CN111685918A - Rigidity-adjustable foot artificial limb device - Google Patents
Rigidity-adjustable foot artificial limb device Download PDFInfo
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- CN111685918A CN111685918A CN202010451689.5A CN202010451689A CN111685918A CN 111685918 A CN111685918 A CN 111685918A CN 202010451689 A CN202010451689 A CN 202010451689A CN 111685918 A CN111685918 A CN 111685918A
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- foot
- stiffness
- rigidity
- power supply
- controllable power
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- 210000002683 foot Anatomy 0.000 claims abstract description 58
- 210000003414 extremity Anatomy 0.000 claims abstract description 42
- 229920001971 elastomer Polymers 0.000 claims abstract description 41
- 239000000806 elastomer Substances 0.000 claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims abstract description 29
- 230000005291 magnetic effect Effects 0.000 claims abstract description 29
- 230000005284 excitation Effects 0.000 claims abstract description 13
- 210000003127 knee Anatomy 0.000 claims abstract description 12
- 210000003423 ankle Anatomy 0.000 claims abstract description 5
- 230000005415 magnetization Effects 0.000 claims description 28
- 230000009471 action Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 11
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000011217 control strategy Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 210000000459 calcaneus Anatomy 0.000 claims description 2
- 238000002955 isolation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
-
- 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
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5004—Prostheses not implantable in the body having damping means, e.g. shock absorbers operated by electro- or magnetorheological fluids
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
Abstract
The invention relates to a foot artificial limb device with adjustable rigidity, which comprises an artificial limb body and a knee sheath, wherein the artificial limb body and the knee sheath are connected through a supporting rod, the position of the artificial limb body, which corresponds to an ankle, is provided with a rigidity adjusting structure, the rigidity adjusting structure comprises a magnetorheological elastomer and an excitation coil, an acceleration sensor, a processor and a controllable power supply which are sequentially connected are arranged in the knee sheath, the controllable power supply is connected with the excitation coil, the acceleration sensor is used for acquiring the acceleration information of the residual limb of a user, the processor is used for controlling the magnitude of the current output by the controllable power supply, the controllable power supply outputs the current to the rigidity adjusting structure, the excitation coil generates a corresponding magnetic field. Compared with the prior art, the invention is based on the magnetorheological elastomer technology, can realize the purpose of automatically adjusting the rigidity along with the motion state of a user by constructing the rigidity adjusting structure and combining the acceleration sensor, the processor and the controllable power supply, thereby effectively improving the use comfort.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a rigidity-adjustable foot prosthesis device.
Background
The foot artificial limb devices in the market at present are mainly divided into a passive artificial limb and an active artificial limb, wherein the passive artificial limb is made of carbon fiber, and the whole artificial limb structure has certain elasticity under the action of a spring, so that the foot artificial limb device has the characteristics of simple structure, moderate price and light and convenient wearing, but the passive artificial limb cannot be well matched with the motion condition of a user, so that the wearing comfort of the user is influenced; the active artificial limb is usually driven by a motor, particularly, the motor and a control component are added in the artificial limb structure, so that the use is natural, but due to the addition of the motor and other control driving components, the artificial limb structure has the disadvantages of increased weight, complex structure and certain high energy consumption.
In addition, when a user walks or runs, the user often needs to rely on the stiffness provided by the artificial limb due to different impact degrees between the artificial limb and the residual limb of the user so as to ensure the use comfort of the user, but the stiffness of the artificial limb cannot be timely and reliably adjusted according to the movement condition of the user no matter the artificial limb is a passive artificial limb which provides elasticity by a spring or an active artificial limb which is driven by a motor, so that the comfort of the user when the user uses the artificial limb cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a foot prosthesis device with adjustable rigidity, which utilizes the magnetorheological elastomer technology to realize the purpose of adjusting the rigidity in real time according to the motion condition of a user so as to improve the use comfort.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a foot prosthetic limb device with adjustable rigidity, includes prosthetic body and the knee sheath of connecting through the bracing piece, the position that prosthetic body corresponds the ankle is installed rigidity and is adjusted the structure, rigidity is adjusted the structure and is included magnetic current ization elastomer and excitation coil, install acceleration sensor, treater and the controllable power supply that connects gradually in the knee sheath, the controllable power supply is connected with excitation coil, acceleration sensor is used for gathering the acceleration information of the incomplete limb of user, the treater is used for controlling controllable power supply output current's size, controllable power supply output current gives rigidity and adjusts the structure, excitation coil produces corresponding magnetic field according to the electric current, the magnetic current ization elastomer produces rigidity change according to the magnetic field change.
Furthermore, the rigidity adjusting structure further comprises a magnetization upper disc and a magnetization lower disc, the magnetorheological elastomer, the magnetization upper disc and the magnetization lower disc are all sleeved on the first shaft, the magnetorheological elastomer is located between the magnetization upper disc and the magnetization lower disc, the magnet exciting coil is located between the first shaft and the magnetorheological elastomer, when a user walks or runs, the magnetization upper disc and the magnetization lower disc move relatively to squeeze the magnetorheological elastomer, and the magnetorheological elastomer changes the rigidity of the magnetorheological elastomer to buffer the squeezing action.
Furthermore, the upper magnetization disc and the lower magnetization disc are fixedly connected with the magnetorheological elastomer respectively.
Furthermore, a groove is formed in the circumferential outer surface of the first shaft, and the excitation coil is wound in the groove.
Furthermore, a second shaft is connected to one end of the first shaft, a linear bearing and a shell are sequentially sleeved outside the second shaft, the linear bearing is used for guiding the upper magnetization disc and the lower magnetization disc to move relatively and reducing friction, a boss is arranged at one end of the second shaft, and the boss is used for positioning the shell.
Further, the housing is a non-magnetizable housing to produce the effect of isolating the magnetic field.
Furthermore, the artificial limb body comprises a foot buffering shell, a first foot plate and a second foot plate are installed in the gradual buffering shell, the first foot plate is used for simulating the sole and the arch of the foot of a human body, the second foot plate is used for simulating the calcaneus of the human body, one end of the second foot plate is connected with the first foot plate through a bolt and a nut, and the first foot plate is connected with the rigidity adjusting structure through a connector.
Further, the connector is connected with the rigidity adjusting structure through a bolt.
Further, the acceleration sensor is specifically ADXL 203.
The work process of the foot prosthesis device with adjustable rigidity comprises the following steps:
s1, the acceleration sensor collects the acceleration information of the stump of the user in real time and transmits the acceleration information to the processor in real time;
s2, outputting a corresponding current control signal to the controllable power supply by the processor according to the acceleration information and a preset control strategy;
s3, according to the current control signal, the controllable power supply outputs current with corresponding magnitude to the magnet exciting coil;
s4, the magnet exciting coil generates a magnetic field under the action of current, and the magnetorheological elastomer generates rigidity change under the action of the magnetic field so as to buffer the impact force between the foot prosthesis device and the residual limb of the user.
Compared with the prior art, the invention has the following advantages:
the invention designs a rigidity adjusting structure based on the magnetorheological elastomer, and can adjust the rigidity of the user in real time when the user walks or runs, so that the impact force between the whole foot artificial limb device and the residual limb of the user is buffered, the use comfort of the user is improved, the magnetorheological elastomer can change the rigidity of the user along with the change of a magnetic field, and the magnetorheological elastomer has the advantages of quick response and low energy consumption.
Secondly, the invention combines the design of the knee sheath and the design of the artificial limb body, arranges the acceleration sensor, the processor and the controllable power supply on the knee sheath, and arranges the rigidity adjusting structure containing the magnetorheological elastomer on the artificial limb body, thereby simplifying the structure of the whole foot artificial limb device.
Thirdly, the rigidity adjusting structure is arranged at the position corresponding to the ankle of the artificial limb body, so that the structural compactness of the whole foot artificial limb device is further ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a stiffness adjustment structure;
the notation in the figure is: 1. the device comprises a first foot plate, a second foot plate, a foot buffering shell, a connector, a rigidity adjusting structure, a support rod, a connector, a rigidity adjusting structure, a support rod, a magnetic upper plate, a magnetic exciting coil, a magnetic changing elastic body, a magnetic lower plate, a magnetic upper shaft, a magnetic lower plate.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, a stiffness-adjustable foot prosthesis device comprises a first foot plate 1, a second foot plate 2, a foot buffer shell 3, a connector 4, a stiffness adjusting structure 5, a support rod 6 and a knee sheath 15, wherein the first foot plate 1 and the second foot plate 2 are both installed inside the foot buffer shell 3, the first foot plate 1 is connected with one end of the second foot plate 2 through a bolt to form a prosthesis body, the first foot plate 1 is connected with the stiffness adjusting structure 5 through the connector 4, the connector 4 is connected to the stiffness adjusting structure 5 through a bolt, the stiffness adjusting structure 5 is installed at a position corresponding to an ankle of the prosthesis body, the prosthesis body is connected to the knee sheath 15 through the support rod 6, an acceleration sensor 151, a processor 152 and a controllable power supply 153 are installed in the knee sheath 15, and the controllable power supply 153 is connected with the stiffness adjusting structure 5.
Specifically, as shown in fig. 2, the stiffness adjusting structure 5 is composed of a magnetorheological elastomer 9, an excitation coil 8, an upper magnetization disc 7, a lower magnetization disc 10, a first shaft 11, a second shaft 13, a linear bearing 14 and a housing 12, wherein the magnetorheological elastomer 9, the upper magnetization disc 7 and the lower magnetization disc 10 are all sleeved on the first shaft 11, the magnetorheological elastomer 9 is located between the upper magnetization disc 7 and the lower magnetization disc 10, the upper magnetization disc 7 and the lower magnetization disc 10 are respectively and fixedly connected with the magnetorheological elastomer 9, a groove is formed in the circumferential outer surface of the first shaft 11, the excitation coil 8 is wound and installed in the groove, the excitation coil 8 is connected with a controllable power supply 153 to receive current output from the controllable power supply 153, so as to generate a magnetic field, and finally the variable elastomer 9 automatically adjusts stiffness under the action of the magnetic field, the excitation coil 8 is located between the first shaft 11, when a user walks or runs, the upper magnetized disc 7 and the lower magnetized disc 10 move relatively to squeeze the magnetorheological elastomer 9, and the magnetorheological elastomer 9 absorbs the squeezing action by changing the rigidity of the magnetorheological elastomer 9;
in addition, a second shaft 13 is connected to one end of the first shaft 11, a housing 12 for isolating the action of the magnetic field is sleeved outside the second shaft 13, a linear bearing 14 is installed inside the housing 12 for guiding the relative movement (combination and separation) of the upper magnetizable disk 7 and the lower magnetizable disk 10 and reducing friction, and a boss is provided at one end of the second shaft 13 for positioning the housing 12.
In this embodiment, the first foot plate 1 and the second foot plate 2 are made of carbon fiber, the foot buffer housing 3 is made of silica gel, the first shaft 11 is made of magnetizable material, the housing 12 is a non-magnetizable housing, and the acceleration sensor 151 is specifically ADXL 203.
The invention is based on the technology of the magnetorheological elastomer to design a rigidity adjusting structure, the magnetorheological elastomer is characterized in that ferromagnetic particles with a micron scale are doped into a high molecular polymer and are cured in a magnetic field environment, so that the particles in a matrix have chain or columnar structures, the magnetorheological elastomer can have different rigidities by applying different magnetic field sizes to the magnetorheological elastomer, the conversion time can be completed within a few milliseconds, and the energy consumption is low. The specific working process of the invention is as follows:
s1, the acceleration sensor 151 collects the acceleration information of the stump of the user in real time and transmits the acceleration information to the processor 152 in real time;
s2, according to the acceleration information and the preset control strategy, the processor 152 outputs a corresponding current control signal to the controllable power supply 153;
s3, according to the current control signal, the controllable power supply 153 outputs current with corresponding magnitude to the magnet exciting coil 8;
s4, the magnet exciting coil 8 generates a magnetic field under the action of current, and the magnetorheological elastomer 9 generates rigidity change under the action of the magnetic field so as to buffer the impact force between the foot prosthesis device and the residual limb of the user.
In practical application, the acceleration sensor 151 is used for acquiring acceleration information of a user stump, the processor 152 is used for controlling the magnitude of current output by the controllable power supply 153, the controllable power supply 153 outputs current to the magnet exciting coil 8 in the stiffness adjusting structure 5, the magnet exciting coil 8 generates a corresponding magnetic field according to the current, and the magnetorheological elastomer 9 generates stiffness change according to the change of the magnetic field. When a user walks, the rigidity adjusting structure 5 can provide certain rigidity so as to reduce the impact between the artificial limb and the residual limb of the user and facilitate the walking of the user; when the user runs, the magnetorheological elastomer 9 reduces the rigidity thereof, further reduces the impact between the artificial limb and the residual limb of the user, and enables the user to more comfortably enjoy the exercise.
Claims (10)
1. The foot prosthesis device with adjustable rigidity is characterized by comprising a prosthesis body and a knee sheath (15) which are connected through a supporting rod (6), wherein the prosthesis body is provided with a rigidity adjusting structure (5) corresponding to the position of an ankle, the rigidity adjusting structure (5) comprises a magnetorheological elastomer (9) and a magnet exciting coil (8), an acceleration sensor (151), a processor (152) and a controllable power supply (153) which are sequentially connected are arranged in the knee sheath (15), the controllable power supply (153) is connected with the magnet exciting coil (8), the acceleration sensor (151) is used for collecting the acceleration information of the stump of a user, the processor (152) is used for controlling the size of the output current of the controllable power supply (153), the controllable power supply (153) outputs the current to the rigidity adjusting structure (5), and the magnet exciting coil (8) generates a corresponding magnetic field according to the current, the magneto-rheological elastomer (9) generates rigidity change according to the change of the magnetic field.
2. The stiffness-adjustable foot prosthesis device according to claim 1, wherein the stiffness adjusting structure (5) further comprises an upper magnetization disk (7) and a lower magnetization disk (10), the magnetorheological elastomer (9), the upper magnetization disk (7) and the lower magnetization disk (10) are all sleeved on a first shaft (11), the magnetorheological elastomer (9) is located between the upper magnetization disk (7) and the lower magnetization disk (10), the excitation coil (8) is located between the first shaft (11) and the magnetorheological elastomer (9), when a user walks or runs, relative motion occurs between the upper magnetization disk (7) and the lower magnetization disk (10) to squeeze the magnetorheological elastomer (9), and the magnetorheological elastomer (9) changes its own stiffness to buffer the squeezed action.
3. The adjustable-stiffness foot prosthesis device according to claim 2, characterized in that the upper magnetized disk (7) and the lower magnetized disk (10) are each fixedly connected to a magnetorheological elastomer (9).
4. An adjustable stiffness foot prosthetic device according to claim 2, wherein the first shaft (11) has a circumferential outer surface formed with a groove in which the field coil (8) is fitted around.
5. The stiffness-adjustable foot prosthetic device according to claim 2, characterized in that a second shaft (13) is connected to one end of the first shaft (11), a linear bearing (14) and a housing (12) are sequentially sleeved outside the second shaft (13), the linear bearing (14) is used for guiding the upper magnetized disc (7) and the lower magnetized disc (10) to generate relative motion and reducing friction, and a boss is arranged at one end of the second shaft (13) and used for positioning the housing (12).
6. An adjustable stiffness foot prosthetic device according to claim 5, wherein the shell (12) is a non-magnetizable shell to provide magnetic field isolation.
7. A stiffness-adjustable foot prosthetic device according to claim 1, characterized in that the prosthetic body comprises a foot buffering shell (3), a first foot plate (1) and a second foot plate (2) are installed in the foot buffering shell (3), the first foot plate (1) is used for simulating the sole and the arch of a human body, the second foot plate (2) is used for simulating the calcaneus of the human body, one end of the second foot plate (2) is connected with the first foot plate (1) through a bolt and a nut, and the first foot plate (1) is connected with the stiffness adjusting structure (5) through a connector (4).
8. An adjustable stiffness foot prosthetic device according to claim 7, wherein the connector (4) is connected to the stiffness adjustment structure (5) by a bolt.
9. Foot prosthesis device with adjustable stiffness according to claim 1, characterized in that the acceleration sensor (151) is in particular ADXL 203.
10. A process for applying the foot prosthetic device of claim 1, comprising the steps of:
s1, the acceleration sensor (151) collects the acceleration information of the residual limb of the user in real time and transmits the acceleration information to the processor (152) in real time;
s2, outputting a corresponding current control signal to the controllable power supply (153) by the processor (152) according to the acceleration information and a preset control strategy;
s3, according to the current control signal, the controllable power supply (153) outputs current with corresponding magnitude to the excitation coil (8);
s4, the magnet exciting coil (8) generates a magnetic field under the action of current, and the magnetorheological elastomer (9) generates rigidity change under the action of the magnetic field so as to buffer the impact force between the foot prosthesis device and the residual limb of the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451689.5A CN111685918A (en) | 2020-05-25 | 2020-05-25 | Rigidity-adjustable foot artificial limb device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451689.5A CN111685918A (en) | 2020-05-25 | 2020-05-25 | Rigidity-adjustable foot artificial limb device |
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| Publication Number | Publication Date |
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| CN111685918A true CN111685918A (en) | 2020-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202010451689.5A Pending CN111685918A (en) | 2020-05-25 | 2020-05-25 | Rigidity-adjustable foot artificial limb device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023111920A1 (en) * | 2021-12-16 | 2023-06-22 | Össur Iceland Ehf | Current controller for a magnetorheological actuator |
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|---|---|---|---|---|
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| WO1999000075A1 (en) * | 1997-06-26 | 1999-01-07 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
| JP2000037406A (en) * | 1998-07-24 | 2000-02-08 | Shigeru Tanaka | Lower extremity prosthesis device |
| US6423098B1 (en) * | 1997-12-10 | 2002-07-23 | Biedermann Motech Gmbh | Leg prosthesis with an artificial knee joint provided with an adjustment device |
| CN102885661A (en) * | 2012-10-29 | 2013-01-23 | 河北工业大学 | Dynamic prosthetic knee joint |
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-
2020
- 2020-05-25 CN CN202010451689.5A patent/CN111685918A/en active Pending
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|---|---|---|---|---|
| WO1996041599A1 (en) * | 1995-06-13 | 1996-12-27 | Otto Bock Orthopädische Industrie Besitz- Und Verwaltungskommanditgesellschaft | Process for controlling the knee brake of a knee prosthesis and thigh prosthesis |
| WO1999000075A1 (en) * | 1997-06-26 | 1999-01-07 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
| US6423098B1 (en) * | 1997-12-10 | 2002-07-23 | Biedermann Motech Gmbh | Leg prosthesis with an artificial knee joint provided with an adjustment device |
| JP2000037406A (en) * | 1998-07-24 | 2000-02-08 | Shigeru Tanaka | Lower extremity prosthesis device |
| US20130060349A1 (en) * | 2011-09-06 | 2013-03-07 | Ossur Hf | Prosthetic and orthotic devices having magnetorheological elastomer spring with controllable stiffness |
| CN102895051A (en) * | 2012-10-24 | 2013-01-30 | 北京工道风行智能技术有限公司 | Below-knee prosthesis provided with power ankle |
| CN102885661A (en) * | 2012-10-29 | 2013-01-23 | 河北工业大学 | Dynamic prosthetic knee joint |
| CN108122352A (en) * | 2016-11-28 | 2018-06-05 | 意美森公司 | For the magnetic sensitive elastomer of touch feedback |
| CN109938892A (en) * | 2019-04-03 | 2019-06-28 | 河北工业大学 | A kind of intelligent lap artificial limb wearer riding condition identifying system |
| CN111227999A (en) * | 2020-03-18 | 2020-06-05 | 上海应用技术大学 | Magneto-rheological damping lower limb prosthesis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023111920A1 (en) * | 2021-12-16 | 2023-06-22 | Össur Iceland Ehf | Current controller for a magnetorheological actuator |
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Application publication date: 20200922 |