CN109009585B - Microcomputer-controlled passive self-service knee joint - Google Patents
Microcomputer-controlled passive self-service knee joint Download PDFInfo
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- CN109009585B CN109009585B CN201810948962.8A CN201810948962A CN109009585B CN 109009585 B CN109009585 B CN 109009585B CN 201810948962 A CN201810948962 A CN 201810948962A CN 109009585 B CN109009585 B CN 109009585B
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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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
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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
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a novel microcomputer-controlled passive self-help knee joint, which comprises a knee joint swing part, a driving mechanism, a control valve, a check valve, a sensor and a microcomputer controller, wherein the paint joint swing part receives the force from hip joint flexors and extensors to drive the driving mechanism to move, signals are transmitted to the microcomputer controller through the sensor according to the force of the hip joint flexors and the extensors, and the microcomputer controller sends an instruction to control the connection condition of the control valve and the check valve, so that the required gait can be ensured to be completed according to the will of a wearer. The invention realizes the purpose of enabling the knee joint to adapt to the change of external environment by controlling and intelligently operating the multi-axis artificial limb knee joint movement and finishing walking according to the will of a wearer.
Description
Technical Field
The invention relates to the technical field of biomedical engineering and rehabilitation aids, in particular to a novel microcomputer-controlled passive self-help knee joint.
Background
In the 21 st century, the technology of artificial limbs is rapidly developed, and the requirements of amputees on lower limb artificial limbs are continuously improved along with the improvement of life quality. Most of the thigh artificial limbs on the market at present are passive type, and the passive type thigh artificial limbs can be divided into a common type and an intelligent type. The damping torque of the knee joint of the common passive thigh prosthesis is set during installation, and cannot adapt to the change of external environments such as pace and the like, so that walking cannot be finished according to the intention of a wearer. During walking, the lower limb movement pattern is very complex, and the overall length of the leg and the instant center of velocity of the knee joint are changed in real time. The motion instantaneous center of the single-shaft knee joint mechanism is fixed, and the motion instantaneous center change of the knee joint of the human leg cannot be simulated. However, the kinetic energy required for current polyaxial knee mechanisms is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a novel microcomputer-controlled passive self-service knee joint which is intelligently operated and controlled by the motion of a multi-axis artificial limb knee joint.
In order to achieve the purpose, the invention adopts the following technical scheme:
a novel microcomputer-controlled passive self-service knee joint comprises a knee joint swing part, a driving mechanism, a control valve, a check valve, a sensor and a microcomputer controller, wherein the knee joint swing part is arranged on a user body and connected with the driving mechanism, the sensor is respectively arranged on the user and the driving mechanism, the knee joint swing part is used for receiving forces from hip flexors and extensors, the sensor is used for transmitting a signal received from the knee joint swing part to the microcomputer controller, the microcomputer controller is respectively in communication connection with the driving mechanism, the control valve, the check valve and the sensor, and the driving mechanism is used for providing driving force for the novel microcomputer-controlled passive self-service knee joint; the check valve and the control valve are respectively arranged on the driving mechanism and connected with each other, and the control valve comprises a first control valve and a second control valve and is used for controlling the step pitch according to the requirements of a wearer; the check valve includes first check valve and second check valve for the locking novel microcomputer control's passive self-service knee joint keeps wearer's gait, first control valve and first check valve are connected, control second control valve and second check valve connection.
When a wearer stands, the sensor receives force signals from the hip flexors and the extensors and sends the force signals to the microcomputer controller, at the moment, the microcomputer controller controls the first control valve to work, the second control valve is stopped, and the standing posture of the wearer is kept through the first check valve.
When a wearer needs to go forward, the center of gravity of the wearer is changed at the moment, so that the sensor of the left foot loses pressure, the signal disappears, the microcomputer controller controls the first control valve to stop, the second control valve works, the left foot moves forwards by N centimeters to fall to the ground at the left foot under the action of the extensor muscles of the hip joint according to the will of the wearer, the stretching force of the extensor muscles of the hip joint drives the pneumatic cylinder and the pneumatic or hydraulic cylinder of the driving mechanism to move, the sensor of the left foot is pressed sequentially to send a signal, the second control valve stops, and the first control valve works.
And meanwhile, the right foot extends backwards under the influence of the left foot, so that the first pressure sensor and the second pressure sensor of the right foot lose pressure successively, and the signal disappears, the microcomputer controller controls the first control valve of the right foot to stop, the second control valve works, under the action of the flexor of the right hip joint, the relevant joint is bent, then the pneumatic cylinder and/or the pneumatic and/or liquid in the hydraulic cylinder of the driving mechanism are driven to move, the right foot is driven to move forwards, the right foot falls to the ground, the sensor obtains the signal, the second control valve of the right foot stops, and the first control valve of the right foot works. So as to finish walking according to the desire of the wearer.
Further, the driving mechanism comprises a pneumatic cylinder and/or a hydraulic cylinder, and the pneumatic cylinder and/or the hydraulic cylinder are respectively connected with the knee joint swing part and the sensor. The pneumatic cylinder converts pneumatic energy into mechanical energy, the hydraulic cylinder converts hydraulic energy into mechanical energy, and either one or the combination of the pneumatic cylinder and the hydraulic cylinder can provide driving force for the passive self-service knee joint controlled by the microcomputer.
Still further, the sensors comprise hall sensors and pressure sensors, the hall sensors comprise a first hall sensor and a second hall sensor which are arranged on a pneumatic cylinder and a hydraulic cylinder of the driving mechanism, the pressure sensors comprise a first pressure sensor and a second pressure sensor, and the first pressure sensor is arranged at the rear part of the sole of a wearer; the second pressure sensor is arranged on the front part of the sole of the foot of the wearer.
Furthermore, the working states of the first control valve and the second control valve are in an interlocking relationship, namely when the first control valve works, the second control valve is in a dormant state; and vice versa, so that the mechanical failure or personal injury accidents caused by the simultaneous electrification of the two buttons can be effectively prevented.
Still further, the first control valve is connected with the first check valve in series, the second control valve is connected with the second check valve in series, and the check valves are matched with the control valves to control the step size according to the requirements of the wearer and automatically lock the paint joints to prevent the change of the gait.
Furthermore, the working voltage of the microcomputer controller, the sensor and the control valve is direct current 3V voltage, the working current is less than 150mA, and the passive self-service knee joint controlled by the microcomputer can operate under the condition of low voltage and low current, so that the energy consumption is reduced, and the energy-saving and environment-friendly effects are achieved.
Still further, the knee joint goods of furniture for display rather than for use passes through the connecting piece and is connected with actuating mechanism's pneumatic cylinder and/or pneumatic cylinder, can realize the dynamic connection of knee joint goods of furniture for display rather than for use and actuating mechanism pneumatic cylinder and/or pneumatic cylinder through the connecting piece, and the angle and the length of connecting piece freely change.
The beneficial technical effects of the invention are as follows:
1. flexor and extensor forces of hip joints of a wearer are used as power for a microcomputer-controlled passive self-help paint joint to work, and the defect that a multiaxial artificial limb knee joint motion control method needs high kinetic energy is overcome.
2. The passive self-service knee joint controlled by the microcomputer can operate under the conditions that the working voltage is direct current 3V and the working current is low and the current is low and less than 150mA, so that the energy consumption is reduced, and the energy-saving and environment-friendly effects are achieved.
3. Because the first control valve and the second control valve work under the interlocking state, the first control valve and the first check valve are connected in series, and the second control valve and the second check valve are connected in series, the first check valve and the second check valve can ensure that the paint joint can be automatically locked at any time, and the required gait can be completed according to the will of a wearer.
Drawings
FIG. 1 is a schematic diagram of a novel microcomputer controlled passive self-supporting knee joint;
FIG. 2 is a schematic diagram of the microcomputer controller;
FIG. 3 is a schematic diagram of a control circuit of the microcomputer controller.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the following examples are provided to illustrate the detailed embodiments and specific operations based on the technical solutions of the present invention, but the scope of the present invention is not limited to the examples.
As shown in fig. 1, the novel microcomputer-controlled passive self-service knee joint comprises: a knee joint swing part 1; a connecting piece 2; pneumatic and/or hydraulic cylinders 3; a first check valve 4; a first control valve 5; a second control valve 6; a second check valve 7; a first hall sensor 8; a second hall sensor 9; a first pressure sensor 10; a second pressure sensor 11.
As shown in fig. 3, the control circuit of the microcomputer controller corresponds to the following: i1 corresponds to the first hall sensor 8; i2 corresponds to the second hall sensor 9; i3 corresponds to the first sensor 10; i4 corresponds to the second sensor 11; o1 corresponds to the first control valve 5; o2 corresponds to the second control valve 6.
A novel microcomputer-controlled passive self-help knee joint comprises a knee joint swing part 1, a driving mechanism, a control valve, a check valve, a sensor and a microcomputer controller, wherein the knee joint swing part is arranged on a user, the knee joint swing part 1 is connected with the driving mechanism, the sensor is respectively arranged on the user and the driving mechanism, the knee joint swing part 1 is used for receiving forces from a hip joint flexor and an extensor, the sensor is used for transmitting a signal received from the knee joint swing part to the microcomputer controller, the microcomputer controller is respectively in communication connection with the driving mechanism, the control valve, the check valve and the sensor, and the driving mechanism is used for providing driving force for the novel microcomputer-controlled passive self-help knee joint; the check valve and the control valve are respectively arranged on the driving mechanism and connected with each other, and the control valve comprises a first control valve 5 and a second control valve 6 which are used for controlling the step pitch according to the requirement of a wearer; the check valve includes first check valve 4 and second check valve 7 for the locking novel microcomputer control's passive self-service knee joint keeps wearer's gait, first control valve 5 and first check valve 4 are connected, and second control valve 6 and second check valve 7 are connected.
Further, the driving mechanism comprises a pneumatic cylinder and/or a hydraulic cylinder 3, and the pneumatic cylinder and/or the hydraulic cylinder 3 are respectively connected with the knee joint swing part and the sensor. The pneumatic cylinder converts pneumatic energy into mechanical energy, the hydraulic cylinder converts hydraulic energy into mechanical energy, and either one or the combination of the pneumatic cylinder and the hydraulic cylinder can provide driving force for the passive self-service knee joint controlled by the microcomputer.
Still further, the sensor includes hall sensor and pressure sensor, hall sensor includes first hall sensor 8 and second hall sensor 9, all sets up on actuating mechanism's pneumatic cylinder and pneumatic cylinder or pneumatic cylinder 3, pressure sensor includes first pressure sensor 10 and second pressure sensor 11, and first pressure sensor 10 sets up in the sole rear portion of the wearer, and second pressure sensor 11 sets up in the sole front portion of the wearer.
Further, the working states of the first control valve 5 and the second control valve 6 are in an interlocking relationship, that is, when the first control valve 5 works, the second control valve 6 is in a dormant state; and vice versa, so that the mechanical failure or personal injury accidents caused by the simultaneous electrification of the two buttons can be effectively prevented.
Still further, the first control valve 5 is connected with the first check valve 4 in series, the second control valve 6 is connected with the second check valve 7 in series, and the check valves are matched with the control valves to control the step size according to the requirements of the wearer and automatically lock the paint joints so as to prevent the gait from changing.
Furthermore, the working voltage of the microcomputer controller, the sensor and the control valve is direct current 3V voltage, the working current is less than 150mA, and the passive self-service knee joint controlled by the microcomputer can operate under the condition of low voltage and low current, so that the energy consumption is reduced, and the energy-saving and environment-friendly effects are achieved.
Still further, knee joint goods of furniture for display rather than for use 1 is connected with actuating mechanism's pneumatic cylinder and/or pneumatic cylinder 3 through connecting piece 2, can realize knee joint goods of furniture for display rather than for use 1 and actuating mechanism's pneumatic cylinder and/or the dynamic link of pneumatic cylinder 3 through the connecting piece, and the angle and the length of connecting piece freely change.
As shown in fig. 2, the microcomputer controller is fully-automatic, manual intervention is not needed, the sensor receiving circuit transmits signals to a CPU of the microcomputer controller, then the CPU of the microcomputer controller controls a power amplifying circuit to work, and then transmits the signals to a switch control circuit.
S1 when the wearer stands, the first pressure sensor 10 located at the rear part of the sole, the second pressure sensor 11 located at the front part of the sole and the first Hall sensor 8 receive force signals from hip flexors and extensors and send the force signals to the microcomputer controller, at the moment, the microcomputer controller controls the first control valve 5 to work, the second control valve 6 is closed, and the standing posture of the wearer is kept through the first check valve 4.
S2, when the wearer needs to go forward, the center of gravity of the wearer is changed, the first pressure sensor 10 and the second pressure sensor 11 of the left foot lose pressure, signals disappear, the microcomputer controller controls the first control valve 5 to be stopped, the second control valve 6 works, the left foot is driven to move forwards by N centimeters to fall to the ground by the hip joint extensor under the action of the hip joint extensor, the pneumatic cylinder and/or the hydraulic cylinder 3 of the driving mechanism are driven by the stretching force of the hip joint extensor, the first pressure sensor 10 and the second pressure sensor 11 of the left foot are pressed in sequence to send signals, the microcomputer controller controls the second control valve 6 to be stopped, and the first control valve 5 works.
S3, the right foot is simultaneously extended backwards under the influence of the left foot, so that the first pressure sensor 10 and the second pressure sensor 11 of the right foot lose pressure successively, and signals disappear, the microcomputer controller controls the first control valve 5 of the right foot to stop, the second control valve 6 works, under the action of a flexor of a right hip joint, a relevant joint is bent, then, air and/or liquid in a pneumatic cylinder and/or a hydraulic cylinder of a driving mechanism is driven to move, the right foot is driven to move forwards, the right foot falls to the ground, the first pressure sensor 10 and the second pressure sensor 11 of the right foot obtain signals successively, the microcomputer controller controls the second control valve 6 of the right foot to stop, and the first control valve 5 of the right foot works. So as to finish walking according to the desire of the wearer.
The invention takes the flexor and extensor forces of the hip joint of a wearer as the power for the microcomputer-controlled passive self-help paint joint to work, and overcomes the defect that the multi-axis artificial limb knee joint motion control method needs high kinetic energy. And the passive self-service knee joint controlled by the microcomputer can operate under the conditions that the working voltage is direct current 3V and the working current is lower than the low voltage and the low current of 150mA, so that the energy consumption is reduced, and the energy-saving and environment-friendly effects are achieved.
Because the first control valve 5 and the second control valve 6 work in an interlocking state, the first control valve 5 and the first check valve 4 are connected in series, and the second control valve 6 and the second check valve 7 are connected in series, the first check valve 4 and the second check valve 7 can ensure that the paint joint is automatically locked at any time, and the required gait can be completed according to the will of a wearer.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (1)
1. A working method of a passive self-help knee joint controlled by a microcomputer is characterized in that the passive self-help knee joint controlled by the microcomputer comprises a knee joint swing part, a driving mechanism, a control valve, a check valve, a sensor and a microcomputer controller, wherein the knee joint swing part is arranged on a user body and is connected with the driving mechanism, the sensor is respectively arranged on the user and the driving mechanism, the knee joint swing part is used for receiving forces from hip flexors and extensors, the sensor is used for transmitting a signal received from the knee joint swing part to the microcomputer controller, the microcomputer controller is respectively in communication connection with the driving mechanism, the control valve, the check valve and the sensor, and the driving mechanism is used for providing driving force for the passive self-help knee joint controlled by the microcomputer; the check valve and the control valve are respectively arranged on the driving mechanism, and the control valve comprises a first control valve and a second control valve and is used for controlling the step pitch according to the requirement of a wearer; the check valve comprises a first check valve and a second check valve, the first check valve and the second check valve are used for locking the passive self-service knee joint controlled by the microcomputer and keeping the gait of a wearer, the first control valve is connected with the first check valve, and the second control valve is connected with the second check valve;
the driving mechanism comprises a pneumatic cylinder and/or a hydraulic cylinder, and the pneumatic cylinder and/or the hydraulic cylinder are respectively connected with the knee joint swing part and the sensor;
the working states of the first control valve and the second control valve are in an interlocking relationship;
the first control valve is connected with the first check valve in series, and the second control valve is connected with the second check valve in series;
the working voltage of the microcomputer controller, the sensor and the control valve is direct current 3V voltage, and the working current is less than 150 mA;
the knee joint swinging part is connected with a pneumatic cylinder and/or a hydraulic cylinder of the driving mechanism through a connecting piece;
the working method comprises the following steps:
s1 when the wearer stands, the sensor receives force signals from the hip flexors and the extensors and sends the force signals to the microcomputer controller, at the moment, the microcomputer controller controls the first control valve to work, the second control valve is stopped, and the standing posture of the wearer is kept through the first check valve;
s2, when the wearer needs to go forward, the center of gravity of the wearer is changed at the moment, the sensor of the left foot loses pressure, the signal disappears, the microcomputer controller controls the first control valve to stop, the second control valve works, the left foot is driven to move forward by N centimeters to fall to the ground by the action of the extensor muscles of the hip joint according to the will of the wearer, the stretching force of the extensor muscles of the hip joint drives the pneumatic cylinder and/or the pneumatic and/or liquid in the hydraulic cylinder in the driving mechanism to move, the sensor of the left foot is pressed successively to send out the signal, the second control valve stops, and the first control valve works;
s3, the right foot is extended backwards under the influence of the left foot, so that the first pressure sensor and the second pressure sensor of the right foot lose pressure successively, the signal disappears, the microcomputer controller controls the first control valve of the right foot to stop, the second control valve works, under the action of the flexor of the right hip joint, the right joint bends, then the pneumatic cylinder and/or the pneumatic cylinder in the driving mechanism are driven to move, the right foot moves forwards and falls to the ground, the sensor obtains the signal, the second control valve of the right foot stops, the first control valve of the right foot works, and the walking is finished according to the will of a wearer in the reciprocating mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948962.8A CN109009585B (en) | 2018-08-20 | 2018-08-20 | Microcomputer-controlled passive self-service knee joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948962.8A CN109009585B (en) | 2018-08-20 | 2018-08-20 | Microcomputer-controlled passive self-service knee joint |
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| Publication Number | Publication Date |
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| CN109009585A CN109009585A (en) | 2018-12-18 |
| CN109009585B true CN109009585B (en) | 2021-07-30 |
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| CN201810948962.8A Active CN109009585B (en) | 2018-08-20 | 2018-08-20 | Microcomputer-controlled passive self-service knee joint |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5062857A (en) * | 1990-06-05 | 1991-11-05 | Advanced Prosthestetics Development Corporation | Myoelectrically controlled knee joint locking device |
| CN2631450Y (en) * | 2003-06-06 | 2004-08-11 | 陈建良 | Multifunctional artificial knee joint |
| CN200994838Y (en) * | 2006-11-06 | 2007-12-26 | 上海理工大学 | Electrically-controlled hydraulic damping cylinder for knee upper and lower artificial limbs |
| CN201739255U (en) * | 2010-03-30 | 2011-02-09 | 普霖国际股份有限公司 | Auto-induction pressure regulating buffering pneumatic cylinder and artificial limb joint structure |
| CN102512270B (en) * | 2011-12-31 | 2014-02-19 | 河北工业大学 | Method for controlling movement of knee joints of artificial limbs |
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