drive And Its Driving Method, displacement detecting method applied to joint Download PDFInfo
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- CN106388983B CN106388983B CN201610843339.7A CN201610843339A CN106388983B CN 106388983 B CN106388983 B CN 106388983B CN 201610843339 A CN201610843339 A CN 201610843339A CN 106388983 B CN106388983 B CN 106388983B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6863—Operating or control means magnetic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
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- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of Drive And Its Driving Method, displacement detecting method applied to joint, including：The First Line ring layer being connected with the first diaphysis and the second coil layer being connected with the second diaphysis, First Line ring layer include：At least one first magnetic induction loop, the second coil layer include：Second magnetic induction loop；First magnetic induction loop is connected with the first electric current input block, and the second magnetic induction loop is connected with the second electric current input block.Technical scheme inputs driving current to the first magnetic induction loop and the second magnetic induction loop respectively by the first electric current input block and the second electric current input block, to control the magnetic pole of the first magnetic induction loop and the second magnetic induction loop to be distributed, now, magneticaction is produced between first magnetic induction loop and the second magnetic induction loop, under magneticaction, first magnetic induction loop can carry out corresponding sports, so as to drive the first diaphysis to carry out corresponding sports.Technical scheme, while ensure that operability, fluency, its cost is lower.
Description
Technical field
The present invention relates to medical device technical field, more particularly to a kind of drive device and its driving applied to joint
Method, displacement detecting method and artificial limb system.
Background technology
At present, with the development of medical science and technology, demand more and more higher of the people to medical device.Wherein, artificial limb is as residual
Hinder the aid of personage, its fluency used and operability are particularly important.At present, coordinated using high-end intelligent chip high
The artificial limb of automation equipment is held, though above-mentioned purpose can be realized, its production cost and maintenance cost are very high.
Therefore it provides a kind of artificial limb system workable, fluency is high, cost is low, is urgent need to resolve in this area
Technical problem.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art, it is proposed that one kind is applied to joint
Drive And Its Driving Method, displacement detecting method and artificial limb system.
To achieve the above object, the invention provides a kind of drive device applied to joint, the joint to include：The
One diaphysis and the second diaphysis, it is characterised in that the drive device includes：The First Line ring layer that is connected with the first diaphysis and with institute
The second coil layer of the second diaphysis connection is stated, the First Line ring layer is oppositely arranged with second coil layer；
The First Line ring layer includes：At least one first magnetic induction loop, second coil layer include：Multiple second magnetic
Feel coil；
First magnetic induction loop is connected with the first electric current input block, the second magnetic induction loop and the second electric current input
Unit connects；
The first electric current input block is used to input corresponding driving current to each first magnetic induction loop, with control
The distribution of the magnetic pole of each first magnetic induction loop；
The second electric current input block is used to input corresponding driving current to each second magnetic induction loop, with control
The distribution of the magnetic pole of each second magnetic induction loop.
Alternatively, in addition to：Current detecting unit and the first computing unit；
First computing unit is connected with the current detecting unit, the current detecting unit and the described first sensing
Coil is connected；
The current detecting unit, which is used to not input to first magnetic induction loop in the first electric current input block, to be driven
Streaming current and when first magnetic induction loop is subjected to displacement, detects the change in the direction of the first induction coil induced currents
Number；
First computing unit is used for the change in the faradic direction detected according to the current detecting unit
Number calculates the displacement of first magnetic induction loop.
Alternatively, in addition to：Voltage detection unit and the second computing unit；
Second computing unit is connected with the voltage detection unit, the voltage detection unit and the described first sensing
Coils from parallel connection of coils；
The voltage detection unit, which is used to not input to first magnetic induction loop in the first electric current input block, to be driven
Streaming current and when first magnetic induction loop is subjected to displacement, detect changing for the direction of induced electromotive force in first induction coil
Become number；
The direction for the induced electromotive force that first computing unit is used to be detected according to the current detecting unit changes
Become the displacement that number calculates first magnetic induction loop.
Alternatively, the surface of first diaphysis is provided with several the first grooves, and first magnetic induction loop is located at institute
State in the first groove.
Alternatively, in addition to：
First protective layer, cover first diaphysis surface and first magnetic induction loop towards second coil layer
Side.
Alternatively, the surface of second diaphysis is provided with several the second grooves, and second magnetic induction loop is located at institute
State in the second groove.
Alternatively, in addition to：
Second protective layer, cover second diaphysis surface and second magnetic induction loop towards the First Line ring layer
Side.
Alternatively, the size and dimension all same of first magnetic induction loop and second magnetic induction loop.
Alternatively, the shape of first magnetic induction loop and second magnetic induction loop is cylinder.
To achieve the above object, present invention also offers a kind of artificial limb system, including：Drive device, the drive device
Using above-mentioned drive device.
To achieve the above object, present invention also offers a kind of driving method for being used to drive joint activity, for driving
Dynamic first magnetic induction loop is moved to the position with the target magnetic induction loop face in second coil layer by initial position, described
Driving method is included based on above-mentioned drive device, the driving method：
First electric current input block is to the first magnetic induction loop output driving current, to cause the first magnetic induction loop direction
The first magnetic pole is presented in one end of second coil layer, and the second magnetic pole, institute is presented backwards to one end of the second coil layer in the first magnetic induction loop
It is N poles to state one in the first magnetic pole and second magnetic pole, and another is S poles；
The second electric current input block is to the target magnetic induction loop output driving current, to cause the target magnetic strength
The second magnetic pole is presented towards one end of First Line ring layer in coil, and the target magnetic induction loop is presented backwards to one end of First Line ring layer
First magnetic pole.
Alternatively, when first magnetic induction loop is in initial position, in second coil layer with first magnetic
The second magnetic induction loop for feeling coil face is contraposition magnetic induction loop；
The target magnetic induction loop is adjacent with the contraposition magnetic induction loop.
Alternatively, the driving method also includes：
The second electric current input block is to the contraposition magnetic induction loop input driving current, to cause the contraposition magnetic strength
The first magnetic pole is presented towards one end of First Line ring layer in coil, and the contraposition magnetic induction loop is presented backwards to one end of First Line ring layer
Second magnetic pole.
Alternatively, the contraposition magnetic induction loop is located in second coil layer backwards to the side of the target magnetic induction loop
And second magnetic induction loop adjacent with the contraposition magnetic induction loop is power-assisted magnetic induction loop；
The driving method also includes：
The second electric current input block inputs driving current to the power-assisted magnetic induction loop, to cause the power-assisted magnetic strength
The first magnetic pole is presented towards one end of First Line ring layer in coil, and the power-assisted magnetic induction loop is presented backwards to one end of First Line ring layer
Second magnetic pole.
Alternatively, the target magnetic induction loop is located in second coil layer backwards to the side of the contraposition magnetic induction loop
And second magnetic induction loop adjacent with the target magnetic induction loop is resistance magnetic induction loop；
The driving method also includes：
The second electric current input block inputs driving current to the resistance magnetic induction loop, to cause the resistance magnetic strength
The first magnetic pole is presented towards one end of First Line ring layer in coil, and the resistance magnetic induction loop is presented backwards to one end of First Line ring layer
Second magnetic pole.
To achieve the above object, present invention also offers a kind of displacement detecting method of joint, the displacement detecting side
Method is included based on above-mentioned drive device, the wherein drive device：Current detecting unit and the first computing unit, the displacement detecting
Method is used for the displacement that first magnetic induction loop is detected when joint generation activity under external force；
The displacement detecting method includes：
The second electric current input block inputs driving current to each second magnetic induction loop, to cause arbitrary neighborhood
The magnetic pole distribution of two second magnetic induction loops its towards one end of First Line ring layer is different；
Current detecting unit detects the change in the first magnetic induction loop caused faradic direction in motion process
Number；
The change number in the faradic direction that the first computing unit detects according to the current detecting unit
The displacement S of first magnetic induction loop is calculated,
S=N*L
Wherein, N is the change number in the first magnetic induction loop caused faradic direction in motion process, and L is
The distance of the central point of two neighboring second magnetic induction loop.
To achieve the above object, present invention also offers a kind of displacement detecting method of joint, the displacement detecting side
Method is included based on above-mentioned drive device, the wherein drive device：Voltage detection unit and the second computing unit, the displacement detecting
Method is used for the displacement that first magnetic induction loop is detected when joint generation activity under external force；
The displacement detecting method includes：
The second electric current input block inputs driving current to each second magnetic induction loop, to cause arbitrary neighborhood
The magnetic pole distribution of two second magnetic induction loops its towards one end of First Line ring layer is different；
Voltage detection unit detects the first magnetic induction loop direction of caused induced electromotive force in motion process and changed
Become number；
The change time in the direction for the induced electromotive force that the second computing unit detects according to the voltage detection unit
Number calculates the displacement S of first magnetic induction loop,
S=N*L
Wherein, N be the first magnetic induction loop direction of caused induced electromotive force in motion process change number, L
For the distance of the central point of two neighboring second magnetic induction loop.
The invention has the advantages that：
The invention provides a kind of Drive And Its Driving Method, displacement detecting method applied to joint, pass through
First electric current input block and the second electric current input block are respectively to the first magnetic induction loop and the second magnetic induction loop input driving electricity
Stream, to control the magnetic pole of the first magnetic induction loop and the second magnetic induction loop to be distributed, now, the first magnetic induction loop and the second magnetic induction loop
Between produce magneticaction, under magneticaction, the first magnetic induction loop can carry out corresponding sports, so as to drive the first diaphysis to enter
Row corresponding sports.
In addition, when the first electric current input block does not input driving current to the first magnetic induction loop, it is defeated by the second electric current
Enter unit and input driving current to each second magnetic induction loop, to cause its direction first of the two of arbitrary neighborhood the second magnetic induction loops
The magnetic pole distribution of one end of coil layer is different, and is based on the first magnetic induction loop induced-current or induced electromotive force in motion process
Change number, the displacement of the first magnetic induction loop can be calculated, so as to detect the displacement of the first diaphysis.
Brief description of the drawings
Fig. 1 is a kind of structural representation for drive device that the embodiment of the present invention one provides；
Fig. 2 is the top view of the first diaphysis in Fig. 1；
Fig. 3 is the top view of the second diaphysis in Fig. 1；
Fig. 4 is schematic diagram when the first magnetic induction loop of the second magnetic induction loop driving is moved in the present invention；
Fig. 5 is the structural representation for another drive device that the embodiment of the present invention one provides；
Fig. 6 is the structural representation for another drive device that the embodiment of the present invention one provides；
Fig. 7 is a kind of flow chart for being used to drive the driving method of joint activity that the embodiment of the present invention three provides；
Fig. 8 is a kind of flow chart of the displacement detecting method for joint that the embodiment of the present invention four provides；
Fig. 9 is a kind of flow chart of the displacement detecting method for joint that the embodiment of the present invention five provides.
Embodiment
To make those skilled in the art more fully understand technical scheme, the present invention is carried below in conjunction with the accompanying drawings
A kind of Drive And Its Driving Method, the displacement detecting method applied to joint supplied is described in detail.
Fig. 1 is a kind of structural representation for drive device that the embodiment of the present invention one provides, and Fig. 2 is the first diaphysis in Fig. 1
Top view, Fig. 3 be Fig. 1 in the second diaphysis top view, as shown in Figure 1 to Figure 3, the drive device is applied to joint, with
Control joint is moved accordingly, wherein, joint includes：First diaphysis 9 and the second diaphysis 10, the drive device include：Phase
To the First Line ring layer and the second coil layer of setting.
First Line ring layer is connected with the first diaphysis 9, including：At least one first magnetic induction loop 1 is (exemplary in Fig. 1 to draw
1 the first magnetic induction loop 1, exemplary in Fig. 2 to depict 5 the first magnetic induction loops 1), the first magnetic induction loop 1 and the first electric current
Input block 3 connects, and the first electric current input block 3 is used to input corresponding driving current to each first magnetic induction loop 1, with control
The distribution of the magnetic pole of each first magnetic induction loop 1.
Second coil layer is connected with the second diaphysis 10, including：Multiple second magnetic induction loops 2 are (merely exemplary in accompanying drawing 1 to draw
It is 7 the second magnetic induction loops 2, exemplary in accompanying drawing 3 to depict 30 the second magnetic induction loops 2), whole structures of the second magnetic induction loop 2
Into magnetic induction loop array, the second magnetic induction loop 2 is connected with the second electric current input block 4, and the second electric current input block 4 is used for each
Second magnetic induction loop 2 inputs corresponding driving current, to control the distribution of the magnetic pole of each second magnetic induction loop 2.
It should be noted that the first diaphysis 9 is the diaphysis with ball and socket joint in accompanying drawing, the second diaphysis 10 is with fossa glenoid
The situation of diaphysis only play exemplary effect, it will not produce limitation to technical scheme.In the present embodiment,
Can be that the first diaphysis 9 is the diaphysis with fossa glenoid, the second diaphysis 10 is the diaphysis with ball and socket joint, and such a situation does not provide
Respective drawings.
In addition, in Fig. 1, all the first electric current input blocks 3 are connected to same first electric current input block 3, all the
Two electric current input blocks 4 are connected to the situation of same second electric current input block 4, only play exemplary effect, and it will not be to this
The technical scheme of invention produces limitation.In the present embodiment, multiple first electric current input blocks 3 and the second electric current can also be set
Input block 4, the first electric current input block 3 correspond with the first magnetic induction loop 1, the second electric current input block 4 and the second magnetic
Sense coil 2 corresponds, and such a situation does not provide respective drawings.
After those skilled in the art in magnetic induction loop it should also be understood that be passed through electric current, it can be induced accordingly
Magnetic field, now the magnetic induction loop can be equivalent to a bar-shaped magnet.In magnetic induction loop around in the case of certain, difference is passed through
The electric current in direction, it may be such that the magnetic pole at magnetic induction loop both ends changes, i.e. the magnetic pole of bar-shaped magnet changes.
In the present embodiment, by the first electric current input block 3 and the second electric current input block 4 respectively to the first magnetic induction line
The magnetic induction loop 2 of circle 1 and second inputs driving current, to control the magnetic pole of the first magnetic induction loop 1 and the second magnetic induction loop 2 to be distributed,
Now, magneticaction is produced between the first magnetic induction loop 1 and the second magnetic induction loop 2, under magneticaction, the first magnetic induction loop 1
Corresponding sports can be carried out, so as to drive the first diaphysis 9 to carry out corresponding sports.
Technical scheme is better understood from for ease of those skilled in the art, is come below in conjunction with accompanying drawing to this hair
Bright technical principle is described.
Fig. 4 is schematic diagram when the first magnetic induction loop of the second magnetic induction loop driving is moved in the present invention, such as Fig. 4 institutes
Show, exemplified by driving the first magnetic induction loop a to move right, for convenience of describing, the first magnetic induction loop a is in initial position when institute
Second magnetic induction loop b2 of face is designated as aligning magnetic induction loop, by positioned at contraposition magnetic induction loop right side and the second adjacent magnetic induction line
Circle b3 is designated as target magnetic induction loop, will be designated as power-assisted magnetic strength positioned at contraposition magnetic induction loop left side and the second adjacent magnetic induction loop b1
Coil, resistance magnetic induction loop will be designated as positioned at target magnetic induction loop right side and the second adjacent magnetic induction loop b4.
Driving current, now, the first magnetic induction loop a courts are inputted to the first magnetic induction loop a by the first electric current input block 3
The first magnetic pole is presented to one end of the second coil layer, the second magnetic pole is presented backwards to one end of the second coil layer in the first magnetic induction loop a.
It should be noted that the first magnetic pole is N poles in accompanying drawing, the second magnetic pole only plays exemplary effect for the situation of S poles, and it will not be right
Technical scheme produces limitation.Those skilled in the art are it should also be understood that can also be the first magnetic pole in the present invention
For S poles, the second magnetic pole is N poles.
It is mobile to target magnetic induction loop (i.e. the second magnetic induction loop b3) for the first magnetic induction loop a of driving, then it can now pass through
Second electric current input block 4 inputs driving current to target magnetic induction loop, to cause target magnetic induction loop towards the second coil layer
One end present the second magnetic pole, target magnetic induction loop backwards to the second coil layer one end present the first magnetic pole.
Now, as between the second magnetic induction loop b3 and the first magnetic induction loop a of target magnetic induction loop by magneticaction,
" heteropole is attracting " phenomenon is produced, to drive the first magnetic induction loop a lateral movements to the right, until the first magnetic induction loop a and target magnetic strength
Coil face.
During driving the first magnetic induction loop a to move to target magnetic induction loop face, alternatively, the second electric current is defeated
Enter unit 4 to contraposition magnetic induction loop (i.e. the second magnetic induction loop b2) input driving current, to align magnetic induction loop direction the
The first magnetic pole (i.e. N poles) is presented in one end of two wires ring layer, and the second magnetic is presented backwards to one end of the second coil layer in contraposition magnetic induction loop
Pole (i.e. S poles).Now made as between the second magnetic induction loop b2 and the first magnetic induction loop a of contraposition magnetic induction loop by magnetic force
With generation " homopolar-repulsion " phenomenon.During the first magnetic induction loop a is moved to target magnetic induction loop face, the contraposition
Magnetic induction loop can have the component of a level to the right to the first magnetic induction loop a repulsive force, can further promote the first magnetic
Sense coil a is moved right.
Alternatively, the second electric current input block 4 inputs driving current to power-assisted magnetic induction loop (i.e. the second magnetic induction loop b1),
To cause power-assisted magnetic induction loop that the first magnetic pole is presented towards one end of the second coil layer, power-assisted magnetic induction loop is backwards to the second coil layer
One end present the second magnetic pole.Now lead to as between the second magnetic induction loop b1 and the first magnetic induction loop a of power-assisted magnetic induction loop
Magneticaction is crossed, produces " homopolar-repulsion " phenomenon.The process with target magnetic induction loop face is moved in the first magnetic induction loop a
In, the power-assisted magnetic induction loop can have the component of a level to the right to the first magnetic induction loop a repulsive force, can further promote
Enter the first magnetic induction loop a to move right.
From the above, inputted by the second electric current input block 4 to contraposition magnetic induction loop and power-assisted magnetic induction loop
Driving current, repulsive force, the repulsive force are produced to the first magnetic induction loop a to align magnetic induction loop and power-assisted magnetic induction loop
The first magnetic induction loop a can be promoted to be moved to the position with target magnetic induction loop face, so as to effectively lift the first magnetic induction loop a
Response speed.
To ensure that the first magnetic induction loop a can accurately move to the position with target magnetic induction loop face, alternatively, second
Electric current input block 4 inputs driving current to resistance magnetic induction loop (i.e. the second magnetic induction loop b4), to cause resistance magnetic induction loop
The first magnetic pole is presented towards one end of the second coil layer, the second magnetic is presented backwards to one end of the second coil layer in resistance magnetic induction loop
Pole.Now as between the second magnetic induction loop b4 and the first magnetic induction loop a of resistance magnetic induction loop pass through magneticaction, produce
" homopolar-repulsion " phenomenon.When the first magnetic induction loop a can accurately move to the position with target magnetic induction loop face, due to
The distance between one magnetic induction loop a and power-assisted magnetic induction loop relatively far away from, therefore power-assisted magnetic induction loop and the first magnetic induction loop 1 it
Between active force can be neglected, now the first magnetic induction loop 1 only by come artoregistration magnetic induction loop repulsive force (point to upper right
Side), the repulsive force (sensing upper left side) from resistance magnetic induction loop, the attraction from target magnetic induction loop (point to vertically to
Under), and come artoregistration magnetic induction loop repulsive force and the repulsive force from resistance magnetic induction loop it is equal in magnitude, these three effect
Horizontal component is not present with joint efforts in power, therefore the first magnetic induction loop a does not continue to move right.
, can be with if wish that the first magnetic induction loop a continues to move right it should be noted that in the present embodiment
Second magnetic induction loop b3 of the current institute's faces of the first magnetic induction loop a will be located at the contraposition magnetic induction loop as contraposition magnetic induction loop
Right side and the second adjacent magnetic induction loop b4 are designated as target magnetic induction loop, and use above-mentioned similar type of drive, to drive the
One magnetic induction loop a moves to the position with target magnetic induction loop (i.e. the second magnetic induction loop b4) face, so as to realize the first magnetic strength
Coil a continues to move to the right.
Those skilled in the art are it should also be understood that above-mentioned target magnetic induction loop and the adjacent technical side of contraposition magnetic induction loop
Case for the present invention in a kind of preferred scheme, its will not to technical scheme produce limitation, by will with align magnetic strength
Coil is adjacent to be used as target magnetic induction loop, it is ensured that and the attraction between target magnetic induction loop and the first magnetic induction loop 1 is sufficiently large,
So as to more accurately control the direction of motion of the first magnetic induction loop 1.In the present invention, can be according to the first magnetic induction loop 1
Corresponding target magnetic induction loop is chosen in direction to be exercised, only need to meet suction of the target magnetic induction loop to the first magnetic induction loop 1
A sensing identical component with direction to be exercised be present in gravitation.
From the above, technical scheme is inputted single by the first electric current input block 3 and the second electric current
Member 4 inputs driving current to the first magnetic induction loop 1 and the second magnetic induction loop 2 respectively, to control the first magnetic induction loop 1 and the second magnetic
Feel the magnetic pole distribution of coil 2, now, magneticaction is produced between the first magnetic induction loop 1 and the second magnetic induction loop 2, made in magnetic force
Under, the first magnetic induction loop 1 can carry out corresponding sports, so as to drive the first diaphysis 9 to carry out corresponding sports.
With using high-end intelligent chip to coordinate side of the high-end automation equipment to control joint to be moved in the prior art
Case is compared, and the technical scheme that the present invention uses electric current input block and magnetic induction loop to control joint to be moved, ensure that
While workable, fluency, its cost is lower.
With continued reference to shown in Fig. 1 to Fig. 3, in the present embodiment, alternatively, the first magnetic induction loop 1 and the second magnetic induction loop 2
Size and dimension all same, further, the shape of the first magnetic induction loop 1 and the second magnetic induction loop 2 is cylinder.
Drive device provided by the invention can not only drive the first diaphysis 9 to be moved, but also can be in the first electric current
When input block 3 does not input driving current to the first magnetic induction loop 1, the moving displacement of the first diaphysis 9 is detected.
Alternatively, Fig. 5 is the structural representation for another drive device that the embodiment of the present invention one provides, as shown in figure 5,
The drive device also includes：The computing unit 6 of current detecting unit 5 and first；First computing unit 6 connects with current detecting unit 5
Connect, current detecting unit 5 is connected with the first induction coil；Current detecting unit 5 is used in the first electric current input block 3 not to the
When one magnetic induction loop 1 inputs driving current and the first magnetic induction loop 1 and is subjected to displacement, the first induction coil induced currents of detection
The change number in direction；First computing unit 6 is used for the change in the faradic direction detected according to current detecting unit 5
Number calculates the displacement of the first magnetic induction loop 1.
Specifically, the movement detection process is as follows：
First, the first electric current input block 3 stops inputting driving current to the first magnetic induction loop 1, and the input of the second electric current is single
Member 4 inputs driving current to each second magnetic induction loop 2, to cause its direction first of the two of arbitrary neighborhood the second magnetic induction loops 2
The magnetic pole distribution of one end of magnetic induction line ring layer is different, and now, the magnetic field intensity of the face position of the second magnetic induction loop 2 is most strong, adjacent
The magnetic direction of the face opening position of two the second magnetic induction loops 2 is opposite.
It can be seen from Lenz's law, magnetic field caused by induced-current always hinders the change for causing faradic magnetic flux
Change.Therefore, in the motion process of the first magnetic induction loop 1, when often passing through from the face position of second magnetic induction loop 2, then it is felt
The direction of induced current can change once.
Therefore, when often one-shot change occurs for the induced-current in the first magnetic induction loop 1, then the first magnetic induction loop 1 is shown
Distance L has been moved, wherein, L is the distance of the central point of two neighboring second magnetic induction loop 2.
Then, current detecting unit 5 detects the first magnetic induction loop 1 caused faradic direction in motion process
Change times N.
Finally, the first computing unit 6 is used for the change time in the faradic direction detected according to current detecting unit 5
Number N calculates the displacement S of the first magnetic induction loop 1, wherein, S=N*L.
The moving displacement of the first magnetic induction loop 1 can be calculated by above-mentioned steps, that is, obtains the motion bit of the first diaphysis 9
Move.
Fig. 6 is the structural representation for another drive device that the embodiment of the present invention one provides, as shown in fig. 6, as another
A kind of alternative, the drive device also include：The computing unit 8 of voltage detection unit 7 and second；Second computing unit 8 and electricity
Pressure detection unit 7 connects, and voltage detection unit 7 is in parallel with the first induction coil；Voltage detection unit 7 is used for defeated in the first electric current
When entering unit 3 and not inputting driving current and the first magnetic induction loop 1 to the first magnetic induction loop 1 and be subjected to displacement, first line of induction is detected
The change number in the direction of induced electromotive force in circle；First computing unit 6 is used for the sensing detected according to current detecting unit 5
The change number in the direction of electromotive force calculates the displacement of the first magnetic induction loop 1.
Specifically, the movement detection process is as follows：
First, the first electric current input block 3 stops inputting driving current to the first magnetic induction loop 1, and the input of the second electric current is single
Member 4 inputs driving current to each second magnetic induction loop 2, to cause its direction first of the two of arbitrary neighborhood the second magnetic induction loops 2
The magnetic pole distribution of one end of magnetic induction line ring layer is different, and now, the magnetic field intensity of the face position of the second magnetic induction loop 2 is most strong, adjacent
The magnetic direction of the face opening position of two the second magnetic induction loops 2 is opposite.
It can be seen from Lenz's law, magnetic field caused by induced-current always hinders the change for causing faradic magnetic flux
Change.Therefore, in the motion process of the first magnetic induction loop 1, when often passing through from the face position of second magnetic induction loop 2, then it is felt
The direction of induced current can change once, and correspondingly, the direction of induced electromotive force can also change once.
Therefore, when often one-shot change occurs for the sensitive electromotive force in the first magnetic induction loop 1, then the first magnetic strength is shown
Coil 1 has moved distance L, wherein, L is the distance of the central point of two neighboring second magnetic induction loop 2.
Then, current detecting unit 5 detects the first magnetic induction loop 1 caused faradic direction in motion process
Change times N.
Finally, the first computing unit 6 is used for the change in the direction of the induced electromotive force detected according to current detecting unit 5
Times N calculates the displacement S of the first magnetic induction loop 1, wherein, S=N*L.
The moving displacement of the first magnetic induction loop 1 can be calculated by above-mentioned steps, that is, obtains the motion bit of the first diaphysis 9
Move.
With continued reference to shown in Fig. 1 to Fig. 3, as a kind of concrete scheme in the present embodiment, the surface of the first diaphysis 9 is set
There are several the first grooves 11, the surface of the second diaphysis 10 is provided with several the second grooves 12, and the first magnetic induction loop 1 is positioned at the
In one groove 11, the second magnetic induction loop 2 is located in the second groove 12.
In addition, to be effectively protected the first magnetic induction loop 1 and the second magnetic induction loop 2 and avoiding the He of the first magnetic induction loop 1
Second magnetic induction loop 2 contacts by mistake.Alternatively, the surface of the first diaphysis 9 and the first magnetic induction loop 1 are towards the one of the second coil layer
Side is provided with the first protective layer 13, the surface of the second diaphysis 10 and the second magnetic induction loop 2 and set towards the side of First Line ring layer
There is the second protective layer 14.
It should be noted that the above-mentioned magnetic induction loop 2 of first magnetic induction loop 1 and second is in the technology in the groove of corresponding diaphysis
Scheme is a kind of preferred scheme in the present invention, and it is easy to the company of the first magnetic induction loop 1 and the second magnetic induction loop 2 with corresponding diaphysis
Connect.In the present embodiment, the first magnetic induction loop 1 and the second magnetic induction loop 2 can also be fixed in the surface of corresponding diaphysis, such a situation
Respective drawings are not provided.
In addition, the first electric current input block 3, the second electric current input block 4, current detecting unit 5, first in the accompanying drawings
Computing unit 6, voltage detection unit 7, the second computing unit 8 are respectively positioned on the situation outside diaphysis, only play exemplary effect, it is not
Limitation can be produced to technical scheme.In the present invention, corresponding to being also placed in above-mentioned each unit in diaphysis.
Embodiment two
The embodiment of the present invention two provides a kind of artificial limb system, and the artificial limb system includes the drive provided in above-described embodiment one
Dynamic device, particular content can be found in the description in above-described embodiment one, and here is omitted.
Embodiment three
Fig. 7 is a kind of flow chart for being used to drive the driving method of joint activity that the embodiment of the present invention three provides, such as
Shown in Fig. 7, based on the drive device provided in above-described embodiment one, the description for the drive device can be found in the driving method
Content in above-described embodiment one, here is omitted.The driving method is used to drive the first magnetic induction loop to be transported by initial position
Move to the position with the target magnetic induction loop face in the second coil layer, including：
Step S101, the first electric current input block is to the first magnetic induction loop output driving current, to cause the first magnetic induction line
The first magnetic pole is presented towards one end of the second coil layer in circle, and the second magnetic is presented backwards to one end of the second coil layer in the first magnetic induction loop
Pole.
Wherein, one in the first magnetic pole and the second magnetic pole is N poles, and another is S poles；
Step S102, the second electric current input block is to target magnetic induction loop output driving current, to cause target magnetic induction line
Enclose one end towards First Line ring layer and the second magnetic pole is presented, the first magnetic is presented backwards to one end of First Line ring layer in target magnetic induction loop
Pole.
In the present embodiment, by the first electric current input block and the second electric current input block respectively to the first magnetic induction loop
Driving current is inputted with target magnetic induction loop, to cause the target magnetic induction loop in the second coil layer and the generation of the first magnetic induction loop
" heteropole is attracting " phenomenon, to drive the first magnetic induction loop to be moved to the position with target magnetic induction loop face, so as to drive first
Diaphysis carries out corresponding sports.
In the present embodiment, alternatively, when the first magnetic induction loop is in initial position, in the second coil layer with the first magnetic strength
Second magnetic induction loop of coil face is contraposition magnetic induction loop, and the target magnetic induction loop is adjacent with contraposition magnetic induction loop.
The driving method also includes：
Step S103, the second electric current input block is to contraposition magnetic induction loop input driving current, to align magnetic induction line
Enclose one end towards First Line ring layer and the first magnetic pole is presented, the second magnetic is presented backwards to one end of First Line ring layer in contraposition magnetic induction loop
Pole.
By inputting driving current to contraposition magnetic induction loop, produced with to align between magnetic induction loop and the first magnetic induction loop
Raw " homopolar-repulsion " phenomenon.The process with target magnetic induction loop face is moved in the first magnetic induction loop, the contraposition magnetic induction loop
One and the sensing identical component of the direction of motion of the first magnetic induction loop be present to the repulsive force of the first magnetic induction loop, one can be entered
Step ground promotes the first magnetic induction loop to be moved to the position with target magnetic induction loop face.
Alternatively, contraposition magnetic induction loop is located in the second coil layer backwards to the side of target magnetic induction loop and with aligning magnetic strength
The second adjacent magnetic induction loop of coil is power-assisted magnetic induction loop.
The driving method also includes：
Step S104, the second electric current input block inputs driving current to power-assisted magnetic induction loop, to cause power-assisted magnetic induction line
Enclose one end towards First Line ring layer and the first magnetic pole is presented, the second magnetic is presented backwards to one end of First Line ring layer in power-assisted magnetic induction loop
Pole.
By inputting driving current to power-assisted magnetic induction loop, to produce between power-assisted magnetic induction loop and the first magnetic induction loop
Raw " homopolar-repulsion " phenomenon.The process with target magnetic induction loop face is moved in the first magnetic induction loop, the power-assisted magnetic induction loop
One and the sensing identical component of the direction of motion of the first magnetic induction loop be present to the repulsive force of the first magnetic induction loop, one can be entered
Step ground promotes the first magnetic induction loop to be moved to the position with target magnetic induction loop face.
Alternatively, in the second coil layer positioned at target magnetic induction loop backwards to align magnetic induction loop side and with target magnetic strength
The second adjacent magnetic induction loop of coil is resistance magnetic induction loop.
The driving method also includes：
Step S105, the second electric current input block inputs driving current to resistance magnetic induction loop, to cause resistance magnetic induction line
Enclose one end towards First Line ring layer and the first magnetic pole is presented, the second magnetic is presented backwards to one end of First Line ring layer in resistance magnetic induction loop
Pole.
By inputting driving current to power-assisted magnetic induction loop, to produce between power-assisted magnetic induction loop and the first magnetic induction loop
Raw " homopolar-repulsion " phenomenon.When the first magnetic induction loop moves to the position with target magnetic induction loop face, due to the first magnetic strength
The distance between coil and power-assisted magnetic induction loop relatively far away from, therefore the effect between power-assisted magnetic induction loop and the first magnetic induction loop
Power can be neglected, now the first magnetic induction loop only by carry out the repulsive force of artoregistration magnetic induction loop, from resistance magnetic induction loop
Repulsive force, the attraction from target magnetic induction loop, and come artoregistration magnetic induction loop repulsive force and come from resistance magnetic strength
The repulsive force of coil is equal in magnitude, and the resultant direction of these three active forces is vertical with first (the second) coil layer, therefore the first magnetic
Sense coil is no longer moved.
It should be noted that step S102 can also perform prior to step S101 in the present embodiment, or it is same with step S101
Shi Zhihang.In addition, the execution sequence in the present embodiment for step S103, step S104 and step S105 is not restricted, it is only necessary to
Meet that step S103, step S104 and step S105 are performed after being located at step S101 and S102.
Example IV
Fig. 8 is a kind of flow chart of the displacement detecting method for joint that the embodiment of the present invention four provides, as shown in figure 8,
Wherein, the displacement detecting method is based on the drive device provided in above-described embodiment one, and the drive device includes：Electric current is examined
Unit and the first computing unit are surveyed, the description for the drive device can be found in the content in above-described embodiment one.The displacement is examined
Survey method is used to, when the first electric current input block does not input driving current to the first magnetic induction loop, detect the motion of the first diaphysis
Displacement, the displacement detecting method include：
Step S201, the second electric current input block inputs driving current to each second magnetic induction loop, to cause arbitrary neighborhood
Two the second magnetic induction loops its be distributed towards the magnetic pole of one end of First Line ring layer it is different.
Step S202, current detecting unit detection the first magnetic induction loop caused faradic side in motion process
To change number.
Step S203, the change number in the faradic direction that the first computing unit detects according to current detecting unit
Calculate the displacement S of the first magnetic induction loop.
Wherein, S=N*L, N are the change time in the first magnetic induction loop caused faradic direction in motion process
Number, L are the distance of the central point of two neighboring second magnetic induction loop.
It should be noted that for above-mentioned steps S201~step S203 specific descriptions, reference can be made to above-described embodiment one
In corresponding contents, here is omitted.
Embodiment five
Fig. 9 is a kind of flow chart of the displacement detecting method for joint that the embodiment of the present invention five provides, as shown in figure 9,
Wherein, the displacement detecting method is based on the drive device provided in above-described embodiment one, and the drive device includes：Voltage is examined
Unit and the second computing unit are surveyed, the description for the drive device can be found in the content in above-described embodiment one.The displacement is examined
Survey method is used to, when the first electric current input block does not input driving current to the first magnetic induction loop, detect the motion of the first diaphysis
Displacement, the displacement detecting method include：
Step S301, the second electromotive force input block inputs driving current to each second magnetic induction loop, to cause any phase
The magnetic pole distribution of two adjacent the second magnetic induction loops its towards one end of First Line ring layer is different.
Step S302, electromotive force detection unit detection the first magnetic induction loop caused induced electromotive force in motion process
Direction change number.
Step S303, the change in the direction for the induced electromotive force that the second computing unit detects according to electromotive force detection unit
Number calculates the displacement S of the first magnetic induction loop.
Wherein, S=N*L, N are the change in the first magnetic induction loop direction of caused induced electromotive force in motion process
Number, L are the distance of the central point of two neighboring second magnetic induction loop.
It should be noted that for above-mentioned steps S301~step S303 specific descriptions, reference can be made to above-described embodiment one
In corresponding contents, here is omitted.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (17)
1. a kind of drive device applied at joint of artificial limb, the joint of artificial limb includes：First diaphysis and the second diaphysis, it is special
Sign is that the drive device includes：The First Line ring layer being connected with the first diaphysis and be connected with second diaphysis second
Coil layer, the First Line ring layer are oppositely arranged with second coil layer；
The First Line ring layer includes：At least one first magnetic induction loop, second coil layer include：Multiple second magnetic induction lines
Circle；
First magnetic induction loop is connected with the first electric current input block, second magnetic induction loop and the second electric current input block
Connection；
The first electric current input block is used to input corresponding driving current to each first magnetic induction loop, to control each institute
State the distribution of the magnetic pole of the first magnetic induction loop；
The second electric current input block is used to input corresponding driving current to each second magnetic induction loop, to control each institute
State the distribution of the magnetic pole of the second magnetic induction loop.
2. drive device according to claim 1, it is characterised in that also include：Current detecting unit and first calculates list
Member；
First computing unit is connected with the current detecting unit, the current detecting unit and first magnetic induction loop
Series connection；
The current detecting unit is used to not input driving electricity to first magnetic induction loop in the first electric current input block
Stream and first magnetic induction loop is when being subjected to displacement, detects the change time in the direction of the first magnetic induction loop induced currents
Number；
First computing unit is used for the change number in the faradic direction detected according to the current detecting unit
Calculate the displacement of first magnetic induction loop.
3. drive device according to claim 1, it is characterised in that also include：Voltage detection unit and second calculates list
Member；
Second computing unit is connected with the voltage detection unit, the voltage detection unit and first magnetic induction loop
It is in parallel；
The voltage detection unit is used to not input driving electricity to first magnetic induction loop in the first electric current input block
Stream and first magnetic induction loop is when being subjected to displacement, detects the change time in the direction of induced electromotive force in first magnetic induction loop
Number；
First computing unit is used for the change time in the direction of the induced electromotive force detected according to the current detecting unit
Number calculates the displacement of first magnetic induction loop.
4. drive device according to claim 1, it is characterised in that the surface of first diaphysis be provided with several
One groove, first magnetic induction loop are located in first groove.
5. drive device according to claim 1, it is characterised in that also include：
First protective layer, cover first diaphysis surface and first magnetic induction loop towards the one of second coil layer
Side.
6. drive device according to claim 1, it is characterised in that the surface of second diaphysis be provided with several
Two grooves, second magnetic induction loop are located in second groove.
7. drive device according to claim 1, it is characterised in that also include：
Second protective layer, cover second diaphysis surface and second magnetic induction loop towards the one of the First Line ring layer
Side.
8. according to any described drive device in claim 1-7, it is characterised in that first magnetic induction loop and described the
The size and dimension all same of two magnetic induction loops.
9. drive device according to claim 8, it is characterised in that first magnetic induction loop and second magnetic induction line
The shape of circle is cylinder.
A kind of 10. artificial limb system, it is characterised in that including：Drive device as described in any in above-mentioned claim 1-9.
A kind of 11. driving method for being used to drive activity at joint of artificial limb, for driving the first magnetic induction loop to be transported by initial position
Move to the position with the target magnetic induction loop face in second coil layer, it is characterised in that the driving method is based on upper
Stating any described drive device, the driving method in claim 1-9 includes：
First electric current input block is to the first magnetic induction loop output driving current, to cause the first magnetic induction loop towards second
One end of coil layer is presented the first magnetic pole, and the second magnetic pole is presented backwards to one end of the second coil layer in the first magnetic induction loop, and described the
One in one magnetic pole and second magnetic pole is N poles, and another is S poles；
The second electric current input block is to the target magnetic induction loop output driving current, to cause the target magnetic induction loop
The second magnetic pole is presented towards one end of First Line ring layer, the target magnetic induction loop is presented first backwards to one end of First Line ring layer
Magnetic pole.
12. driving method according to claim 11, it is characterised in that when first magnetic induction loop is in initial position
When, with the second magnetic induction loop of the first magnetic induction loop face it is contraposition magnetic induction loop in second coil layer；
The target magnetic induction loop is adjacent with the contraposition magnetic induction loop.
13. driving method according to claim 12, it is characterised in that the driving method also includes：
The second electric current input block is to the contraposition magnetic induction loop input driving current, to cause the contraposition magnetic induction loop
The first magnetic pole is presented towards one end of First Line ring layer, the contraposition magnetic induction loop is presented second backwards to one end of First Line ring layer
Magnetic pole.
14. driving method according to claim 12, it is characterised in that be located at the contraposition magnetic in second coil layer
Coil is felt backwards to the side of the target magnetic induction loop and second magnetic induction loop adjacent with the contraposition magnetic induction loop is power-assisted
Magnetic induction loop；
The driving method also includes：
The second electric current input block inputs driving current to the power-assisted magnetic induction loop, to cause the power-assisted magnetic induction loop
The first magnetic pole is presented towards one end of First Line ring layer, the power-assisted magnetic induction loop is presented second backwards to one end of First Line ring layer
Magnetic pole.
15. driving method according to claim 12, it is characterised in that be located at the target magnetic in second coil layer
It is resistance to feel coil backwards to the side of the contraposition magnetic induction loop and second magnetic induction loop adjacent with the target magnetic induction loop
Magnetic induction loop；
The driving method also includes：
The second electric current input block inputs driving current to the resistance magnetic induction loop, to cause the resistance magnetic induction loop
The first magnetic pole is presented towards one end of First Line ring layer, the resistance magnetic induction loop is presented second backwards to one end of First Line ring layer
Magnetic pole.
16. the displacement detecting method at a kind of joint of artificial limb, it is characterised in that the displacement detecting method will based on aforesaid right
The drive device described in 2 is sought, for detecting first magnetic strength when joint of artificial limb generation activity under external force
The displacement of coil；
The displacement detecting method includes：
The second electric current input block inputs driving current to each second magnetic induction loop, to cause in first magnetic strength
On the direction of coil movement two of arbitrary neighborhood second magnetic induction loops its towards one end of First Line ring layer magnetic pole point
Cloth is different；
Current detecting unit detects the change number in the first magnetic induction loop caused faradic direction in motion process；
The change number in the faradic direction that the first computing unit detects according to the current detecting unit calculates
Go out the displacement S of first magnetic induction loop,
S=N*L
Wherein, N is the change number in the first magnetic induction loop caused faradic direction in motion process, and L is in institute
State the distance of the central point of two neighboring second magnetic induction loop on the direction of the first magnetic induction loop motion.
17. the displacement detecting method at a kind of joint of artificial limb, it is characterised in that the displacement detecting method will based on aforesaid right
The drive device described in 3 is sought, for detecting first magnetic strength when joint of artificial limb generation activity under external force
The displacement of coil；
The displacement detecting method includes：
The second electric current input block inputs driving current to each second magnetic induction loop, to cause in first magnetic strength
On the direction of coil movement two of arbitrary neighborhood second magnetic induction loops its towards one end of First Line ring layer magnetic pole point
Cloth is different；
Voltage detection unit detects the change time in the first magnetic induction loop direction of caused induced electromotive force in motion process
Number；
The change number meter in the direction for the induced electromotive force that the second computing unit detects according to the voltage detection unit
The displacement S of first magnetic induction loop is calculated,
S=N*L
Wherein, N be the first magnetic induction loop direction of caused induced electromotive force in motion process change number, L be
The distance of the central point of two neighboring second magnetic induction loop on the direction of the first magnetic induction loop motion.
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| CN201610843339.7A CN106388983B (en) | 2016-09-22 | 2016-09-22 | Drive And Its Driving Method, displacement detecting method applied to joint |
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| CN201610843339.7A CN106388983B (en) | 2016-09-22 | 2016-09-22 | Drive And Its Driving Method, displacement detecting method applied to joint |
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| CN106388983B true CN106388983B (en) | 2018-03-16 |
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|---|---|---|---|---|
| CN1498095A (en) * | 2000-01-20 | 2004-05-19 | ��ʡ��ѧԺ | Electronically controlled prosthetic knee |
| CN101716102A (en) * | 2009-12-16 | 2010-06-02 | 重庆大学 | Four-bar linkage artificial limb knee joint based on magneto rheological effect |
| CN102210082A (en) * | 2008-11-11 | 2011-10-05 | 钱蒂·森格钱 | An electric machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112009005408B4 (en) * | 2009-11-30 | 2018-06-07 | Korea Workers' Compensation & Welfare Service | Connection structure of artificial limb and socket, using a magnetic locking device |
| DE102010005690B4 (en) * | 2010-01-25 | 2012-04-19 | Otto Bock Healthcare Products Gmbh | Adjusting device for a prosthetic device and method for operating such an adjusting device |
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2016
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1498095A (en) * | 2000-01-20 | 2004-05-19 | ��ʡ��ѧԺ | Electronically controlled prosthetic knee |
| CN102210082A (en) * | 2008-11-11 | 2011-10-05 | 钱蒂·森格钱 | An electric machine |
| CN101716102A (en) * | 2009-12-16 | 2010-06-02 | 重庆大学 | Four-bar linkage artificial limb knee joint based on magneto rheological effect |
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