CN110353949A - A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution - Google Patents
A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution Download PDFInfo
- Publication number
- CN110353949A CN110353949A CN201910728366.3A CN201910728366A CN110353949A CN 110353949 A CN110353949 A CN 110353949A CN 201910728366 A CN201910728366 A CN 201910728366A CN 110353949 A CN110353949 A CN 110353949A
- Authority
- CN
- China
- Prior art keywords
- joint
- same parents
- branch
- born
- ankle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- 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
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Abstract
A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution, it is mainly made of fixed platform, active branched chain, change born of the same parents' branch, moving platform and active ankle prosthese, realizes the multiple degrees of freedom rotating function of knee ankle-joint.In change born of the same parents' parallel institution that the present invention designs, the driving prismatic pair of active branched chain uses ball-screw, imitates the stretching motion of Leg bones muscle group.Since the interior outward turning campaign of human body knee joint is not existing for the moment, only just it is activated when bending knee, in addition, less for the dependence of interior outward turning campaign in living.When metamorphic kinematic pair is fixed, become under the coupling of born of the same parents' branch and two active branched chains, moving platform is only able to achieve kneed bend and stretch and movement of turning up in ankle-joint；When metamorphic kinematic pair is driving revolute pair, moving platform is also able to achieve kneed interior outward turning campaign.The prosthetic device is related to medical rehabilitation robot, and, rigidity height high with bearing capacity, structure are simple, easy processing manufactures the requirement such as low with production cost.
Description
Technical field
The invention belongs to medical rehabilitation robot technology and artificial intelligence equipment field, in particular to a kind of to be based on becoming born of the same parents simultaneously
The active knee ankle-joint prosthetic device of online structure, it can compensate the locomitivity that knee ankle patients with amputation loses knee ankle-joint, make
The multifreedom motion characteristic and daily life locomitivity of patient recovery knee joint and ankle-joint.
Background technique
The census data of Second National disabled person number was announced according to 2006, disabled person is up to 82,420,000 person-times, about
The 6.34% of total population is accounted for, meanwhile, deformed limb patient is about 24,120,000 person-times, and lower limb amputation patient is up to 1,600,000 person-times.In recent years
Come, with increasing for the events such as natural calamity, traffic accident, disease and other contingencies, leads to different degrees of patients with amputation
Number growth year by year occurs, this not only makes patients lose activity of daily living, torments by soul, also greatly increases
The burden of society.Currently, with science and technology and the development that dishonours of industrial manufacturing industry ground, robot technology each large-engineering at home
It is widely used in field.In order to compensate for the limbs that patients with amputation is lost, patients is made to restore original daily life
Viability, the artificial limb robot for belonging to medical rehabilitation robot have become one of hot spot of studies in China.However, due to some skills
The limitation of art research and development and manufacturing technology level, artificial limb robot at home and abroad still have biggish market prospects.
Since accounting is maximum in lower limb amputation patient for the impaired patients with amputation of knee ankle-joint, in the market for knee
Ankle-joint prosthetic device product is compared to relatively more.Existing human synovial prosthetic device can be divided into master according to whether power source is provided
Ejector half prosthetic device, passive-type prosthetic device and main passive hybrid prosthesis mechanism.It is domestic compared to more external prosthetic device
Research starting evening, technology more fall behind, and domestic market still belongs to the primary stage for the research and development of artificial leg mechanism.Currently, domestic
The research and development of knee ankle-joint prosthetic device from the form of traditional single-degree-of-freedom and single supporting bar structure, be improved to it is intelligent mostly from
By the form of degree multi-joint, however, this prosthetic device cause mechanism overall dimensions, weight bigger than normal because of more component of connecting and
Bearing capacity is poor, and mechanism is complex causes control algolithm unstable, and prosthetic device higher cost makes this kind of intelligent artificial limb
Mechanism is not still major product on the market.
Based on this, the present invention devises a kind of based on the active knee ankle-joint prosthetic device for becoming born of the same parents' parallel institution, the vacation
Limb mechanism mainly becomes born of the same parents' parallel institution by lower-mobility and the active ankle prosthese of a single-degree-of-freedom forms, it can be achieved that
Kneed flexion and extension, ankle-joint in turn up it is kneed under movement and flexion and extension and metamorphic kinematic pair state of activation
Interior outward turning campaign；Prosthetic device based on parallel institution can not only make mechanism that there is rigidity height and bearing capacity to wait structural capacities by force
Learn characteristic, moreover it is possible to simplify overall structure, reduce mechanism overall dimensions and production cost etc..At the same time, simplified mechanism also has
There is easy to control and low energy consumption, which has the bionical effect of height, is suitable for human body knee ankle and cuts
Limb patient.
Summary of the invention
Technical problem of the invention is to devise a kind of based on the active knee ankle-joint artificial limb machine for becoming born of the same parents' parallel institution
Structure, the mechanism solve present in the prosthetic device previously researched and developed structure is complicated, volume is big, quality is laid particular stress on, sports energy consumption is high,
The problems such as stability is big and bearing capacity is insufficient.The mechanism use changes born of the same parents' parallel institution be not only able to achieve knee ankle-joint mostly oneself
By degree kinetic characteristic, and have the characteristics that large carrying capacity and sports energy consumption are low, makes it that there is height compared with human body knee ankle-joint
The bionical characteristic of degree.
The present invention adopts the following technical scheme that realization:
A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution, it is characterised in that: including fixed platform
(1), active branched chain (2.1,2.2), change born of the same parents' branch (3), moving platform (4) and active ankle prosthese (5).
The active branched chain (2.1,2.2) includes: lower pedestal (2-1), under U-shaped seat (2-2), the cylindrical drum containing driving
(2-3), the piston rod (2-4) containing driving, connector (2-5), upper U-shaped seat (2-6), upper pedestal (2-7)；
Constitute the connection between the components of active branched chain: lower pedestal (2-1) and fixed platform (1) are connected by screw into fixation
It is secondary；Lower pedestal (2-1) U-shaped seat (2-2) under forms revolute pair, under U-shaped seat (2-2) and cylindrical drum (2-3) formation containing driving
Revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Cylindrical drum (2-3) containing driving and containing driving
Piston rod (2-4) forms driving prismatic pair, and electric putter or ball-screw can be used；Piston rod (2-4) and connector (2- containing driving
5) it is connected through a screw thread to form fixed joint；Connector (2-5) and upper U-shaped seat (2-6) form revolute pair, upper U-shaped seat (2-6) and upper foot
Seat (2-7) forms revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Upper pedestal (2-7) and moving platform
(4) it is connected by screw into fixed joint；Active branched chain (2.1,2.2) are imitated into the skeleton muscle group for tibiofibula surface in the design
Biomechanics characteristic realize end in two rotations in space and along the shifting of branch chain direction by the flexible of driving prismatic pair
It is dynamic；
The change born of the same parents branch (3) includes: lower pedestal (3-1), big sleeve (3-2), limits angle of rotation lower beam (3-3), cover board (3-
4) angle of rotation upper boom (3-5), is limited, connector (3-6), small sleeve (3-7), upper pedestal (3-8)；
Constitute the connection between the components for becoming born of the same parents' branch: lower pedestal (3-1) and fixed platform (1) are connected by screw into fixation
It is secondary；Lower pedestal (3-1) and limit angle of rotation lower beam (3-3) form revolute pair, and are furnished with big sleeve (3-2) in interstitial site；Limit turns
Dynamic angle lower beam (3-3) and limit angle of rotation upper boom (3-5) form a metamorphic kinematic pair, which limits with angle,
Avoid the unusual appearance of its transition rotation and generation mechanism；Since the interior outward turning campaign of human body knee joint is not to exist constantly
, only just it is activated when bending knee, in addition, it is less for the dependence of interior outward turning campaign in life, become the introducing of born of the same parents' branch (3)
In order to enable prosthetic device more preferably to imitate the kinetic characteristic of human body knee joint, rotated by the fixation or driving of metamorphic kinematic pair
Pattern switching, moving platform (4) are able to achieve space two in the case where becoming the coupling of born of the same parents' branch (3) and two active branched chains (2.1,2.2) certainly
By the kinetic characteristic for spending pure rotation and the pure rotation of Three Degree Of Freedom；When metamorphic kinematic pair is fixed, moving platform (4) can imitate human body
The interior movement of turning up of kneed curvature movement and ankle-joint；When metamorphic kinematic pair switches to the driving revolute pair of corner limitation
When, moving platform (4) can also imitate the interior outward turning campaign of human body knee joint；Cover board (3-4) passes through limit angle of rotation upper boom (3-5), with
Limit angle of rotation lower beam (3-3) is connected by screw to, in order to constrain limit angle of rotation upper boom (3-5) moving along branch chain direction；Limit turns
Dynamic angle upper boom (3-5) and connector (3-6) are connected through a screw thread to form fixed joint；Connector (3-6) and upper pedestal (3-8), which are formed, to be rotated
Pair, and it is furnished with big sleeve (3-2) in interstitial site, the use of sleeve is good to neutrality in order to have change born of the same parents' branch, it is ensured that
The rotation of mechanical flexibility；
Compared with prior art, the present invention has the following advantages:
The present invention designs and is applied to two freedom for becoming born of the same parents' parallel institution executable space in knee ankle-joint prosthetic device
Degree or the pure rotation of Three Degree Of Freedom, to simulate the multiple degrees of freedom rotational characteristic of knee ankle-joint.Due to the interior outward turning of human body knee joint
Movement be not existing for the moment be only just activated when bending knee, in addition, in living for the dependence of interior outward turning campaign compared with
It is few, become the introducing of born of the same parents' branch to enable prosthetic device preferably to carry out Bionic Design to human body knee joint.When change born of the same parents' branch
When metamorphic kinematic pair is fixed (bolt-through connection), moving platform (4) become born of the same parents' branch (3) and two active branched chains (2.1,
2.2) flexion and extension of human body knee joint and the interior movement of turning up of ankle-joint can be imitated under coupling.When the change born of the same parents fortune for becoming born of the same parents' branch
When dynamic secondary (bolt of the release through connection) for driving revolute pair, moving platform (4) can also imitate the interior outward turning fortune of human body knee joint
It is dynamic.The structure of the prosthetic device is simple, and kinematics is easy to analyze, the manufacture of mechanism easy processing, and the design of the mechanism can be other passes
It saves in the design of prosthetic device or even the design of precision mechanism and important reference is provided.
Detailed description of the invention
Fig. 1 is a kind of based on the active knee ankle-joint prosthetic device structural model figure for becoming born of the same parents' parallel institution；
Change born of the same parents' parallel institution structural model figure of Fig. 2 two degrees of freedom and the pure rotation mode switching of Three Degree Of Freedom；
The structural model explosive view of Fig. 3 active branched chain；
The structural model explosive view of Fig. 4 change born of the same parents' branch；
In figure: fixed platform (1), active branched chain (2.1,2.2) become born of the same parents' branch (3), moving platform (4) and the vacation of active ankle
Body (5).Active branched chain (2.1,2.2) includes: lower pedestal (2-1), under U-shaped seat (2-2), the cylindrical drum (2-3) containing driving, containing drive
Dynamic piston rod (2-4), connector (2-5), upper U-shaped seat (2-6), upper pedestal (2-7)；Becoming born of the same parents' branch (3) includes: lower pedestal (3-
1), big sleeve (3-2) limits angle of rotation lower beam (3-3), cover board (3-4), limits angle of rotation upper boom (3-5), connector (3-6), small sleeve
(3-7), upper pedestal (3-8).
Specific embodiment
To further appreciate that a kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution provided by the invention,
The present invention is specifically addressed with specific embodiment with reference to the accompanying drawing.
Fig. 1 is a kind of active knee ankle-joint prosthetic device structural model based on change born of the same parents' parallel institution that the present invention designs
Figure, basic structure include fixed platform (1), active branched chain (2.1,2.2), become born of the same parents' branch (3), moving platform (4) and active ankle
Joint orthosis mechanism (5).The knee ankle-joint prosthetic device becomes born of the same parents' parallel institution and a single-degree-of-freedom master by a lower-mobility
Ejector half ankle prosthese connects to be formed, and becoming born of the same parents' parallel institution can make prosthetic device imitate the knee joint flexion and extension of human body, ankle-joint
In outward turning campaign in the knee joint that turns up under movement and certain condition, active ankle prosthese can make prosthetic device imitation human body
Ankle-joint flexion and extension.The application for becoming born of the same parents' parallel institution can be greatly simplified the labyrinth of prosthetic device, reduce artificial limb machine
The design cost of structure, moreover it is possible to improve the stiffness characteristics and bearing capacity of prosthetic device entirety.
Fig. 2 is change born of the same parents' parallel institution structure mould of two degrees of freedom provided by the invention and the pure rotation mode switching of Three Degree Of Freedom
Type figure, fixed platform (1), become born of the same parents' branch (3) and moving platform (4) at active branched chain (2.1,2.2)；When the change born of the same parents fortune for becoming born of the same parents' branch (3)
When dynamic pair is fixes (bolt-through connection), when the linear drive motor power output in two active branched chains (2.1,2.2) is identical,
It causes moving platform (4) to imitate the knee joint flexion and extension of human body for by stretching the piston rod (2-4) containing driving；Two masters
When linear drive motor power output in dynamic branch (2.1,2.2) is opposite, it, which will pass through, stretches the piston rod (2-4) containing driving,
Moving platform (4) are caused to imitate the interior movement of turning up of the ankle-joint of human body；At this point, two active branched chains are functionally equivalent to human body shin
The gastrocnemius and musculus soleus of fibula rear surface.Since the interior outward turning campaign of human body knee joint is not existing for the moment, only when
It is just activated when bending knee, in addition, it is less for the dependence of interior outward turning campaign in life, become the introducing of born of the same parents' branch (3) to make
Prosthetic device preferably can carry out Bionic Design to human body knee joint.When the metamorphic kinematic pair for becoming born of the same parents' branch (3) is driving rotation
When secondary (bolt of the release through connection), the drive of the moving platform (4) of mechanism in active branched chain (2.1,2.2) and change born of the same parents' branch (3)
The flexion and extension and interior outward turning campaign of dynamic lower analog human body knee joint and the interior movement of turning up of ankle-joint.
Fig. 3 be active branched chain provided by the invention structural model explosive view, comprising: lower pedestal (2-1), under U-shaped seat (2-
2), the cylindrical drum containing driving (2-3), the piston rod (2-4) containing driving, connector (2-5), upper U-shaped seat (2-6), upper pedestal (2-
7).Lower pedestal (2-1) and fixed platform (1) are connected by screw into fixed joint；Lower pedestal (2-1) U-shaped seat (2-2) under, which is formed, to be turned
Dynamic pair, under U-shaped seat (2-2) with the cylindrical drum (2-3) containing driving form revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent
In a Hooke pair；Cylindrical drum (2-3) containing driving and the piston rod (2-4) containing driving form driving prismatic pair, and electricity can be used
Push rod or ball-screw；Piston rod (2-4) and connector (2-5) containing driving are connected through a screw thread to form fixed joint；Connector (2-5)
Revolute pair is formed with upper U-shaped seat (2-6), upper U-shaped seat (2-6) and upper pedestal (2-7) form revolute pair, meanwhile, two revolute pairs
Axis vertical take-off is equivalent to a Hooke pair；Upper pedestal (2-7) and moving platform (4) are connected by screw into fixed joint；In the design
Active branched chain (2.1,2.2) are imitated to the biomechanics characteristic of the skeleton muscle group for tibiofibula surface, pass through driving prismatic pair
It is flexible, realize end in two rotations in space and moving along branch chain direction.
Fig. 4 is the structural model explosive view provided by the invention for becoming born of the same parents' branch, including lower pedestal (3-1), big sleeve (3-
2) angle of rotation lower beam (3-3), is limited, cover board (3-4) limits angle of rotation upper boom (3-5), connector (3-6), small sleeve (3-7), upper pedestal
(3-8).Lower pedestal (3-1) and fixed platform (1) are connected by screw into fixed joint；Lower pedestal (3-1) and limit angle of rotation lower beam (3-
3) revolute pair is formed, and is furnished with big sleeve (3-2) in interstitial site；Limit angle of rotation lower beam (3-3) and limit angle of rotation upper boom (3-5)
Form a metamorphic kinematic pair, which limits with angle, avoid its transition rotation and generation mechanism it is unusual existing
As；Since the interior outward turning campaign of human body knee joint is not existing for the moment, only just it is activated when bending knee, in addition, in living
It is less for the dependence of interior outward turning campaign, become the introducing of born of the same parents' branch (3) to enable prosthetic device that human body knee more preferably to be imitated to close
The kinetic characteristic of section, by the pattern switching of fixation or the driving rotation of metamorphic kinematic pair, moving platform (4) is becoming born of the same parents' branch (3)
The movement of space two degrees of freedom pure rotation and the pure rotation of Three Degree Of Freedom is able to achieve under coupling with two active branched chains (2.1,2.2)
Characteristic, to imitate the flexion and extension of human body knee joint, turn up in ankle-joint movement and kneed interior outward turning campaign；Work as change
When born of the same parents' kinematic pair is fixed (bolt-through connection), moving platform (4) is under the driving of active branched chain (2.1,2.2) and change born of the same parents' branch
Constraint under turn up in the flexion and extension of analog human body knee joint and ankle-joint movement.When metamorphic kinematic pair is driving revolute pair
When (bolt of the release through connection), moving platform (4) may be used also under the driving of active branched chain (2.1,2.2) and change born of the same parents' branch (3)
Simulate outward turning campaign in human body knee joint.Cover board (3-4) passes through limit angle of rotation upper boom (3-5), logical with limit angle of rotation lower beam (3-3)
Screw connection is crossed, in order to constrain limit angle of rotation upper boom (3-5) moving along branch chain direction；Limit angle of rotation upper boom (3-5) and connector
(3-6) is connected through a screw thread to form fixed joint；Connector (3-6) and upper pedestal (3-8) form revolute pair, and are furnished in interstitial site
The use of big sleeve (3-2), sleeve is good to neutrality in order to have change born of the same parents' branch, it is ensured that the rotation of mechanical flexibility.
It is of the present invention a kind of based on the active knee ankle-joint prosthetic device for becoming born of the same parents' parallel institution, by becoming born of the same parents' movement
Secondary fixation or driving revolute pair pattern switching, can imitate the flexion and extension of human body knee joint, ankle-joint in turn up movement and
Outward turning campaign in knee joint under certain condition；In addition, active ankle prosthese (5) realizes people by independent rotary electric machine
The flexion and extension of body ankle-joint；The prosthetic device has the characteristics that rigidity of structure height and bearing capacity are strong, it is not only able to achieve people
The multiple degrees of freedom of body knee ankle-joint, moreover it is possible to which the complexity for the whole design that simplifies the internal structure of an organization to a certain extent is conducive to subsequent control plan
Arrangement and optimization slightly.
Claims (5)
1. a kind of based on the active knee ankle-joint prosthetic device for becoming born of the same parents' parallel institution, basic system includes: fixed platform (1), master
Dynamic branch (2.1,2.2), become born of the same parents' branch (3), moving platform (4) and active ankle prosthese (5), which is lacked certainly by one respectively
Become born of the same parents' parallel institution and the active ankle prosthese of a single-degree-of-freedom by degree to connect the knee ankle-joint prosthetic device formed；Wherein,
Become the driving prismatic pair of active branched chain in born of the same parents' parallel institution into ball-screw, to imitate the stretching motion of Leg bones muscle group；
Since the interior outward turning campaign of human body knee joint is not existing for the moment, be only just activated when bending knee, in addition, in living for
The dependence of interior outward turning campaign is less, when metamorphic kinematic pair is fixed, in the case where change born of the same parents' branch and two determine the coupling of branch, moves
Platform (4) is only able to achieve the rotational motion of two, space, with fortune of turning up in imitating the curvature movement and ankle-joint of human body knee joint
It is dynamic；When metamorphic kinematic pair is the driving revolute pair of corner limitation, in the case where change born of the same parents' branch and two determine the coupling of branch, moving platform
(4) three pure rotations are able to achieve, with fortune of turning up in imitating the curvature movement and interior outward turning campaign and ankle-joint of human body knee joint
It is dynamic；The prosthetic device can effectively compensate for the biological motion characteristic of patients with amputation impaired knee joint and ankle-joint.
2. according to claim 1 a kind of based on the active knee ankle-joint prosthetic device for becoming born of the same parents' parallel institution, feature
Be: the active branched chain (2.1,2.2) includes: lower pedestal (2-1), under U-shaped seat (2-2), the cylindrical drum (2- containing driving
3), the piston rod containing driving (2-4), connector (2-5), upper U-shaped seat (2-6), upper pedestal (2-7).
3. the connection between the components of active branched chain according to claim 2: lower pedestal (2-1) passes through with fixed platform (1)
Screw connects into fixed joint；Lower pedestal (2-1) U-shaped seat (2-2) under forms revolute pair, under U-shaped seat (2-2) and the circle containing driving
Column casing (2-3) forms revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Cylindrical drum (2- containing driving
3) and the piston rod containing driving (2-4) forms driving prismatic pair, and electric putter or ball-screw can be used；Piston rod containing driving
(2-4) and connector (2-5) is connected through a screw thread to form fixed joint；Connector (2-5) and upper U-shaped seat (2-6) form revolute pair, upper U
Type seat (2-6) and upper pedestal (2-7) form revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Upper foot
Seat (2-7) and moving platform (4) are connected by screw into fixed joint；Imitating active branched chain (2.1,2.2) in the design is shin calf
The biomechanics characteristic of the skeleton muscle group of bone surface realizes branch terminals at two of space by the flexible of driving prismatic pair
Rotation and moving along branch chain direction.
4. according to claim 1 a kind of based on the active knee ankle-joint prosthetic device for becoming born of the same parents' parallel institution, feature
Be: the change born of the same parents branch (3) includes lower pedestal (3-1), and big sleeve (3-2) limits angle of rotation lower beam (3-3), cover board (3-
4) angle of rotation upper boom (3-5), is limited, connector (3-6), small sleeve (3-7), upper pedestal (3-8).
5. the connection between the components according to claim 4 for becoming born of the same parents' branch: lower pedestal (3-1) passes through with fixed platform (1)
Screw connects into fixed joint；Lower pedestal (3-1) and limit angle of rotation lower beam (3-3) form revolute pair, and in interstitial site equipped with big
Sleeve (3-2)；It limits angle of rotation lower beam (3-3) and limit angle of rotation upper boom (3-5) forms a metamorphic kinematic pair, the metamorphic kinematic pair
It is limited with angle, avoids the unusual appearance of its transition rotation and generation mechanism；Due to human body knee joint interior outward turning campaign simultaneously
It is not only just to be activated when bending knee existing for the moment, in addition, less for the dependence of interior outward turning campaign in life, change born of the same parents
The introducing of branch (3) passes through consolidating for metamorphic kinematic pair to enable prosthetic device more preferably to imitate the kinetic characteristic of human body knee joint
Fixed or driving rotation pattern switching, moving platform (4) is in the case where becoming the coupling of born of the same parents' branch (3) and two active branched chains (2.1,2.2)
It is able to achieve the kinetic characteristic of space two degrees of freedom pure rotation and the pure rotation of Three Degree Of Freedom, bends and stretches fortune to imitate human body knee joint
Dynamic, ankle-joint interior turn up movement and kneed interior outward turning campaign；Cover board (3-4) passes through limit angle of rotation upper boom (3-5), with limit
Angle of rotation lower beam (3-3) is connected by screw to, in order to constrain limit angle of rotation upper boom (3-5) moving along branch chain direction；Limit rotation
Angle upper boom (3-5) and connector (3-6) are connected through a screw thread to form fixed joint；Connector (3-6) and upper pedestal (3-8), which are formed, to be rotated
Pair, and it is furnished with big sleeve (3-2) in interstitial site, the use of sleeve is good to neutrality in order to have change born of the same parents' branch, it is ensured that
The rotation of mechanical flexibility.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728366.3A CN110353949B (en) | 2019-08-08 | 2019-08-08 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728366.3A CN110353949B (en) | 2019-08-08 | 2019-08-08 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110353949A true CN110353949A (en) | 2019-10-22 |
| CN110353949B CN110353949B (en) | 2020-12-01 |
Family
ID=68223304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910728366.3A Expired - Fee Related CN110353949B (en) | 2019-08-08 | 2019-08-08 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110353949B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN113397919A (en) * | 2021-07-21 | 2021-09-17 | 深圳市大寰机器人科技有限公司 | Exoskeleton robot for ankle rehabilitation |
| CN114376862A (en) * | 2022-01-18 | 2022-04-22 | 山东科技大学 | Three-degree-of-freedom over-constrained ankle joint rehabilitation metamorphic hybrid mechanism |
| CN114435506A (en) * | 2022-02-21 | 2022-05-06 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB125506A (en) * | 1918-04-16 | 1919-04-16 | Thomas Black Thompson | Improvements in or relating to Artificial Feet. |
| CN101234045A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Parallel type multi-freedom artificial limb exoskeleton ankle joint |
| CN104029217A (en) * | 2014-06-17 | 2014-09-10 | 东北大学 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
| CN104721016A (en) * | 2015-03-25 | 2015-06-24 | 北京航空航天大学 | 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot |
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| CN105167960A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Parallel type lower limb exoskeleton rehabilitation training device |
-
2019
- 2019-08-08 CN CN201910728366.3A patent/CN110353949B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB125506A (en) * | 1918-04-16 | 1919-04-16 | Thomas Black Thompson | Improvements in or relating to Artificial Feet. |
| CN101234045A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Parallel type multi-freedom artificial limb exoskeleton ankle joint |
| CN104029217A (en) * | 2014-06-17 | 2014-09-10 | 东北大学 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
| CN104721016A (en) * | 2015-03-25 | 2015-06-24 | 北京航空航天大学 | 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot |
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| CN105167960A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Parallel type lower limb exoskeleton rehabilitation training device |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111700774B (en) * | 2020-07-21 | 2024-03-29 | 河北工业大学 | Ankle joint fitting mechanism with motion decoupling function |
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN111759678B (en) * | 2020-08-06 | 2022-04-26 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN113397919A (en) * | 2021-07-21 | 2021-09-17 | 深圳市大寰机器人科技有限公司 | Exoskeleton robot for ankle rehabilitation |
| CN113397919B (en) * | 2021-07-21 | 2022-04-01 | 深圳市大寰机器人科技有限公司 | Exoskeleton robot for ankle rehabilitation |
| CN114376862A (en) * | 2022-01-18 | 2022-04-22 | 山东科技大学 | Three-degree-of-freedom over-constrained ankle joint rehabilitation metamorphic hybrid mechanism |
| CN114376862B (en) * | 2022-01-18 | 2023-09-01 | 山东科技大学 | Three-degree-of-freedom overconstrained ankle joint rehabilitation metamorphic parallel-serial mechanism |
| CN114435506B (en) * | 2022-02-21 | 2024-01-26 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
| CN114435506A (en) * | 2022-02-21 | 2022-05-06 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110353949B (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110353949A (en) | A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution | |
| CN102973338B (en) | Active-passive type ankle joint prosthesis and movement mode thereof | |
| CN104401419A (en) | Novel biped humanoid robot system based on pneumatic artificial muscles | |
| CN110522538A (en) | A kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain | |
| CN110074905B (en) | Active ankle joint prosthesis mechanism with connecting rod energy storage and gravity center self-adjustment functions | |
| CN106038007A (en) | Bionic artificial hand | |
| CN103707951A (en) | Two-leg robot leg mechanism based on driving of artificial muscles | |
| CN113456322B (en) | Bionic knee joint based on motor drive | |
| CN112107397B (en) | Myoelectric signal driven lower limb artificial limb continuous control system | |
| CN209454891U (en) | A kind of Humanoid Robot Based on Walking device | |
| CN104055650B (en) | Interactive paraplegia walking aid external skeleton with horizontal swinging function | |
| WO2018085329A1 (en) | Biomimetic transfemoral knee with gear mesh locking mechanism | |
| Geng et al. | Design and analysis of active transfemoral prosthesis | |
| CN112515824A (en) | Active and passive combined knee joint of lower limb prosthesis | |
| CN101856286A (en) | Biped walking robot device for testing performance of lower limb prosthesis | |
| Hu et al. | Design of mechanism and control system for a lightweight lower limb exoskeleton | |
| Strbac et al. | Software tool for the prosthetic foot modeling and stiffness optimization. | |
| CN201235218Y (en) | Artificial human model | |
| CN103222905B (en) | Motion instant center adjustable type prosthetic multiaxial joint | |
| CN201356682Y (en) | Powered artificial human leg | |
| CN210408942U (en) | Inner foot mechanism based on rope driving for lower limb rehabilitation robot | |
| CN113305807B (en) | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism | |
| CN207012269U (en) | Bionic knee joint and artificial limb | |
| CN115635477A (en) | Flexible redundant human-simulated leg based on multi-state pneumatic muscle series-parallel connection | |
| CN201743801U (en) | Fully-mechanical functional compensation artificial finger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201201 Termination date: 20210808 |