CN112168439B - Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis - Google Patents

Abstract

The invention discloses a rigid-flexible coupling bionic passive compliance ankle-foot prosthesis which comprises an ankle part, a hind foot part, a middle foot part, an anterior foot part, a foot bottom part, a ligament imitation piece I, a ligament imitation piece II and a ligament imitation piece III; the rear foot part is arranged on the rear part of the sole part through an elastic body I, the front foot part is arranged on the front part of the sole part through an elastic body II, the ankle part is arranged on the rear foot part, the upper part of the rear end of the middle foot part is connected with the front side of the lower end of the ankle part through a ball hinge part I, the rear foot part is connected with the lower part of the rear end of the middle foot part through an elastic connecting piece, and the front end of the middle foot part is connected with the rear end of the front foot part through a ball hinge part II; the ligament imitation piece I is respectively connected with the ankle part and the hindfoot part, and the ligament imitation piece II is respectively connected with the ankle part and the hindfoot part; the ligament imitation piece III is respectively connected with the midfoot part and the forefoot part. The present invention combines rigid and flexible materials to enhance the natural gait characteristics of the user.

Description

Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis

Technical Field

The invention relates to the field of ankle-foot joint artificial limbs, in particular to a rigid-flexible coupling bionic passive compliance ankle-foot artificial limb.

Background

Today's ankle-foot prostheses are based primarily on solid hard ankle-heel prostheses (SACH) and energy storage and return prostheses (ESR), but due to structural constraints, these two prostheses do not perfectly mimic the natural gait of a human. One of the important reasons is that the contact surface of the human skeleton joint is very complex, and the mutual matching of the plurality of virtual movable shafts ensures that each joint has different motion characteristics in the daily walking process of a person.

When the artificial limb is bionic, how to reasonably arrange each ligament of the human body simultaneously and realize the special function of the artificial limb, so that the whole ankle skeleton system is flexible and does not influence the joint movement, which is very key. Therefore, it is very important to design an ankle-foot prosthesis which is easy to produce and can meet the biomechanics and kinematics of human walking.

Although prostheses on the market today are predominantly made of rigid materials, which can improve the energy efficiency of the amputee, they are not satisfactory in terms of improving comfort and reducing costs. Therefore, it is imperative to design a compliant flexible prosthesis with a larger Young's modulus, which not only provides stable support for amputees and enhances the storage and transformation of energy, but also allows for easy maintenance of the flexible material, and reduces the compensatory effects and secondary injuries to the healthy lateral limb.

Disclosure of Invention

The invention aims to provide a rigid-flexible coupling bionic passive compliance ankle-foot prosthesis based on human skeleton ligament modularization, which not only combines the advantages of rigid and flexible materials and can better enhance the natural gait characteristics of a user, but also opens up a new idea and a new design direction for future prosthesis design.

The technical scheme of the invention is as follows:

the rigid-flexible coupling bionic passive compliance ankle-foot prosthesis comprises an ankle part, a hind foot part, a middle foot part, an anterior foot part, a foot bottom part, a ligament imitation piece I, a ligament imitation piece II and a ligament imitation piece III;

the rear foot part is arranged on the rear part of the sole part through an elastic body I, the front foot part is arranged on the front part of the sole part through an elastic body II, the ankle part is arranged on the rear foot part, the upper part of the rear end of the middle foot part is connected with the front side of the lower end of the ankle part through a ball hinge part I, the rear foot part is connected with the lower part of the rear end of the middle foot part through an elastic connecting piece, and the front end of the middle foot part is connected with the rear end of the front foot part through a ball hinge part II;

the ligament imitation piece I is respectively connected with the ankle part and the hindfoot part, and the ligament imitation piece II is respectively connected with the ankle part and the hindfoot part; the ligament imitation piece III is respectively connected with the midfoot part and the forefoot part.

The ankle part comprises a tibiofibula imitation piece, an ankle joint rolling shaft, an ankle joint support, an ankle bone imitation piece and a ligament imitation piece IV; the talus imitation piece is of a horizontal trapezoidal structure, the bottom surface of the trapezoidal structure faces the front, and the talus imitation piece is arranged on the upper end surface of the rear foot part; the ankle joint support is arranged on the upper end surface of the talus imitation piece; an arc concave surface is arranged on the upper end surface of the ankle joint support, and the arc concave surface is axially and horizontally arranged and is parallel to the coronal surface; an ankle joint rolling shaft is fixedly arranged on the lower end surface of the tibiofibula imitation piece, corresponds to the shape of an arc concave surface on the upper end surface of the ankle joint support and is arranged in the arc concave surface; two ends of the ligament imitation piece I are respectively arranged on the tibiofibula imitation piece and the hindfoot part; a ligament imitation part IV is arranged between the tibiofibula imitation part and the talus imitation part;

the artificial ankle foot comprises a left foot part, a right foot part and a left foot part, wherein the front side surface of the artificial talus part is provided with an artificial talus head part with a square structure; when the convex-flexible coupling bionic passive compliance ankle-foot prosthesis is a right foot part, the artificial talus head part is positioned on the left side of the artificial talus part;

the front end of the artificial talus head part is connected with the rear end of the ball hinge part I; the front end of ball joint spare I be equipped with talus imitation ball joint, well foot rear end upper portion is equipped with the ball socket of scaphoid imitation, ball joint spare I and well foot pass through talus imitation ball joint spare and ball socket joint of scaphoid imitation.

The hindfoot part comprises a talus lower bottom surface support, a calcaneus upper imitation piece, a talus joint limiting piece, a talus joint support, a talus joint rolling shaft and a talus lower imitation piece;

the upper part imitation piece and the lower part imitation piece of the calcaneus are of horizontal trapezoid structures, the bottom surface of the trapezoid faces the front, and the upper part imitation piece and the lower part imitation piece of the calcaneus are connected through a positioning screw hole and a bolt;

the talus lower bottom surface support is fixedly connected with the lower end surface of the talus imitation piece, the lower end surface of the talus lower bottom surface support is an arc-shaped concave surface, the upper end surface of the talus lower joint support is an arc-shaped concave surface, the two arc-shaped concave surfaces are mutually matched, the talus joint rolling shaft is arranged between the two arc-shaped concave surfaces, and the two arc-shaped concave surfaces and the talus joint rolling shaft are both horizontally arranged in the axial direction and are parallel to the sagittal plane;

the lower end surface of the subtalar joint support is arranged on the upper end surface of the imitation piece at the upper part of the calcaneus; the subtalar joint limiting pieces are arranged on the upper end surface of the imitation piece on the upper part of the calcaneus and are arranged in a left-right symmetrical mode by taking the subtalar joint support as the center;

the upper calcaneus imitation piece is arranged on the lower calcaneus imitation piece, and the lower calcaneus imitation piece is arranged on the rear part of the bottom of the foot through an elastomer I; the front end of the imitation piece at the upper part of the calcaneus is connected with the rear end of the elastic connecting piece.

The subtalar joint locating part consists of an upper part and a lower part, the upper part is made of elastic materials, the lower part is made of hard materials, the upper end surface of the subtalar joint locating part is higher than the upper end surface of the subtalar joint support, and a space is reserved between the subtalar joint locating part and the lower end surface of the talar imitation piece.

The ligament imitation piece I is provided with three groups; the upper ends of the two sets of ligament imitation pieces I are connected with two sides of the rear side surface of the tibiofibula imitation piece, and the lower ends of the ligament imitation pieces I extend downwards and are respectively connected with two sides of the rear side surface of the calcaneus upper imitation piece; the upper end of the third group is connected with the middle part of the rear side surface of the talus imitation piece, and the lower end of the third group is connected with the middle part of the calcaneus upper imitation piece.

The ligament imitation parts IV are provided with five groups, wherein one group is arranged on the front side surface of the tibiofibula imitation parts, and the tibiofibula imitation parts are connected with the front side surface of the talus imitation parts; two groups of the tibiofibula imitation parts are respectively arranged at the left side and the right side of the tibiofibula imitation parts, and the two groups of the ligament imitation parts IV are respectively connected with the left side and the right side of the talus imitation parts.

The middle foot part comprises a middle foot lower supporting part, a middle foot middle elastic connecting part, an air spring bin, a one-way air valve, a lower pressing plate, a navicular imitation piece, a cuneiform integral imitation piece, a cuboid imitation piece ball hinge joint, a navicular imitation piece ball socket, a cuneiform integral imitation piece ball socket I, a navicular imitation piece ball hinge joint and a cuneiform integral imitation piece ball socket II;

the middle-foot lower supporting piece is of a square structure; the scaphoid imitation part is of an isosceles triangular prism structure, the bottom surface of the isosceles triangular prism is vertically arranged and is positioned at the rear end of the middle foot part, and the top edge of the scaphoid imitation part is provided with a ball hinge part III; the front end of the ball hinge piece III is provided with a scaphoid imitation ball hinge joint; the wedge bone overall imitation piece is an inclined plate inclining downwards forwards, a wedge bone overall imitation piece ball socket II is arranged on the rear end face of the wedge bone overall imitation piece, and the ball hinge piece III and the wedge bone overall imitation piece are hinged through a scaphoid imitation piece ball hinge joint and the wedge bone overall imitation piece ball socket II; the front end ball hinge II of the wedge bone integral imitation piece is connected with the rear end of the front foot part, and the wedge bone integral imitation piece is hung on the upper end surface of the elastic connecting piece in the middle foot part through the ball hinge II and the ball hinge III, and a space is reserved between the ball hinge II and the ball hinge III;

the rear end of the upper end surface of the middle foot middle elastic connecting piece is connected with a corner below the navicular imitation piece, and the middle part of the upper end surface of the middle foot middle elastic connecting piece is provided with an air spring bin; the upper end surface of the air spring bin is provided with a lower pressing plate, the rear part of the lower pressing plate is connected with the front part of the lower inclined surface of the navicular imitation piece, two sides of the air spring bin are respectively provided with a one-way air valve, one-way air valve is used for air inlet, and the other one-way air valve is used for air outlet; the lower end surface of the middle foot middle elastic connecting piece is connected with the upper end surface of the middle foot lower supporting piece;

the cuboid imitation piece is in a human body cuboid imitation shape, is arranged on the upper end face of the elastic connecting piece in the middle foot and is positioned on the side edge of the navicular imitation piece, when the rigid-flexible coupling bionic passive compliance ankle foot prosthesis is a left foot piece, the cuboid imitation piece is positioned on the left side of the navicular imitation piece, and when the flexible coupling bionic passive compliance ankle foot prosthesis is a right foot piece, the cuboid imitation piece is positioned on the right side of the navicular imitation piece; the side surface of the cuboid imitation part, which is close to the navicular imitation part, is provided with a ball hinge part IV, the tail end of the ball hinge part IV is provided with a cuboid imitation part ball hinge head, the side surface of the navicular imitation part, which is close to the cuboid imitation part, is provided with a ball socket corresponding to the cuboid imitation part ball hinge head, and the ball hinge part IV and the navicular imitation part are hinged with the ball socket through the cuboid imitation part ball hinge head;

the navicular imitation piece ball socket is arranged at the upper part of the bottom surface of the navicular imitation piece, and the lower part of the bottom surface of the navicular imitation piece ball socket is connected with the front end of the elastic connecting piece; the front end face of the wedge bone integral imitation piece is provided with a wedge bone integral imitation piece ball socket I, the rear end of the ball hinge piece II is provided with a metatarsophalangeal imitation piece ball hinge joint, and the ball hinge piece II and the wedge bone integral imitation piece are hinged through the wedge bone integral imitation piece ball socket I and the metatarsophalangeal imitation piece ball hinge joint.

The upper end of the ligament imitation piece II is connected with the front side surface of the tibiofibula imitation piece, and the lower end of the ligament imitation piece II is connected with the upper inclined surface of the navicular imitation piece;

three sets of ligament imitation parts V are arranged between the navicular bone imitation part and the cuneiform bone integral imitation part, and the three sets of ligament imitation parts V are uniformly arranged along the coronal plane direction at intervals.

The combined structure of the ball joint part III, the scaphoid imitation ball joint and the cuneiform bone integral imitation ball socket II is provided with three groups which are horizontally and uniformly arranged along the coronal direction at intervals;

the combined structure of the air spring bins and the one-way air valves is provided with three groups which are horizontally and uniformly arranged at intervals along the direction of a coronal plane, and the upper ends of the air spring bins of each group are respectively connected with the lower end surface of the lower pressing plate;

the ball joint part IV, the ball joint of the cuboid imitation part and the ball socket I of the cuneiform integral imitation part are combined into three groups, and the outer side surface of the cuneiform integral imitation part is arranged at intervals along the inclination direction of the cuneiform integral imitation part.

The forefoot part comprises a forefoot lower supporting piece, a first metatarsophalangeal bone imitation piece, a second third metatarsophalangeal bone integral imitation piece, a fourth fifth phalange integral imitation piece and a metatarsophalangeal bone imitation piece ball joint;

the forefoot lower supporting piece is of a square structure and is arranged at the front part of the sole through an elastic body II; the first metatarsophalangeal imitation piece, the second third metatarsophalangeal integral imitation piece and the fourth fifth phalangeal integral imitation piece are respectively and sequentially arranged on the forefoot lower supporting piece;

the metatarsophalangeal imitation piece ball hinge head comprises a first metatarsophalangeal imitation piece ball hinge head, a second third metatarsophalangeal integral imitation piece ball hinge head and a fourth fifth metatarsophalangeal integral imitation piece ball hinge head;

the front side surface of the wedge bone overall imitation piece is provided with two wedge bone overall imitation piece ball sockets, the rear side surfaces of the first metatarsophalangeal imitation piece and the second metatarsophalangeal overall imitation piece are respectively provided with a group of ball hinge parts II, the rear ends of the two groups of ball hinge parts II are respectively provided with a first metatarsophalangeal imitation piece ball hinge head and a second metatarsophalangeal overall imitation piece ball hinge head, and the first metatarsophalangeal imitation piece and the second metatarsophalangeal overall imitation piece are hinged at the front part of the wedge bone overall imitation piece through the two groups of first metatarsophalangeal imitation piece ball hinge heads and the two wedge bone overall imitation piece ball sockets;

the front side surface of the cuboid imitation piece is provided with a cuboid imitation piece ball socket, the rear side surface of the fourth five-phalange integral imitation piece is provided with a group of ball hinge parts II, the rear ends of the group of ball hinge parts II are provided with a fourth five-phalange integral imitation piece ball hinge head, and the cuboid imitation piece and the fourth five-phalange integral imitation piece are hinged with the cuboid imitation piece ball socket through the fourth five-phalange integral imitation piece ball hinge head;

the ligament imitation pieces III are provided with three groups, the upper ends of the ligament imitation pieces are respectively and uniformly arranged on the upper end surface of the cuneiform bone integral imitation piece along the coronal plane at intervals, and the lower ends of the ligament imitation pieces are respectively connected with the upper end surfaces of the first metatarsophalangeal bone imitation piece, the second metatarsophalangeal bone integral imitation piece and the fourth five phalangeal integral imitation piece;

a group of ligament imitation parts VI are respectively arranged between the first metatarsophalangeal bone imitation part and the second metatarsophalangeal bone integral imitation part and between the second metatarsophalangeal bone integral imitation part and the fourth phalange integral imitation part, and the two groups of ligament imitation parts VI are arranged along the coronal direction and are connected into a line.

The sole part comprises a sole rubber plate and sole antiskid lines; the front part and the rear part of the lower end surface of the sole rubber plate are respectively provided with sole anti-skid lines;

the elastic body I comprises a sole air spring and a sole Z-shaped elastic extrusion plate; the air springs on the soles are arranged in groups which are arranged in a grid shape in the front part of the upper end surface of the rubber plate on the soles; the lower plate of the sole Z-shaped elastic extrusion plate is arranged in the middle of the upper end surface of the sole rubber plate; the front part of the lower bottom surface of the front foot lower supporting piece is connected with the upper end of each sole air spring, and the rear part of the lower bottom surface of the front foot lower supporting piece is connected with the upper plate of the sole Z-shaped elastic extrusion plate;

the elastic body II comprises two groups of C-shaped extrusion plates of the foot sole, the two groups of C-shaped extrusion plates are respectively arranged at the rear part of the upper end surface of the rubber plate of the foot sole along the sagittal plane direction at intervals, and the upper end surface is connected with the lower end surface of the rear foot part.

The ligament imitation piece I, the ligament imitation piece II, the ligament imitation piece III, the ligament imitation piece IV, the ligament imitation piece V and the ligament imitation piece VI are consistent in structure, and the ligament imitation pieces comprise connecting pieces and elastic connecting ropes; the connecting pieces are respectively arranged on the corresponding positions of the ankle part, the hind foot part, the middle foot part and the forefoot part, and the elastic connecting ropes are respectively connected with the corresponding two connecting pieces end to end;

the ligament imitation piece VI is positioned on the connecting pieces of the first metatarsophalangeal imitation piece, the second third metatarsophalangeal integral imitation piece and the fourth fifth phalange integral imitation piece and is respectively connected with the connecting pieces of the ligament imitation piece III positioned on the first metatarsophalangeal imitation piece, the second third metatarsophalangeal integral imitation piece and the fourth fifth phalange integral imitation piece through a group of elastic connecting ropes.

The artificial tibia and fibula, the ankle joint roller, the ankle joint support, the talus artificial part, the talus lower bottom support, the calcaneus upper artificial part, the talus support, the talus roller, the talus artificial ball hinge joint, the talus lower artificial part, the middle-foot lower support, the lower press plate, the navicular artificial part, the cuneiform integral artificial part, the cuboid artificial part, the navicular artificial ball hinge joint, the cuboid artificial ball hinge joint, the forefoot lower support, the first metatarsophalangeal artificial part, the second three metatarsophalangeal integral artificial part, the fourth five phalangeal integral artificial part, the first metatarsophalangeal artificial ball hinge joint, the second three metatarsophalangeal integral artificial ball hinge joint, the fourth five phalangeal integral artificial ball hinge joint, the sole Z-shaped elastic extrusion plate, the sole C-shaped extrusion plate and the connecting piece are all made of hard materials. The hard material can be carbon fiber material.

Each elastic connecting rope, the middle foot ball hinge joint, the air spring bin, the sole rubber plate, the sole air spring and the sole anti-skid grains are made of elastic materials. The elastic material can be high-elasticity silica gel.

The direction in the invention is designed as follows, the front foot part is the front side, the back foot part is the back side, and the left and right directions are arranged in turn.

The invention has the beneficial effects that:

the invention integrates and regularizes the foot skeleton by analyzing the foot anatomical structure of the human body, realizes that the integral artificial limb is easy to produce, process and manufacture, reduces the production and maintenance cost and brings comfortable walking experience for artificial limb patients while not limiting the biomechanics and kinematics functions; meanwhile, the human body functions of the plantar fascia, the arch part and the ligament are simultaneously integrated into the design of the artificial limb, so that the whole artificial limb design is subjected to human body simulation more specifically, a good bionic effect is achieved, and the stump end of the amputee can be well matched with the side limb of the opposite side arm to carry out more natural symmetrical walking.

The artificial limb of the invention adopts a design idea of rigid-flexible coupling, so that the whole weight of the artificial limb is lighter, and the additional energy consumption and the secondary injury to the healthy lateral limb of the amputee are reduced when the amputee is worn. When an amputee walks with the artificial limb, body pressure is applied to the tibiofibular imitation piece, and meanwhile, because the motion of the ankle joint in a complete gait cycle from plantarflexion to dorsiflexion to plantarflexion, the forward rolling and backward transferring motion of the ankle joint rolling shaft matched with the ankle joint support can better realize the bidirectional flexion of the ankle joint.

When a person walks normally, the lower limb movement is formed by integrating movements of six degrees of freedom in three planes, namely a coronal plane, a sagittal plane and a horizontal plane, so that when the ankle joint bends, the subtalar joint can turn inside and outside so as to adjust the whole foot to be more suitable for the variability of the terrain. The invention can well realize the function by the mutual matching of the subtalar joint roller and the subtalar joint support. In addition, the two subtalar joint limiting pieces are sequentially arranged on two sides of the subtalar joint support in sequence, and meanwhile, the upper parts of the subtalar joint limiting pieces have resilience performance, so that certain auxiliary reset force can be brought when a user is assisted in overturning the subtalar joint.

When the artificial limb of the invention is used for assisting people to walk, the arch of the foot part can obviously improve the bearing weight and the mechanical performance of the whole foot, and other excellent characteristics of the arch of the foot also comprise the impact effect of absorbing the ground return force and forming a sole 'hoist' mechanism by matching with phalanges, thereby improving the push-off force at the final stage of gait.

In the invention, the arch of foot is divided into an inner longitudinal arch, an outer longitudinal arch and a transverse arch according to the anatomical structure of a human body. The inner side longitudinal arch, namely the cuboid bone imitation piece is matched with the mutual extrusion effect of the middle foot middle elastic piece, so that the strong resilience performance can be generated, and the characteristic of good elasticity of the inner side longitudinal arch of the human body is met. The outer side longitudinal arch is composed of a navicular bone imitation part and a cuneiform bone integral imitation part, is not only similar to the structure of a human body and is slightly higher than the inner side longitudinal arch, but also has a lower pressing plate added in the middle, is not in direct contact with the air spring bin, and has a longer integral pressing path, so that the rebound motion effect is poorer than that of the inner side longitudinal arch, and the characteristic of the human body is also met; the cuneiform bone integral imitation component forms a transverse arch part of the artificial limb, when the artificial limb is passively stressed, the navicular imitation component is stressed to press down due to the stress deformation of the air spring bin and drives the ball joint of the navicular imitation component to act on a ball socket of the cuneiform bone imitation component, so the cuneiform bone integral imitation component is also stressed to press down, the motion characteristic well accords with the real-time change of the transverse arch of a human body along with the fluctuation of a road surface, and the complete arch characteristic can not be formed when the artificial limb is stressed; the three middle foot imitation pieces are hinged and connected with each other through a ball joint and a ball socket.

The air spring bin of the invention is matched with two one-way air valves, one of which only admits air and the other one of which only admits air, the structure formed in the way is similar to the function of human plantar fascia, namely, when the heel of a foot is landed at the beginning of walking gait, the air in the air spring bin is discharged to the outside by the air-out one-way air valve under the action of human body pressure, thereby playing a role of buffering the impact force of absorbing the ground, and when the toe of the foot is lifted off at the end stage of gait, air enters the air spring bin from the air-in one-way air valve under the action of external atmospheric pressure difference, so that the air spring is restored to the original state to continuously support the lower pressure plate, thereby simulating and explaining.

The human foot mainly comprises a front part, a middle part and a rear part, wherein the front foot mainly forms an 'anchor machine' mechanism when toes leave the ground in the last stage of gait so as to increase the pushing-off force, the middle foot mainly plays a role in forming a three-class arch system of the foot, and the rear foot mainly serves as a main bearing part and transmits the acting of a residual limb part to the foot and carries out main buckling movement; the prosthesis of the invention is designed in regions in this way.

The present invention is designed to divide the toe area of human body into three parts. The first part is composed of the first metatarsophalangeal ray, which corresponds to the big toe and mainly plays a role in increasing the push-off force at the end stage of gait; the second part is composed of a second metatarsophalangeal ray and a third metatarsophalangeal ray, and the joint of the second part mainly plays a role in positioning and supporting a load movably; the third part consists of the fourth metatarsophalangeal ray and the fifth metatarsophalangeal ray, mainly moves outwards horizontally during walking, and plays a role in increasing the ground contact area and maintaining stability. According to the functional characteristics, the artificial limb divides the rays of the metatarsophalangeal of the foot into three parts, namely: the first metatarsophalangeal imitation, the second third metatarsophalangeal integral imitation and the fourth fifth phalange integral imitation; wherein the second metatarsus and the third metatarsus are large in area and are used for bearing and positioning. Through the structural design, the foot function can be further refined, and the movement efficiency of the artificial limb is improved.

In the invention, the bottom adopts two modes to store and return energy similar to ESR artificial limbs, one mode is a sole air spring, and the other mode is a sole Z-shaped elastic extrusion plate and a sole C-shaped extrusion plate. The aim is to change the design method of the existing artificial limb cage better according to different stress conditions of the human body characteristic region distribution of the front, middle and rear feet; during the off-toe period, a greater push-off work is required, so that a soft plantar air spring can produce substantially the same effect as a traditional rigid spring under the conditions of keeping the energy loss of the sole smaller, the weight lighter and the heat loss lower. According to the invention, the two plantar C-shaped extrusion plates at the heel part simulate the human body heel fat pad structure, so that the human body step characteristic is simulated, and more ground impact force can be absorbed by forced compression. In addition, the sole Z-shaped elastic extrusion plate can well simulate the long-strip type of human sole fascia to perform stress movement of the foot.

Another important innovation of the artificial limb is that each ligament imitation piece is used for uniformly combing the main ligaments of the human foot, and then regularly and sequentially installing the ligaments on corresponding parts to limit the motion amplitude and state of the foot, and meanwhile, the artificial limb can provide corresponding auxiliary elastic feedback for the passive artificial limb as an elastic connecting rope of the artificial ligament, so that the artificial limb is beneficial to natural walking of the human body.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a right side view of the present invention;

fig. 3 is a rear view of the present invention.

The numbers and names in the figure are as follows:

1-ankle part; 2-hind foot section; 3-midfoot section; 4-forefoot part; 5-plantar region; 6-ligament imitation piece I; 7-ligament imitation II; 8-ligament replica III; 9-elastomer I; 10-elastomer II; 11-ball joint I; 12-an elastic connection; 13-ball joint ii; 14-ball joint iii; 16-ball joint IV; 17-a lower plate; 18-upper plate; 19-a connector; 20-elastic connecting ropes; 21-ligament replica v; 22-ligament imitation VI.

101-tibiofibular replica, 102-ankle roll, 103-ankle support, 104-talar replica, 105-ligament replica iv, 106-talar head replica.

201-support, 202-calcaneus upper imitation, 203-subtalar joint limiting piece, 204-subtalar joint support, 205-subtalar joint roller, 206-calcaneus lower imitation and 207-talus imitation ball joint.

301-midfoot support, 302-midfoot ball articulation, 303-air spring chamber, 304-one-way air valve, 305-lower platen, 306-navicular replica, 307-cuneiform solid replica, 308-cuboid replica, 309-cuboid replica ball joint, 310-navicular replica ball socket, 311-cuneiform solid replica ball socket i, 312-cuboid replica ball socket, 313-navicular replica ball joint, 314-cuneiform solid replica ball socket ii.

401-a forefoot support, 402-a first metatarsophalangeal imitation, 403-a second metatarsophalangeal integral imitation, 404-a fourth metatarsophalangeal integral imitation, 405-a first metatarsophalangeal imitation ball joint, 406-a second metatarsophalangeal integral imitation ball joint, 407-a fourth metatarsophalangeal integral imitation ball joint.

501-sole rubber plate, 502-sole air spring, 503-sole Z-shaped elastic extrusion plate, 504-sole C-shaped extrusion plate and 505-sole antiskid lines.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments in conjunction with the accompanying drawings.

Example 1

As shown in fig. 1-3, the rigid-flexible coupling bionic passive compliance ankle-foot prosthesis comprises an ankle part 1, a hind foot part 2, a middle foot part 3, a forefoot part 4, a sole part 5, a ligament imitation part i 6, a ligament imitation part ii 7 and a ligament imitation part iii 8;

the rear foot part 2 is arranged on the rear part of the sole part 5 through an elastic body I9, the front foot part 4 is arranged on the front part of the sole part 5 through an elastic body II 10, the ankle part 1 is arranged on the rear foot part 2, the upper part of the rear end of the middle foot part 3 is connected with the front side of the lower end of the ankle part 1 through a ball hinge I11, the rear foot part 2 is connected with the lower part of the rear end of the middle foot part 3 through an elastic connecting piece 12, and the front end of the middle foot part 3 is connected with the rear end of the front foot part 4 through a ball hinge II 13;

the ligament imitation piece I6 is respectively connected with the ankle part 1 and the hindfoot part 2, and the ligament imitation piece II 7 is respectively connected with the ankle part 1 and the hindfoot part 3; the ligament imitation piece III 8 is respectively connected with the midfoot part 3 and the forefoot part 4.

The ankle part 1 comprises a tibiofibula imitation 101, an ankle joint roller 102, an ankle joint support 103, a talus imitation 104 and a ligament imitation IV 105; the talus imitation piece 104 is of a horizontal trapezoid structure, the bottom surface of the trapezoid faces the front, and the talus imitation piece 104 is installed on the upper end surface of the rear foot part 2; the ankle joint support 103 is arranged on the upper end surface of the talus imitation 104; an arc concave surface is arranged on the upper end surface of the ankle joint support 103, and the axial direction of the arc concave surface is horizontally arranged and is parallel to the coronal plane; an ankle joint roller 102 is fixedly arranged on the lower end face of the tibiofibula imitation part 101, and the ankle joint roller 102 is corresponding to the shape of an arc concave surface on the upper end face of an ankle joint support 103 and is arranged in the arc concave surface; two ends of the ligament imitation piece I6 are respectively arranged on the tibiofibula imitation piece 101 and the hindfoot part 2; a ligament imitation IV 105 is arranged between the tibiofibula imitation 101 and the talus imitation 104;

the front side surface of the talus imitation piece 104 is provided with a talus imitation head part 106 in a square structure, and when the rigid-flexible coupling bionic passive compliance ankle foot prosthesis is a left foot part, the talus imitation head part 106 is positioned on the right side of the talus imitation piece 104 in a top view; when the convex-flexible coupling bionic passive compliance ankle-foot prosthesis is a right foot piece, the artificial talus head piece 106 is positioned on the left side of the talus imitation piece 104 in a top view;

the front end of the artificial talus head part 106 is connected with the rear end of the ball joint part I11; the front end of ball joint spare I11 be equipped with talus imitation ball joint 207, 3 rear end upper portions of middle foot portion are equipped with navicular imitation ball socket 310, ball joint spare I11 is articulated with navicular imitation ball socket 310 through talus imitation ball joint 207 with middle foot portion 3.

The hindfoot part 2 comprises a talus lower bottom surface support 201, a calcaneus upper imitation 202, a subtalar joint limiting part 203, a subtalar joint support 204, a subtalar joint roller 205 and a calcaneus lower imitation 206;

the talus lower bottom surface support 201 is fixedly connected with the lower end surface of the talus imitation part 104, the lower end surface of the talus lower bottom surface support 201 is an arc concave surface, the upper end surface of the talus lower joint support 204 is an arc concave surface, the two arc concave surfaces are mutually matched, the talus joint rolling shaft 205 is arranged between the two arc concave surfaces, and the axial directions of the two arc concave surfaces and the talus joint rolling shaft 205 are both horizontally arranged and are parallel to the sagittal plane;

the lower end surface of the subtalar joint support 204 is arranged on the upper end surface of the calcaneus upper replica 202; the subtalar joint limiting pieces 203 are arranged on the upper end surface of the upper calcaneus imitation piece 202 and are arranged in a left-right symmetrical mode by taking the subtalar joint support 204 as a center;

the upper calcaneus imitation 202 is arranged on the lower calcaneus imitation 206, and the lower calcaneus imitation 206 is arranged on the rear part of the sole part 5 through an elastomer I9; the front end of the upper calcaneus replica 202 is connected to the rear end of the elastic connector 12.

The subtalar joint limiting part 203 is composed of an upper part and a lower part, the upper part is made of elastic materials, the lower part is made of hard materials, the upper end surface of the subtalar joint limiting part 203 is higher than the upper end surface of the subtalar joint support 204, and a distance is reserved between the upper end surface of the subtalar joint limiting part 203 and the lower end surface of the talar bone imitation 104.

The ligament imitation piece I6 is provided with three groups; the upper ends of the two sets of ligament imitation pieces I6 are connected with two sides of the rear side surface of the tibiofibula imitation piece 101, and the lower ends extend downwards and are respectively connected with two sides of the rear side surface of the calcaneus upper imitation piece 202; the third set has its upper end connected to the middle of the posterior side of the talar replica 104 and its lower end connected to the middle of the calcaneus upper replica 202.

The ligament imitation IV 105 is provided with five groups, wherein one group is arranged on the front side surface of the tibiofibula imitation 101, and the tibiofibula imitation 101 is connected with the front side surface of the talus imitation 104; two groups of the tibiofibular imitation 101 are respectively arranged at the left and right sides, and the two groups of ligament imitation IV 105 are respectively connected with the left and right sides of the talar imitation 104.

The middle foot part 3 comprises a middle foot lower support part 301, a middle foot middle elastic connecting part 302, an air spring bin 303, a one-way air valve 304, a lower pressing plate 305, a navicular imitation 306, a cuneiform integral imitation 307, a cuboid imitation 308, a cuboid imitation ball joint 309, a navicular imitation ball socket 310, a cuneiform integral imitation ball socket I311, a navicular imitation ball joint 313 and a cuneiform integral imitation ball socket II 314;

the middle-foot lower support 301 is of a square structure; the navicular imitation piece 306 is of an isosceles triangular prism structure, the bottom surface of the isosceles triangular prism is vertically arranged and is positioned at the rear end of the middle foot part 3, and the top edge of the navicular imitation piece 306 is provided with a ball hinge assembly III 14; the front end of the ball hinge part III 14 is provided with a scaphoid imitation ball hinge head 313; the wedge overall imitation 307 is an inclined plate inclined downwards forwards, a wedge overall imitation ball socket II 314 is arranged on the rear end face of the wedge overall imitation 307, and the ball hinge part III 14 is hinged with the wedge overall imitation 307 through a scaphoid imitation ball hinge joint 313 and the wedge overall imitation ball socket II 314; the front end ball hinge II 13 of the wedge bone overall imitation 307 is connected with the rear end of the front foot part 4, the wedge bone overall imitation 307 is hung on the upper end surface of the middle foot middle elastic connecting piece 302 through the ball hinge II 13 and the ball hinge III 14, and a space is reserved between the two;

the rear end of the upper end face of the middle foot middle elastic connecting piece 302 is connected with a corner below the navicular imitation piece 306, and the middle part of the upper end face of the middle foot middle elastic connecting piece 302 is provided with an air spring bin 303; the upper end surface of the air spring bin 303 is provided with a lower pressing plate 305, the rear part of the lower pressing plate 305 is connected with the front part of the lower inclined surface of the navicular imitation piece 306, two sides of the air spring bin 303 are respectively provided with a one-way air valve 304, wherein one-way air valve 304 is used for air inlet, and the other one-way air valve 304 is used for air outlet; the lower end surface of the middle-foot middle elastic connecting piece 302 is connected with the upper end surface of the middle-foot lower supporting piece 301;

the cuboid imitation piece 308 is arranged on the upper end face of the elastic connecting piece 302 in the middle foot and is positioned on the side edge of the navicular imitation piece 306, when the rigid-flexible coupling bionic passive compliance ankle prosthesis is a left foot piece, the cuboid imitation piece 308 is positioned on the left side of the navicular imitation piece 306, and when the flexible coupling bionic passive compliance ankle prosthesis is a right foot piece, the cuboid imitation piece 308 is positioned on the right side of the navicular imitation piece 306 in a top view; a ball hinge part IV 16 is arranged on the side surface of the cuboid imitation piece 308 close to the navicular imitation piece 306, a cuboid imitation piece ball hinge joint 309 is arranged at the tail end of the ball hinge part IV 16, a ball socket corresponding to the cuboid imitation piece ball hinge joint 309 is arranged on the side surface of the navicular imitation piece 306 close to the cuboid imitation piece 308, and the ball hinge part IV 16 and the navicular imitation piece 306 are hinged with the ball socket through the cuboid imitation piece ball hinge joint 309;

the scaphoid imitation ball socket 310 is arranged at the upper part of the bottom surface of the scaphoid imitation 306, and the lower part of the bottom surface of the scaphoid imitation ball socket 310 is connected with the front end of the elastic connecting piece 12; the front end face of the wedge overall imitation 307 is provided with a wedge overall imitation ball socket I311, the rear end of the ball hinge II 13 is provided with a metatarsophalangeal imitation ball hinge, and the ball hinge II 13 and the wedge overall imitation 307 are hinged through the wedge overall imitation ball socket I311 and the metatarsophalangeal imitation ball hinge.

The upper end of the ligament imitation II 7 is connected with the front side surface of the tibiofibula imitation 101, and the lower end is connected with the upper inclined surface of the navicular imitation 306;

three sets of ligament imitation pieces V21 are arranged between the navicular imitation piece 306 and the cuneiform bone integral imitation piece 307, and the three sets of ligament imitation pieces V21 are uniformly arranged along the coronal plane direction at intervals.

The combined structure of the ball hinge part III 14, the navicular imitation part ball hinge joint 313 and the cuneiform bone integral imitation part ball socket II 314 is provided with three groups which are horizontally and uniformly arranged along the coronal direction at intervals;

the combined structure of the air spring bins 303 and the one-way air valves 304 is provided with three groups which are horizontally and uniformly arranged along the direction of a coronal plane at intervals, and the upper ends of the air spring bins 303 of each group are respectively connected with the lower end surface of the lower pressing plate 305;

the combined structure of the ball hinge part IV 16, the cuboid imitation ball hinge joint 309 and the cuneiform integral imitation ball socket I311 is provided with three groups, and the outer side surface of the cuneiform integral imitation 307 is arranged at intervals along the inclined direction.

The forefoot part 4 comprises a forefoot lower support 401, a first metatarsophalangeal imitation 402, a second metatarsophalangeal integral imitation 403, a fourth fifth phalange integral imitation 404 and a metatarsophalangeal imitation ball joint;

the forefoot lower support 401 is of a square structure and is arranged at the front part of the sole part 5 through an elastic body II 10; the first metatarsophalangeal imitation piece 402, the second metatarsophalangeal integral imitation piece 403 and the fourth phalangeal integral imitation piece 404 are respectively and sequentially arranged on the forefoot lower support member 401;

the metatarsophalangeal imitation ball joint comprises a first metatarsophalangeal imitation ball joint 405, a second third metatarsophalangeal integral imitation ball joint 406 and a fourth fifth metatarsophalangeal integral imitation ball joint 407;

the front side of the wedge-bone overall imitation 307 is provided with two wedge-bone overall imitation ball sockets 311, the rear sides of the first metatarsophalangeal imitation 402 and the second metatarsophalangeal overall imitation 403 are respectively provided with a group of ball hinge parts II 13, the rear ends of the two groups of ball hinge parts II 13 are respectively provided with a first metatarsophalangeal imitation ball hinge head 405 and a second metatarsophalangeal overall imitation ball hinge head 406, and the first metatarsophalangeal imitation 402 and the second metatarsophalangeal overall imitation 403 are hinged at the front part of the wedge-bone overall imitation 307 through the two groups of first metatarsophalangeal imitation ball hinge heads 405 and the two wedge-bone overall imitation ball sockets 311;

a cuboid imitation ball socket 312 is arranged on the front side surface of the cuboid imitation 308, a group of ball hinge joints II 13 is arranged on the rear side surface of the fourth five-phalange integral imitation 404, a fourth five-phalange integral imitation ball hinge joint 407 is arranged at the rear end of the group of ball hinge joints II 13, and the cuboid imitation 308 and the fourth five-phalange integral imitation 404 are hinged with the cuboid imitation ball socket 312 through the fourth five-phalange integral imitation ball hinge joint 407;

the ligament imitation pieces III 8 are provided with three groups, the upper ends of the ligament imitation pieces are respectively and uniformly arranged on the upper end surface of the cuneiform bone integral imitation piece 307 at intervals along the coronal plane, and the lower ends of the ligament imitation pieces are respectively connected with the upper end surfaces of the first metatarsophalangeal imitation piece 402, the second metatarsophalangeal integral imitation piece 403 and the fourth phalangeal integral imitation piece 404;

a group of ligament imitation parts VI 22 are respectively arranged between the first metatarsophalangeal imitation part 402 and the second metatarsophalangeal integral imitation part 403 and between the second metatarsophalangeal integral imitation part 403 and the fourth phalange integral imitation part 404, and the two groups of ligament imitation parts VI 22 are arranged along the coronal direction and are connected into a line.

The sole part 5 comprises a sole rubber plate 501 and sole antiskid lines 505; the front part and the rear part of the lower end surface of the sole rubber plate 501 are respectively provided with sole antiskid grains 505;

the elastic body I9 comprises a sole air spring 502 and a sole Z-shaped elastic extrusion plate 503; the air springs 502 on the sole are provided with 9 groups which are arranged in 9-grid shape in the front part of the upper end surface of the rubber plate 501 on the sole; the lower plate 17 of the sole Z-shaped elastic extrusion plate 503 is arranged in the middle of the upper end surface of the sole rubber plate 501; the front part of the lower bottom surface of the forefoot lower support 401 is connected with the upper end of each sole air spring 502, and the rear part of the lower bottom surface of the forefoot lower support 401 is connected with the upper plate 18 of the sole Z-shaped elastic extrusion plate 503;

the elastic body II 9 comprises two groups of plantar C-shaped extrusion plates 504, the two groups of plantar C-shaped extrusion plates 504 are arranged at the rear part of the upper end face of the plantar rubber plate 501 at intervals along the sagittal plane direction, and the upper end face is connected with the lower end face of the rear foot part 2.

The ligament imitation piece I6, the ligament imitation piece II 7, the ligament imitation piece III 8, the ligament imitation piece IV 105, the ligament imitation piece V21 and the ligament imitation piece VI 22 are consistent in structure, and comprise a connecting piece 19 and an elastic connecting rope 20 which are also ligament imitation pieces; the connecting pieces 19 are respectively arranged at the corresponding positions of the ankle part 1, the rear foot part 2, the middle foot part 3 and the front foot part 4, and the elastic connecting ropes 20 are respectively connected with the corresponding two connecting pieces 19 from head to tail;

the ligament imitation VI 22 is connected with the connecting pieces 19 of the ligament imitation III 8 on the first metatarsophalangeal imitation 402, the second metatarsophalangeal imitation 403 and the fourth phalange imitation 404 through a group of elastic connecting ropes 20.

Claims (9)

1. The utility model provides a bionical passive compliance ankle foot artificial limb of rigid-flexible coupling, includes ankle portion (1), hind foot (2), well foot (3), forefoot (4), sole (5), ligament imitation piece I (6), ligament imitation piece II (7), ligament imitation piece III (8), its characterized in that:

the rear foot part (2) is arranged on the rear part of the sole part (5) through an elastic body I (9), the front foot part (4) is arranged on the front part of the sole part (5) through an elastic body II (10), the ankle part (1) is arranged on the rear foot part (2), the upper part of the rear end of the middle foot part (3) is connected with the front side of the lower end of the ankle part (1) through a ball hinge part I (11), the rear foot part (2) is connected with the lower part of the rear end of the middle foot part (3) through an elastic connecting piece (12), and the front end of the middle foot part (3) is connected with the rear end of the front foot part (4) through a ball hinge part II (13);

the ligament imitation piece I (6) is respectively connected with the ankle part (1) and the hindfoot part (2), and the ligament imitation piece II (7) is respectively connected with the ankle part (1) and the hindfoot part (3); the ligament imitation piece III (8) is respectively connected with the middle foot part (3) and the front foot part (4);

the ankle part (1) comprises a tibiofibula imitation piece (101), an ankle joint roller (102), an ankle joint support (103), a talus imitation piece (104) and a ligament imitation piece IV (105); the talus imitation piece (104) is of a horizontal trapezoid structure, the bottom surface of the trapezoid faces the front, and the talus imitation piece (104) is installed on the upper end surface of the hind foot part (2); the ankle joint support (103) is arranged on the upper end surface of the talus imitation piece (104); an arc concave surface is arranged on the upper end surface of the ankle joint support (103), and the axial direction of the arc concave surface is horizontally arranged and is parallel to the coronal plane; an ankle joint rolling shaft (102) is fixedly arranged on the lower end face of the tibiofibula imitation piece (101), and the ankle joint rolling shaft (102) is corresponding to the shape of an arc concave surface on the upper end face of an ankle joint support (103) and is arranged in the arc concave surface; two ends of the ligament imitation piece I (6) are respectively arranged on the tibiofibula imitation piece (101) and the hindfoot part (2); a ligament imitation part IV (105) is arranged between the tibiofibula imitation part (101) and the talus imitation part (104);

the artificial talus foot component (106) with a square structure is arranged on the front side face of the talus artificial component (104), when the rigid-flexible coupling bionic passive compliance ankle foot prosthesis is a left foot component, the artificial talus head component (106) is positioned on the right side of the talus artificial component (104), and when the convex-flexible coupling bionic passive compliance ankle foot prosthesis is a right foot component, the artificial talus head component (106) is positioned on the left side of the talus artificial component (104);

the front end of the artificial talus head part (106) is connected with the rear end of the ball joint part I (11); the front end of the ball hinge part I (11) is provided with a talus imitation ball hinge head (207), the upper part of the rear end of the middle foot part (3) is provided with a scaphoid imitation ball socket (310), and the ball hinge part I (11) and the middle foot part (3) are hinged with the scaphoid imitation ball socket (310) through the talus imitation ball hinge head (207);

the middle foot part (3) comprises a middle foot lower support part (301), a middle foot middle elastic connecting part (302), an air spring bin (303), a one-way air valve (304), a lower pressing plate (305), a navicular imitation piece (306), a cuneiform integral imitation piece (307), a cuboid imitation piece (308), a cuboid imitation piece ball hinge joint (309), a navicular imitation piece ball socket (310), a cuneiform integral imitation piece ball socket I (311), a navicular imitation piece ball hinge joint (313) and a cuneiform integral imitation piece ball socket II (314);

the rear end of the upper end face of the middle-foot middle elastic connecting piece (302) is connected with a corner below the navicular imitation piece (306), and the middle part of the upper end face of the middle-foot middle elastic connecting piece (302) is provided with an air spring bin (303)); a lower pressure plate (305) is arranged on the upper end surface of the air spring bin (303), the rear part of the lower pressure plate (305) is connected with the front part of the lower inclined surface of the navicular imitation piece (306), two sides of the air spring bin (303) are respectively provided with a one-way air valve (304), one-way air valve (304) is used for air inlet, and the other one-way air valve (304) is used for air outlet; the lower end surface of the middle foot middle elastic connecting piece (302) is connected with the upper end surface of the middle foot lower supporting piece (301).

2. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 1, characterized in that:

the hind foot part (2) comprises a talus bottom surface support (201), a calcaneus upper imitation piece (202), a talus joint limiting piece (203), a talus joint support (204), a talus joint rolling shaft (205) and a talus lower imitation piece (206);

the talus lower bottom surface support (201) is fixedly connected with the lower end surface of the talus imitation piece (104), the lower end surface of the talus lower bottom surface support (201) is an arc-shaped concave surface, the upper end surface of the talus lower joint support (204) is an arc-shaped concave surface, the two arc-shaped concave surfaces are mutually matched, the talus joint rolling shaft (205) is arranged between the two arc-shaped concave surfaces, and the two arc-shaped concave surfaces and the axial direction of the talus joint rolling shaft (205) are both horizontally arranged and are parallel to the sagittal plane;

the lower end surface of the subtalar joint support (204) is arranged on the upper end surface of the calcaneus upper imitation piece (202); the subtalar joint limiting pieces (203) are arranged on the upper end surface of the upper calcaneus imitation piece (202) and are arranged in a left-right symmetrical mode by taking the subtalar joint support (204) as the center;

the upper calcaneus imitation piece (202) is arranged on the lower calcaneus imitation piece (206), and the lower calcaneus imitation piece (206) is arranged on the rear part of the sole part (5) through an elastomer I (9); the front end of the upper calcaneus imitation piece (202) is connected with the rear end of the elastic connecting piece (12).

3. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 2, characterized in that: the subtalar joint limiting piece (203) consists of an upper part and a lower part, the upper part is made of elastic materials, the lower part is made of hard materials, the upper end face of the subtalar joint limiting piece (203) is higher than the upper end face of the subtalar joint support (204), and a distance is reserved between the upper end face and the lower end face of the talar imitation piece (104).

4. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 2, characterized in that: the ligament imitation piece I (6) is provided with three groups; the upper ends of the two sets of ligament imitation pieces I (6) are connected with two sides of the rear side surface of the tibiofibula imitation piece (101), and the lower ends of the ligament imitation pieces I extend downwards and are respectively connected with two sides of the rear side surface of the calcaneus upper imitation piece (202); the upper end of the third group is connected with the middle part of the back side surface of the talus replica (104), and the lower end of the third group is connected with the middle part of the calcaneus upper replica (202);

the ligament imitation parts IV (105) are provided with five groups, wherein one group is arranged on the front side surface of the tibiofibula imitation parts (101), and the tibiofibula imitation parts (101) are connected with the front side surface of the talus imitation parts (104); two groups of the tibiofibula imitation pieces (101) are respectively arranged at the left side and the right side, and the two groups of the ligament imitation pieces (IV (105) are respectively connected with the left side and the right side of the talus imitation pieces (104).

5. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 1, characterized in that:

the middle-foot lower supporting piece (301) is of a square structure; the navicular imitation piece (306) is of an isosceles triangular prism structure, the bottom surface of the isosceles triangular prism is vertically arranged and is positioned at the rear end of the middle foot part (3), and the top edge of the navicular imitation piece (306) is provided with a ball hinge assembly III (14); the front end of the ball hinge piece III (14) is provided with a scaphoid imitation ball hinge head (313); the wedge-bone overall imitation piece (307) is an inclined plate inclined downwards forwards, a wedge-bone overall imitation piece ball socket II (314) is arranged on the rear end face of the wedge-bone overall imitation piece (307), and the ball hinge piece III (14) is hinged with the wedge-bone overall imitation piece (307) through a scaphoid imitation piece ball hinge joint (313) and the wedge-bone overall imitation piece ball socket II (314); the front end ball hinge II (13) of the wedge bone integral imitation piece (307) is connected with the rear end of the front foot part (4), and the wedge bone integral imitation piece (307) is hung on the upper end surface of the middle foot elastic connecting piece (302) through the ball hinge II (13) and the ball hinge III (14), and a space is reserved between the wedge bone integral imitation piece and the ball hinge II (13);

the cuboid imitation (308) is arranged on the upper end face of the elastic connecting piece (302) in the middle foot and is positioned on the side edge of the navicular imitation (306), when the rigid-flexible coupling bionic passive compliance ankle prosthesis is a left foot piece, the cuboid imitation (308) is positioned on the left side of the navicular imitation (306), and when the flexible coupling bionic passive compliance ankle prosthesis is a right foot piece, the cuboid imitation (308) is positioned on the right side of the navicular imitation (306); the side surface of the cuboid imitation (308) close to the navicular imitation (306) is provided with a ball hinge part IV (16), the tail end of the ball hinge part IV (16) is provided with a cuboid imitation ball hinge head (309), the side surface of the navicular imitation (306) close to the cuboid imitation (308) is provided with a ball socket corresponding to the cuboid imitation ball hinge head (309), and the ball hinge part IV (16) is hinged with the ball socket through the cuboid imitation ball hinge head (309);

the navicular imitation piece ball socket (310) is arranged at the upper part of the bottom surface of the navicular imitation piece (306), and the lower part of the bottom surface of the navicular imitation piece ball socket (310) is connected with the front end of the elastic connecting piece (12); the front end surface of the wedge bone overall imitation piece (307) is provided with a wedge bone overall imitation piece ball socket I (311), the rear end of the ball hinge joint II (13) is provided with a metatarsophalangeal imitation piece ball hinge joint, and the ball hinge joint II (13) and the wedge bone overall imitation piece (307) are hinged through the wedge bone overall imitation piece ball socket I (311) and the metatarsophalangeal imitation piece ball hinge joint;

the upper end of the ligament imitation piece II (7) is connected with the front side surface of the tibiofibula imitation piece (101), and the lower end of the ligament imitation piece II is connected with the upper inclined surface of the navicular imitation piece (306);

three sets of ligament imitation parts V (21) are arranged between the navicular imitation part (306) and the cuneiform bone integral imitation part (307), and the three sets of ligament imitation parts V (21) are uniformly arranged along the coronal plane direction at intervals.

6. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 5, characterized in that:

the combined structure of the ball hinge parts III (14), the navicular imitation part ball hinge heads (313) and the cuneiform bone integral imitation part ball sockets II (314) is provided with three groups which are horizontally and uniformly arranged along the coronal direction at intervals;

the combined structure of the air spring bins (303) and the one-way air valves (304) is provided with three groups which are horizontally and uniformly arranged at intervals along the direction of a coronal plane, and the upper ends of the air spring bins (303) of each group are respectively connected with the lower end surface of the lower pressure plate (305);

the combined structure of the ball hinge parts IV (16), the cuboid imitation ball hinge heads (309) and the cuneiform integral imitation ball sockets I (311) is provided with three groups, and the outer side surfaces of the cuneiform integral imitation parts (307) are arranged at intervals along the inclined direction.

7. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 5, characterized in that: the forefoot part (4) comprises a forefoot lower support (401), a first metatarsophalangeal bone imitation (402), a second third metatarsophalangeal bone integral imitation (403), a fourth fifth phalange integral imitation (404) and a metatarsophalangeal bone imitation ball joint;

the front foot lower supporting piece (401) is of a square structure and is arranged at the front part of the foot bottom part (5) through an elastic body II (10); the first metatarsophalangeal imitation piece (402), the second third metatarsophalangeal integral imitation piece (403) and the fourth fifth metatarsophalangeal integral imitation piece (404) are respectively and sequentially arranged on the forefoot lower support member (401);

the metatarsophalangeal imitation ball joint comprises a first metatarsophalangeal imitation ball joint (405), a second third metatarsophalangeal integral imitation ball joint (406) and a fourth fifth metatarsophalangeal integral imitation ball joint (407);

the front side surface of the wedge bone overall imitation piece (307) is provided with two wedge bone overall imitation piece ball sockets (311), the rear side surfaces of the first metatarsophalangeal imitation piece (402) and the second metatarsophalangeal overall imitation piece (403) are respectively provided with a group of ball hinge parts II (13), the rear ends of the two groups of ball hinge parts II (13) are respectively provided with a first metatarsophalangeal imitation piece ball hinge head (405) and a second metatarsophalangeal overall imitation piece ball hinge head (406), and the first metatarsophalangeal imitation piece (402) and the second metatarsophalangeal overall imitation piece (403) are hinged at the front part of the wedge bone overall imitation piece (307) through the two groups of first metatarsophalangeal imitation piece ball hinge heads (405) and the two wedge bone overall imitation piece ball sockets (311);

a cuboid imitation ball socket (312) is arranged on the front side surface of the cuboid imitation (308), a group of ball hinge joints II (13) is arranged on the rear side surface of the fourth five-phalanx integral imitation (404), a fourth five-phalanx integral imitation ball hinge joint (407) is arranged at the rear end of the group of ball hinge joints II (13), and the cuboid imitation (308) and the fourth five-phalanx integral imitation (404) are hinged with the cuboid imitation ball socket (312) through the fourth five-phalanx integral imitation ball hinge joint (407);

the ligament imitation piece III (8) is provided with three groups, the upper ends of the ligament imitation pieces are respectively and uniformly arranged on the upper end surface of the cuneiform bone integral imitation piece (307) along the coronal plane at intervals, and the lower ends of the ligament imitation pieces are respectively connected with the upper end surfaces of the first metatarsophalangeal bone imitation piece (402), the second metatarsophalangeal bone integral imitation piece (403) and the fourth phalangeal integral imitation piece (404);

a group of ligament imitation parts VI (22) are respectively arranged between the first metatarsophalangeal imitation part (402) and the second metatarsophalangeal integral imitation part (403) and between the second metatarsophalangeal integral imitation part (403) and the fourth phalange integral imitation part (404), and the two groups of ligament imitation parts VI (22) are arranged along the coronal direction and are connected into a line.

8. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 7, characterized in that:

the sole part (5) comprises a sole rubber plate (501) and sole antiskid lines (505); the front part and the rear part of the lower end surface of the sole rubber plate (501) are respectively provided with sole antiskid lines (505);

the elastic body I (9) comprises a sole air spring (502) and a sole Z-shaped elastic extrusion plate (503); the air springs (502) on the sole are provided with 9 groups which are arranged in 9-grid shape in the front part of the upper end surface of the rubber plate (501) on the sole; the lower plate (17) of the sole Z-shaped elastic extrusion plate (503) is arranged in the middle of the upper end surface of the sole rubber plate (501); the front part of the lower bottom surface of the front foot lower support piece (401) is connected with the upper end of each sole air spring (502), and the rear part of the lower bottom surface of the front foot lower support piece (401) is connected with an upper plate (18) of a sole Z-shaped elastic extrusion plate (503);

the elastic body II (10) comprises two groups of plantar C-shaped extrusion plates (504), the two groups of plantar C-shaped extrusion plates (504) are arranged at the rear part of the upper end face of the plantar rubber plate (501) at intervals along the sagittal plane direction, and the upper end face is connected with the lower end face of the hind foot part (2).

9. The rigid-flexible coupled biomimetic passive compliant ankle foot prosthesis according to claim 7, characterized in that: the ligament imitation piece I (6), the ligament imitation piece II (7), the ligament imitation piece III (8), the ligament imitation piece IV (105), the ligament imitation piece V (21) and the ligament imitation piece VI (22) are consistent in structure and comprise connecting pieces (19) and elastic connecting ropes (20); the connecting pieces (19) are respectively arranged at corresponding positions of the ankle part (1), the rear foot part (2), the middle foot part (3) and the front foot part (4), and the elastic connecting ropes (20) are respectively connected with the corresponding two connecting pieces (19) end to end;

the ligament imitation VI (22) is connected with the connecting pieces (19) of the ligament imitation III (8) on the first metatarsophalangeal imitation (402), the second metatarsophalangeal integral imitation (403) and the fourth phalange integral imitation (404) through a group of elastic connecting ropes (20) respectively, wherein the connecting pieces (19) of the ligament imitation VI (22) are positioned on the first metatarsophalangeal imitation (402), the second metatarsophalangeal integral imitation (403) and the fourth phalange integral imitation (404).

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