CN110755184A - Prosthetic knee joint control method - Google Patents
Prosthetic knee joint control method Download PDFInfo
- Publication number
- CN110755184A CN110755184A CN201911089910.0A CN201911089910A CN110755184A CN 110755184 A CN110755184 A CN 110755184A CN 201911089910 A CN201911089910 A CN 201911089910A CN 110755184 A CN110755184 A CN 110755184A
- Authority
- CN
- China
- Prior art keywords
- pressure
- knee joint
- sole
- flat ground
- walking
- 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
Images
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
- A61F2/68—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
- A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
-
- 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
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
-
- 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
Abstract
The invention discloses a prosthetic knee joint control method which is characterized in that a processor establishes a prosthetic simplified model, collects ground support reaction data according to a pressure sensor arranged on a prosthetic foot, and obtains knee joint corner data according to an angle sensor arranged on a prosthetic leg knee joint; according to the support reaction data and the knee joint corner data, contrasting data in a gait database, and carrying out gait cycle recognition and motion state recognition by the processor; the processor identifies according to the motion state, controls the damping size of the hydraulic cylinder and changes the action of the artificial limb. The invention overcomes the defect of insufficient moment when the pneumatic cylinder supports the phases, and provides a control method for the artificial limb user in different motion states, so that the artificial limb user can move more naturally.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a prosthetic knee joint control method.
Background
According to data display, the number of the patients with thigh amputation is increased year by year due to factors such as diseases, traffic accidents, industrial injuries, natural disasters and the like, great burden is caused to families and society of the patients, and the artificial limbs are installed to enable the patients with thigh amputation to recover mobility. The artificial limb on the market at present is a mechanical artificial limb generally, and the artificial limb is driven to move by the operation of a mechanical structure by providing fixed damping, so that the artificial limb is very inconvenient. With the development of electronic information technology, in order to make the movement of the prosthesis user more convenient, an intelligent prosthesis is generated which uses a control element to dynamically adjust the joint dynamic to adapt to the walking state of the wearer.
At present, a control method of a prosthetic knee joint by using a Hall sensor and cylinder damping exists, and in the method, a prosthetic wearer carries a signal acquisition box to determine a boundary position from a support phase to a swing phase and a locking position of the prosthetic knee joint to install the Hall sensor. Then, the walking speed is judged by detecting the gait cycle through the microprocessor, the gait time phase is judged through the Hall sensor, and the opening of the needle valve of the air cavity is controlled by the microprocessor to adjust the damping so as to adjust the damping along with the walking speed. And finally, according to a control program, when the boundary position is reached, the needle valve of the air cavity moves according to the corresponding opening value at the walking speed, and when the locking position is reached, the needle valve of the air cavity is kept completely closed, so that the damping reaches the maximum value, and the artificial limb knee joint is locked. However, the control method using the hall sensor requires that the gait information of the user is firstly collected, then the sensor is installed, and then the control is performed, so that the use is inconvenient. The damper used in this case is a cylinder damper, which cannot provide a high torque because the gas is relatively easily compressed, and it is difficult to achieve the desired effect during the support phase. And the provided control method is only a control method with different pace speeds on flat ground, and does not consider other typical motion states such as ascending and descending, ascending and descending stairs and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the artificial limb knee joint control method, so that the intelligent artificial limb can identify the motion state of the artificial limb user and provide the damping required by the motion state, and the dynamic adjustment is carried out, so that the artificial limb user can move more naturally and flexibly.
The invention provides a prosthetic knee joint control method, which is improved in that a processor establishes a prosthetic simplified model, collects ground support reaction force data according to a pressure sensor arranged on a prosthetic foot, and obtains knee joint corner data according to an angle sensor arranged on a prosthetic leg knee joint; according to the support reaction data and the knee joint corner data, contrasting data in a gait database, and carrying out gait cycle recognition and motion state recognition by the processor; the processor identifies according to the motion state, controls the damping size of the hydraulic cylinder and changes the action of the artificial limb.
Wherein the pressure sensor mounted on the prosthetic foot comprises:
a first pressure sensor arranged at the center of the front sole of the artificial foot and a second pressure sensor arranged at the center of the rear sole of the artificial foot;
the first pressure sensor and the second pressure sensor both adopt sheet-type piezoelectric pressure sensors, convert pressure into voltage and output the voltage to the processor.
The processor identifies the gait cycle, divides the gait cycle into a support phase and a swing phase, and identifies the motion state, and comprises the following steps:
horizontally standing: the knee joint corner is approximately equal to 0 degree; the forefoot pressure is approximately equal to the rearfoot pressure;
standing on an ascending slope: the knee joint corner is approximately equal to 0 degree; the pressure of the front sole is greater than that of the rear sole;
standing on a downhill slope: the knee joint corner is approximately equal to 0 degree; the pressure of the front sole is smaller than that of the rear sole;
standing to move up slope: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
standing to downhill movement: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
standing to flat ground for movement: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
moving uphill to flat ground: when the supporting phase knee joint corner is approximately equal to 0 degree, the front sole pressure is changed to be approximately equal to the rear sole pressure from the condition that the front sole pressure is greater than the rear sole pressure;
flat ground movement to uphill movement: when the supporting phase knee joint corner is approximately equal to 0 degree, the pressure of the front sole is approximately equal to the pressure of the rear sole, and the pressure of the front sole is greater than the pressure of the rear sole;
downhill movement to flat ground movement: when the supporting phase knee joint corner is approximately equal to 0 degree, the front sole pressure is changed to be approximately equal to the rear sole pressure from the front sole pressure being smaller than the rear sole pressure;
moving from flat ground to downhill: when the supporting phase knee joint corner is approximately equal to 0 degree, the pressure of the front sole is approximately equal to the pressure of the rear sole, and the pressure of the front sole is smaller than the pressure of the rear sole;
standing to go upstairs: when the knee joint angle is increased from 0 degree, the pressure of the front sole is greater than 0, and the pressure of the rear sole is approximately equal to 0; or the forefoot pressure is much greater than the rearfoot pressure;
standing to move downstairs: when the knee joint angle is increased from 0 degree, the pressure of the front sole is approximately equal to 0, and the pressure of the rear sole is greater than 0; or the pressure of the front sole is far less than that of the rear sole;
moving downstairs to stand: when the rotation angle of the knee joint of the support phase is equal to 0 degree approximately, the absolute value of the difference value between the pressure of the front sole and the pressure of the rear sole is smaller than the threshold value;
going upstairs, moving to stand: when the supporting phase knee joint rotation angle is equal to 0 degrees approximately, the absolute value of the difference value between the pressure of the front sole and the pressure of the rear sole is smaller than the threshold value.
Wherein, the treater is discerned according to the motion state, and the damping size of control pneumatic cylinder changes the artificial limb action, includes:
the processor sends a signal to the motor to control the opening area of the bending damping valve in the hydraulic cylinder:
when walking on the flat ground: taking the area of the damping valve walking on the flat ground as a comparison reference, reducing the flow area of the bending damping valve to provide high bending damping during a support phase, and increasing the area of the bending damping valve to provide low bending damping during a swing phase;
when going upstairs: the bending damping valve is relatively small when the support phase is close to being closed so as to provide a large bending damping, and the flow area of the bending damping valve is increased when the swing phase is close to being closed so as to provide a bending damping smaller than that when the swing phase is walking on the flat ground;
when going uphill: the support phase time control motor enables the bending damping valve to be opened to be larger than the area of the damping valve when the bending damping valve is walking on the flat ground when going upstairs so as to provide bending damping which is smaller than the area when the bending damping valve is walking on the flat ground when going upstairs and larger than the area when the bending damping valve is walking on the flat ground when going upstairs, and the swing phase time reduces the bending damping valve to be larger than the area when the bending damping valve is walking on the flat ground when going upstairs so as to provide bending;
when going downstairs: the motor is controlled to reduce the bending damping valve between the size of the damping valve when the motor is controlled to go upstairs and go uphill so as to provide bending damping smaller than that when the motor is controlled to go upstairs and larger than that when the motor is controlled to go uphill so as to provide bending damping larger than that when the motor is controlled to move flatly when the motor is controlled to swing phase so as to reduce the area of the bending damping valve than that when the motor is controlled to move flatly so as to provide bending damping larger;
when going downhill: the support phase timing control motor enables the bending damping valve to be opened to be smaller than when walking on flat ground and larger than when walking on flat ground so as to provide bending damping smaller than when walking on flat ground and larger than when walking on flat ground, and the swing phase timing control motor enables the area of the bending damping valve to be larger than that when walking on flat ground and smaller than that when walking on flat ground so as to provide bending damping larger than that when walking on flat ground and smaller than that when walking on flat ground.
Wherein, the angle sensor adopts a rotary variable sensor. Specifically including a BL29-R angle sensor.
Wherein, the thin-sheet piezoelectric pressure sensor comprises an eTouch-ss piezoelectric film sensor.
In the technical scheme of the invention, the defect of insufficient moment when the pneumatic cylinder supports the phases is overcome, and a control method of the artificial limb user in different motion states is provided, so that the artificial limb user can move more naturally.
According to the invention, gait cycle recognition and motion state recognition are carried out according to data collected by the pressure sensor and the angle sensor, and according to the motion state and cycle, the processor sends a control signal to the motor to control the opening area of the damping valve in the hydraulic cylinder to adjust damping, thereby realizing the effect of automatically controlling the artificial limb to enable the artificial limb user to walk with normal gait.
The embodiment of the invention has simple structure and light weight, and reduces the exercise burden of a prosthesis wearer. The embodiment of the invention has simple assembly and reduces the work of assembly personnel. According to the embodiment of the invention, data acquisition for a long time is not needed before wearing, and the artificial limb user can directly wear the artificial limb for rehabilitation training.
Drawings
FIG. 1 is a simplified model of a prosthesis according to an embodiment of the present invention;
fig. 2 is a schematic diagram of motion state identification transition according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples of preferred embodiments. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
The prosthetic knee joint control method provided by the embodiment is characterized in that a processor establishes a prosthetic simplified model, collects ground support reaction force data according to a pressure sensor arranged on a prosthetic foot, and obtains knee joint corner data according to an angle sensor arranged on a prosthetic leg knee joint; according to the support reaction data and the knee joint corner data, contrasting data in a gait database, and carrying out gait cycle recognition and motion state recognition by the processor; the processor controls the damping of the hydraulic cylinder according to the gait cycle and the motion state identification, and changes the action of the artificial limb.
Specifically, the prosthesis simplified model established in this embodiment is shown in fig. 1, and the prosthesis selects a single-axis knee joint with a two-link mechanism, so that the prosthesis has a simple structure and is convenient to analyze. The artificial limb main body consists of two connecting rod mechanisms and a hydraulic damping cylinder, the two connecting rods are connected through a hinge, a connector is arranged on the upper connecting rod and used for being connected with a thigh stump receiving cavity, the lower connecting rod can be connected with an artificial limb foot through a shank extension rod, and two ends of the hydraulic damper are respectively connected with the upper connecting rod and the lower connecting rod. In the figure, a rod a is a thigh connecting part, a rod b and a rod c are two-link mechanisms, a rod d is a position where a hydraulic damping cylinder is located, and a shank extension rod is connected to an extension line of the rod cAngle of rotation
The lever a and the lever b are fixed for knee joint rotation angle, so the angle β is a definite value, when the hydraulic cylinder length changes and the lever d length changes, the angle
Also changed therewith, the knee joint cornerSuppose that the knee joint is turned when the thigh is straightened
At 0 deg., the cylinder has different damping at different times.
After the model is built, the processor is respectively connected with the pressure sensor and the angle sensor to receive signals collected by the pressure sensor and the angle sensor. The pressure sensor is a thin-sheet piezoelectric pressure sensor, and particularly comprises an eTouch-ss piezoelectric film sensor. When the piezoelectric sensor is acted by external force in a certain fixed direction, an electric polarization phenomenon is generated inside the piezoelectric sensor, electric charges with opposite signs are generated on the two surfaces, the electric charge quantity generated by stress is in direct proportion to the magnitude of the external force, and the piezoelectric sensor outputs voltage after being stressed. To ensure that the collected pressure data is typical, a first pressure sensor and a second pressure sensor are respectively installed at the central positions of the front sole and the rear sole of the prosthetic foot. The knee joint rotation angle is measured by using an angle sensor, and in order to ensure the measurement reliability, a rotary variable sensor is selected, specifically a BL29-R angle sensor.
The processor carries out gait cycle recognition and motion state recognition by using sensor data according to data collected by the pressure sensor and the angle sensor by referring to a CGA gait database, and specifically comprises the following steps:
the gait cycle is generally divided into a support phase and a swing phase, the support phase begins at the heel strike stage and ends at the toe-off stage of the gait, in which the support leg is in contact with the ground, and the support phase accounts for about 60% of the gait cycle of a single leg. The swing phase is a walking phase that begins at tiptoe off and ends at heel strike, where the person's leg moves forward in preparation for the next support phase, the swing phase accounting for approximately 40% of the one-leg gait cycle. The recognition of the support phase and the swing phase in the exercise can be finished by contrasting the database by applying the plantar pressure and the knee joint corner angle.
The movement states of a person in daily life can be roughly classified into standing, walking on flat ground, ascending a slope, descending a slope, ascending stairs, descending stairs and the like, and a finite-state machine model is built to represent the conversion of different movement states as shown in fig. 2. During movement, different movement modes need to be switched after the movement is in a standing state, and the used control method is switched when a state switching point is detected.
The standing state is divided into three states of horizontal standing, ascending standing and descending standing. When the foot-walking device is in a horizontal standing state, the knee joint is straightened, the knee joint corner is approximately equal to 0 degree, when the foot-walking device is in the horizontal standing state, the ground pressure of the front sole and the rear sole is approximately equal, when the foot-walking device is in an upslope standing state, the knee joint corner is the same as that of the horizontal standing state, the body weight is mainly distributed on the front sole, the ground pressure of the front sole is larger than that of the rear sole, when the foot-walking device is in a downslope standing state, the knee joint corner is the same as that of.
The conversion conditions of walking on an uphill slope, a downhill slope and a flat ground in a standing state are the same, the pressure is increased by 2 times by taking an artificial limb as a supporting leg, or the knee joint angle is increased from 0 degree by taking a healthy leg as a supporting leg, and the front sole and the rear sole have 0 ground pressure when the feet leave the ground.
When the knee joint angle is about 0 degree, the pressure on the ground is changed from the front sole to the rear sole to the front sole and the rear sole which are approximately equal, and then the state is changed. Similarly, when the support is equal to the knee joint with a rotation angle about equal to 0 degree, the pressure on the ground is changed from approximately equal front sole and back sole to front sole being larger than back sole. When the angle of rotation of the knee joint corresponding to the support is approximately equal to 0 degree, the pressure on the ground is changed from the condition that the front sole is smaller than the rear sole to the condition that the front sole and the rear sole are approximately equal. When the rotation angle of the support corresponding to the knee joint is approximately equal to 0 degree, the pressure on the ground is changed from approximately equal front sole and rear sole to front sole being smaller than rear sole.
The up-down slope and the flat walking are changed into standing, when no next swing phase is detected after the supporting phase, the walking stop of the person can be judged, and then the standing state is judged according to the pressure of the sole.
The user can change from standing to going upstairs, and basically only the front sole of the foot is stepped on the step when the user goes upstairs. When the knee joint angle is increased from 0 degree, then the front sole has pressure and the back sole has no pressure or is far smaller than the front sole, the state change can be judged.
When the foot is standing on stairs and the corner of the knee joint is approximately equal to 0 degree, the state change can be judged when the pressure difference value between the front sole and the rear sole is smaller than a threshold value, and the threshold value is larger than the pressure difference when the user walks on flat ground.
The user can change the standing mode into the stair descending mode, and only the rear sole of the foot touches the ground because the foot of the user steps on the edge of the step to descend the stair in the stair descending process. When the pressure is present on the rear sole and the pressure is absent on the front sole or is far smaller than the rear sole, the state change can be judged.
When the corner of the support corresponding to the knee joint is approximately equal to 0 degree, the state change can be judged when the pressure difference value of the front sole and the rear sole is smaller than a threshold value, and the threshold value is the same as that when the user goes upstairs.
According to the gait cycle recognition and the motion state recognition, the processor sends a signal to the motor to control the opening area of the bending damping valve in the hydraulic cylinder:
when walking on the flat ground: when in the supporting phase, the flow area of the bending damping valve is reduced by a motor to provide high bending damping to provide enough moment to complete single-leg supporting, and when in the swinging phase, the area of the bending damping valve is increased to provide low bending damping to enable the knee joint corner to change rapidly, and the area size of the damping valve when walking on flat ground is taken as a comparison reference.
When going upstairs: when the artificial limb is in the support phase, because the included angle of the knee joint is larger when the artificial limb is initially supported by a single leg, and a large knee stretching moment is needed for enabling the body to be upward, a quite large bending damping is needed to provide the needed moment to complete the support, the bending damping valve is required to be closed to be close, when the artificial limb is in the swing phase, because the work is needed to be overcome by gravity, the bending damping valve which is smaller than that when the artificial limb is walking on the flat ground is needed to be provided, so that the artificial limb user can go upstairs with smaller force, and when the artificial limb is in the swing phase, the flow area of the bending damping valve is.
When going uphill: when the support phase is in the supporting phase, the situation is similar to the situation when going upstairs, but the required moment is smaller, so the motor is controlled to slightly open the bending damping valve to be larger than that when going upstairs, the bending damping valve is smaller than that when going on flat ground so as to provide bending damping larger than that when going upstairs, the bending damping valve is smaller than that when going on flat ground, and when the support phase is in the swinging phase, the bending damping valve is required to overcome gravity to do work and is smaller than that when going upstairs, and the flow area is slightly larger than that when going on flat ground so as to provide bending damping smaller than that when going.
When going down stairs: when the support phase is in, large-angle bearing occurs at the last stage of support, and a larger moment is needed for knee bending balance, so that the control motor enables the bending damping valve to be reduced between the size of the damping valve when going upstairs and going uphill so as to provide a bending damping larger than that when going upstairs and when going uphill, the force required by a person is reduced due to the action of gravity when the support phase swings, and the area of the control bending damping valve is smaller than that when walking on the flat ground so as to provide a bending damping larger than that when walking on the flat ground.
When going downhill: in the support phase, the motor is controlled to open the bending damper valve to a position smaller than that in the ground walking and larger than that in the stair descending so as to provide a bending damping larger than that in the ground walking, and in the swing phase, the gravity also applies a force but smaller than that in the stair descending so as to control the bending damper valve to have a larger area than that in the stair descending so as to provide a bending damping larger than that in the flat walking and smaller than that in the stair descending.
Comprehensively comparing the flow areas of the damping valves in different motion states, and when the artificial limb is in a supporting phase, bending the opening area of the damping valve: go upstairs, go downstairs, go uphill, go downhill and walk on the flat ground, and the damping of the hydraulic cylinder is as follows: going upstairs, going downstairs, going uphill, going downhill and walking on the flat ground, when the artificial limb is in a swing phase, the opening area of the bending damping valve is as follows: going upstairs, going uphill, walking on flat ground, going downhill and going downstairs, the damping of the hydraulic cylinder is as follows: going upstairs, going uphill, walking on flat ground, going downhill and going downstairs.
In order to accurately determine the flow area of the damping valve, a test platform is required to be used for testing before assembly, the test platform is equipment provided with a driving motor to simulate movement of thighs and shanks, and can provide vertical pressure in a static state and simulate swinging of legs. The force in the vertical direction is controlled to simulate the stress of the artificial limb when the artificial limb supports the limb, the area of the damping valve is reduced to be capable of supporting the force in the vertical direction, and the stress corresponds to the area of the damping valve. Controlling a motor to simulate the motion of a human to simulate the stress of the artificial limb during the swing phase, adjusting the area of the damping valve until the motion of the swing phase meets the proportion of the motion of the swing phase in the whole gait cycle, wherein the area is the opening area of the damping valve of the swing phase, and corresponding the motion condition to the opening area of the damping valve.
Specifically, the qualifiers in this example are described as follows:
said angle of rotation being about 0 ° means that the absolute difference from 0 ° is no more than 1 °;
the pressure is approximately equal to or approximately equal to mean that the difference value is less than 5N;
the greater or smaller means that the absolute value after subtraction is greater than two percent of the body weight of the person;
the threshold is equal to one percent of the weight of the person, determined in particular by the user;
the far greater is that the quotient is greater than 5 times.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (7)
1. A prosthetic knee joint control method is characterized in that a processor establishes a prosthetic simplified model, collects ground support reaction force data according to a pressure sensor arranged on a prosthetic foot, and obtains knee joint corner data according to an angle sensor arranged on a prosthetic leg knee joint; according to the support reaction data and the knee joint corner data, contrasting data in a gait database, and carrying out gait cycle recognition and motion state recognition by the processor; the processor identifies according to the motion state, controls the damping size of the hydraulic cylinder and changes the action of the artificial limb.
2. The control method of claim 1, wherein the pressure sensor mounted on the prosthetic foot comprises:
a first pressure sensor arranged at the center of the front sole of the artificial foot and a second pressure sensor arranged at the center of the rear sole of the artificial foot;
the first pressure sensor and the second pressure sensor both adopt sheet-type piezoelectric pressure sensors, convert pressure into voltage and output the voltage to the processor.
3. The control method according to claim 2, wherein the processor performs gait cycle recognition, divides the gait cycle into a support phase and a swing phase, and performs motion state recognition, including:
horizontally standing: the knee joint corner is approximately equal to 0 degree; the forefoot pressure is approximately equal to the rearfoot pressure;
standing on an ascending slope: the knee joint corner is approximately equal to 0 degree; the pressure of the front sole is greater than that of the rear sole;
standing on a downhill slope: the knee joint corner is approximately equal to 0 degree; the pressure of the front sole is smaller than that of the rear sole;
standing to move up slope: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
standing to downhill movement: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
standing to flat ground for movement: if the artificial limb is taken as the supporting leg, the pressure of the front sole is increased by 2 times; if the healthy leg is taken as a supporting leg, the rotation angle of the knee joint of the artificial limb is increased from 0 degree, and the pressure of the front sole and the pressure of the rear sole of the artificial foot are 0 after the artificial foot is lifted off the ground;
moving uphill to flat ground: when the supporting phase knee joint corner is approximately equal to 0 degree, the front sole pressure is changed to be approximately equal to the rear sole pressure from the condition that the front sole pressure is greater than the rear sole pressure;
flat ground movement to uphill movement: when the supporting phase knee joint corner is approximately equal to 0 degree, the pressure of the front sole is approximately equal to the pressure of the rear sole, and the pressure of the front sole is greater than the pressure of the rear sole;
downhill movement to flat ground movement: when the supporting phase knee joint corner is approximately equal to 0 degree, the front sole pressure is changed to be approximately equal to the rear sole pressure from the front sole pressure being smaller than the rear sole pressure;
moving from flat ground to downhill: when the supporting phase knee joint corner is approximately equal to 0 degree, the pressure of the front sole is approximately equal to the pressure of the rear sole, and the pressure of the front sole is smaller than the pressure of the rear sole;
standing to go upstairs: when the knee joint angle is increased from 0 degree, the pressure of the front sole is greater than 0, and the pressure of the rear sole is approximately equal to 0; or the forefoot pressure is much greater than the rearfoot pressure;
standing to move downstairs: when the knee joint angle is increased from 0 degree, the pressure of the front sole is approximately equal to 0, and the pressure of the rear sole is greater than 0; or the pressure of the front sole is far less than that of the rear sole;
moving downstairs to stand: when the rotation angle of the knee joint of the support phase is equal to 0 degree approximately, the absolute value of the difference value between the pressure of the front sole and the pressure of the rear sole is smaller than the threshold value;
going upstairs, moving to stand: when the supporting phase knee joint rotation angle is equal to 0 degrees approximately, the absolute value of the difference value between the pressure of the front sole and the pressure of the rear sole is smaller than the threshold value.
4. The control method of claim 3, wherein the processor identifies from the motion state, controls the amount of damping of the hydraulic cylinder, and changes the motion of the prosthesis, comprising:
the processor sends a signal to the motor to control the opening area of the bending damping valve in the hydraulic cylinder:
when walking on the flat ground: taking the area of the damping valve walking on the flat ground as a comparison reference, reducing the flow area of the bending damping valve to provide high bending damping during a support phase, and increasing the area of the bending damping valve to provide low bending damping during a swing phase;
when going upstairs: the bending damping valve is relatively small when the support phase is close to being closed so as to provide a large bending damping, and the flow area of the bending damping valve is increased when the swing phase is close to being closed so as to provide a bending damping smaller than that when the swing phase is walking on the flat ground;
when going uphill: the support phase time control motor enables the bending damping valve to be opened to be larger than the area of the damping valve when the bending damping valve is walking on the flat ground when going upstairs so as to provide bending damping which is smaller than the area when the bending damping valve is walking on the flat ground when going upstairs and larger than the area when the bending damping valve is walking on the flat ground when going upstairs, and the swing phase time reduces the bending damping valve to be larger than the area when the bending damping valve is walking on the flat ground when going upstairs so as to provide bending;
when going downstairs: the motor is controlled to reduce the bending damping valve between the size of the damping valve when the motor is controlled to go upstairs and go uphill so as to provide bending damping smaller than that when the motor is controlled to go upstairs and larger than that when the motor is controlled to go uphill so as to provide bending damping larger than that when the motor is controlled to move flatly when the motor is controlled to swing phase so as to reduce the area of the bending damping valve than that when the motor is controlled to move flatly so as to provide bending damping larger;
when going downhill: the support phase timing control motor enables the bending damping valve to be opened to be smaller than when walking on flat ground and larger than when walking on flat ground so as to provide bending damping smaller than when walking on flat ground and larger than when walking on flat ground, and the swing phase timing control motor enables the area of the bending damping valve to be larger than that when walking on flat ground and smaller than that when walking on flat ground so as to provide bending damping larger than that when walking on flat ground and smaller than that when walking on flat ground.
5. The control method according to claim 1, wherein the angle sensor is a rotary variable sensor.
6. The control method of claim 2 wherein said thin-sheet piezoelectric pressure sensor comprises an eTouch-ss piezoelectric film sensor.
7. The control method of claim 5, wherein the rotary variable sensor comprises a BL29-R angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089910.0A CN110755184B (en) | 2019-11-08 | 2019-11-08 | Prosthetic knee joint control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089910.0A CN110755184B (en) | 2019-11-08 | 2019-11-08 | Prosthetic knee joint control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110755184A true CN110755184A (en) | 2020-02-07 |
| CN110755184B CN110755184B (en) | 2021-09-24 |
Family
ID=69337025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911089910.0A Active CN110755184B (en) | 2019-11-08 | 2019-11-08 | Prosthetic knee joint control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110755184B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN117204993A (en) * | 2023-11-09 | 2023-12-12 | 浙江强脑科技有限公司 | Intelligent artificial limb movement pattern recognition method and device, intelligent artificial limb and storage medium |
| CN117281668A (en) * | 2023-11-09 | 2023-12-26 | 浙江强脑科技有限公司 | Control method, device, equipment and storage medium for intelligent leg-prosthesis knee joint |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7393364B2 (en) * | 2002-04-12 | 2008-07-01 | James J. Martin | Electronically controlled prosthetic system |
| US20090171469A1 (en) * | 2006-06-30 | 2009-07-02 | Freygardur Thorsteinsson | Intelligent orthosis |
| CN102440854A (en) * | 2011-09-05 | 2012-05-09 | 中国人民解放军总后勤部军需装备研究所 | Human-machine coupling overload carrying system device and control method thereof |
| CN102512270A (en) * | 2011-12-31 | 2012-06-27 | 河北工业大学 | Method for controlling movement of knee joints of artificial limbs |
| CN102639085A (en) * | 2009-08-31 | 2012-08-15 | Iwalk股份有限公司 | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
| US20130165820A1 (en) * | 2011-12-23 | 2013-06-27 | Industrial Technology Research Institute | System and method for estimating the mechanical behavior of human lower limbs |
| CN104983489A (en) * | 2015-07-28 | 2015-10-21 | 河北工业大学 | Road condition identifying method for lower limb prosthesis walking |
| CN105411816A (en) * | 2015-12-16 | 2016-03-23 | 哈尔滨工业大学深圳研究生院 | Control system and control method of walking assisting device |
| CN106714761A (en) * | 2014-09-10 | 2017-05-24 | 松下电器产业株式会社 | Gait data management system, gait data management method, walking assistance device and server |
| CN107322572A (en) * | 2017-08-11 | 2017-11-07 | 哈工大机器人（合肥）国际创新研究院 | A kind of assistant power apparatus for aiding in human body lower limbs to climb building |
| CN108379038A (en) * | 2018-01-15 | 2018-08-10 | 浙江大学 | A kind of lower limb rehabilitation exoskeleton system and its walking control method |
| CN108703824A (en) * | 2018-03-15 | 2018-10-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionic hand control system and control method based on myoelectricity bracelet |
| CN109223262A (en) * | 2018-10-15 | 2019-01-18 | 哈尔滨工业大学 | Damp adjustable power type artificial limb |
| CN110169850A (en) * | 2019-05-17 | 2019-08-27 | 上海理工大学 | The control method of the hydraulic knee joint artificial limb of passive-type |
-
2019
- 2019-11-08 CN CN201911089910.0A patent/CN110755184B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7393364B2 (en) * | 2002-04-12 | 2008-07-01 | James J. Martin | Electronically controlled prosthetic system |
| US20090171469A1 (en) * | 2006-06-30 | 2009-07-02 | Freygardur Thorsteinsson | Intelligent orthosis |
| CN102639085A (en) * | 2009-08-31 | 2012-08-15 | Iwalk股份有限公司 | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
| CN102440854A (en) * | 2011-09-05 | 2012-05-09 | 中国人民解放军总后勤部军需装备研究所 | Human-machine coupling overload carrying system device and control method thereof |
| US20130165820A1 (en) * | 2011-12-23 | 2013-06-27 | Industrial Technology Research Institute | System and method for estimating the mechanical behavior of human lower limbs |
| CN102512270A (en) * | 2011-12-31 | 2012-06-27 | 河北工业大学 | Method for controlling movement of knee joints of artificial limbs |
| CN106714761A (en) * | 2014-09-10 | 2017-05-24 | 松下电器产业株式会社 | Gait data management system, gait data management method, walking assistance device and server |
| CN104983489A (en) * | 2015-07-28 | 2015-10-21 | 河北工业大学 | Road condition identifying method for lower limb prosthesis walking |
| CN105411816A (en) * | 2015-12-16 | 2016-03-23 | 哈尔滨工业大学深圳研究生院 | Control system and control method of walking assisting device |
| CN107322572A (en) * | 2017-08-11 | 2017-11-07 | 哈工大机器人（合肥）国际创新研究院 | A kind of assistant power apparatus for aiding in human body lower limbs to climb building |
| CN108379038A (en) * | 2018-01-15 | 2018-08-10 | 浙江大学 | A kind of lower limb rehabilitation exoskeleton system and its walking control method |
| CN108703824A (en) * | 2018-03-15 | 2018-10-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionic hand control system and control method based on myoelectricity bracelet |
| CN109223262A (en) * | 2018-10-15 | 2019-01-18 | 哈尔滨工业大学 | Damp adjustable power type artificial limb |
| CN110169850A (en) * | 2019-05-17 | 2019-08-27 | 上海理工大学 | The control method of the hydraulic knee joint artificial limb of passive-type |
Non-Patent Citations (2)
| Title |
|---|
| ANH MAI: "intelligent control of a prosthetic ankle joint using gait recognition", 《CONTROL ENGINEERING PRACTICE》 * |
| 耿艳利: "下肢运动模式识别及动力型假肢关节控制方法研究", 《中国优秀硕士论文全文数据库》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN117204993A (en) * | 2023-11-09 | 2023-12-12 | 浙江强脑科技有限公司 | Intelligent artificial limb movement pattern recognition method and device, intelligent artificial limb and storage medium |
| CN117281668A (en) * | 2023-11-09 | 2023-12-26 | 浙江强脑科技有限公司 | Control method, device, equipment and storage medium for intelligent leg-prosthesis knee joint |
| CN117204993B (en) * | 2023-11-09 | 2024-02-27 | 浙江强脑科技有限公司 | Intelligent artificial limb movement pattern recognition method and device, intelligent artificial limb and storage medium |
| CN117281668B (en) * | 2023-11-09 | 2024-04-09 | 浙江强脑科技有限公司 | Control method, device, equipment and storage medium for intelligent leg-prosthesis knee joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110755184B (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110755184B (en) | Prosthetic knee joint control method | |
| CN110169850B (en) | Control method of passive hydraulic knee joint prosthesis | |
| CN101316565B (en) | System and method for motion-controlled foot unit | |
| JP4300213B2 (en) | Control system and method for controlling a prosthesis with a drive source | |
| CN101453964B (en) | System and method for determining terrain transitions | |
| US20190269529A1 (en) | Prosthetic hydraulic joint with accumulator and methods for controlling joint | |
| CN101151071B (en) | Prosthetic and orthotic systems usable for rehabilitation | |
| JP2003527926A (en) | Knee prosthesis with speed and patient compatibility | |
| CN102512270B (en) | Method for controlling movement of knee joints of artificial limbs | |
| JP2007524483A5 (en) | ||
| JP2007524483A (en) | System and method for motion controlled foot unit | |
| KR20130096631A (en) | Controlling torque in a prosthesis or orthosis | |
| CN106037753A (en) | Wearable data collection system based on multi-sensor fusion and method adopted by system | |
| CN106309081B (en) | The light movement power assisting device of one kind and its control method | |
| KR102230771B1 (en) | Simulation system of robotic artificial leg and method of controlling the same | |
| KR20180094576A (en) | Motion assist apparatus | |
| CN203154010U (en) | Artificial limb knee-joint performance testing device | |
| CN106217352A (en) | Exoskeleton robot gait control method based on pressure transducer | |
| CN110123329B (en) | Intelligent mechanical frame for matching with exercise-assisted lower limb exoskeleton to adjust human body position and control method thereof | |
| US9192487B2 (en) | Joint control systems and methods utilizing muscle activation sensing | |
| CN209220856U (en) | A kind of assisted walk exoskeleton robot system with self-regulation | |
| TWI388315B (en) | The auxiliary device of the knee | |
| CN112472531A (en) | Gait smoothing algorithm of lower limb exoskeleton robot for medical rehabilitation and assisted walking | |
| CN110742712A (en) | Artificial limb movement intention identification method and device based on source end fusion | |
| CN112336499B (en) | Intelligent hydraulic knee joint device |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220303 Address after: 313000 room 1718, 17th floor, building D, headquarters, No. 1188, fufu Road, Wuxing District, Huzhou City, Zhejiang Province Patentee after: Zhenxing Technology (Huzhou) Co.,Ltd. Address before: 17 / F, building D, headquarters Freeport, 1188 Qufu Road, Wuxing District, Huzhou City, Zhejiang Province, 313000 Patentee before: Huzhou Institute of International Innovation Harbin University of Technology Robot |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 313000 room 1718, 17th floor, building D, headquarters, No. 1188, fufu Road, Wuxing District, Huzhou City, Zhejiang Province Patentee after: Zhejiang Zhenxing Technology Co., Ltd. Address before: 313000 room 1718, 17th floor, building D, headquarters, No. 1188, fufu Road, Wuxing District, Huzhou City, Zhejiang Province Patentee before: Zhenxing Technology (Huzhou) Co.,Ltd. |