CN114129320A - Double-freedom passive flexible artificial limb ankle joint based on parallel mechanism - Google Patents
Double-freedom passive flexible artificial limb ankle joint based on parallel mechanism Download PDFInfo
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- CN114129320A CN114129320A CN202111456575.0A CN202111456575A CN114129320A CN 114129320 A CN114129320 A CN 114129320A CN 202111456575 A CN202111456575 A CN 202111456575A CN 114129320 A CN114129320 A CN 114129320A
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- China
- Prior art keywords
- parallel mechanism
- quadrangular frustum
- ankle joint
- frustum pyramid
- shaped connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 35
- 210000002683 foot Anatomy 0.000 claims abstract description 26
- 229920003225 polyurethane elastomer Polymers 0.000 claims abstract description 19
- 238000002266 amputation Methods 0.000 claims abstract description 6
- 239000002184 metal Substances 0.000 claims abstract description 4
- 239000004677 Nylon Substances 0.000 claims description 9
- 229920001778 nylon Polymers 0.000 claims description 9
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000002537 cosmetic Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000011542 limb amputation Methods 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 4
- 210000003423 ankle Anatomy 0.000 abstract description 2
- 241000469816 Varus Species 0.000 description 5
- 241001227561 Valgus Species 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 210000001699 lower leg Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
Abstract
The invention discloses a double-freedom passive flexible artificial limb ankle joint based on a parallel mechanism, which comprises a 4-4R parallel mechanism, a quadrangular frustum pyramid connecting piece, a polyurethane rubber block and a prosthetic foot, wherein the quadrangular frustum pyramid is arranged at the upper part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with a metal leg pipe of a below-knee amputation patient through the quadrangular frustum pyramid, the quadrangular frustum connecting piece is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the prosthetic foot through the quadrangular frustum pyramid connecting piece, and the polyurethane rubber block is arranged inside the 4-4R parallel mechanism; the invention has the characteristics of compact structure, small volume and light weight; compared with a common fixed ankle or a traditional passive ankle joint, the polyurethane rubber block can provide a considerable bending torque during walking; the motion turntable of the 4-4R parallel mechanism has the characteristic of spherical motion with equal radius and can provide two-degree-of-freedom rotation; therefore, the two-degree-of-freedom passive flexible artificial limb ankle joint can effectively improve the walking adaptability and comfort of the amputee on uneven road surfaces.
Description
Technical Field
The invention belongs to the technical field of rehabilitation aids, and particularly relates to a double-freedom-degree passive flexible artificial limb ankle joint based on a parallel mechanism.
Background
As a rehabilitation device, an ankle joint prosthesis can meet daily use requirements of patients with lower limb disabilities, the ankle joint prosthesis can be generally divided into an active type and a passive type, the active ankle joint is an ankle joint with extra torque supply, and can be generally divided into an electric type, a hydraulic type or a pneumatic type according to energy sources, the ankle joint can reduce energy consumption of amputees and provide good gait control, literature research shows that the existing active ankle joint is not compact enough, large in occupied space and large in mass, the rotation center of the ankle joint is higher than the ground, and meanwhile, the ankle joint prosthesis is high in price and can be born by a plurality of disabled patients.
Although the passive ankle joint does not have the defects of self-adjusting gait, incapability of providing moment and the like, the passive ankle joint has the characteristics of light weight, simple structure and labor saving in wearing, and the price is more easily accepted by the public compared with the active ankle joint prosthesis, but according to documents and market survey, most of the current passive ankle joint prostheses are of a single-rotation-shaft structure and only can provide the rotation freedom degrees of toe bending and dorsiflexion actions, so that the passive ankle joint cannot be well adapted to uneven road surfaces, and great limitation is brought to daily use of amputees.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a two-degree-of-freedom passive flexible artificial limb ankle joint based on a parallel mechanism.
A two-degree-of-freedom passive flexible artificial limb ankle joint based on a parallel mechanism comprises a 4-4R parallel mechanism, a quadrangular frustum pyramid connecting piece, a polyurethane rubber block and a prosthetic foot, wherein the quadrangular frustum pyramid is arranged at the upper part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with a metal leg tube of an amputation patient under the knee through the quadrangular frustum pyramid, the quadrangular frustum connecting piece is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the prosthetic foot through the quadrangular frustum pyramid connecting piece, and the polyurethane rubber block is arranged inside the 4-4R parallel mechanism;
the 4-4R parallel mechanism comprises eight L-shaped connecting rods, four V-shaped connecting rods, a moving rotary table and a base, wherein two ends of each V-shaped connecting rod are respectively hinged with one L-shaped connecting rod through a rotating joint, the free end of one L-shaped connecting rod is hinged with the moving rotary table through a rotating joint, the free end of the other L-shaped connecting rod is hinged with the base through a rotating joint, the four V-shaped connecting rods are distributed around the moving rotary table and the base at 90 degrees, the upper ends and the lower ends of polyurethane rubber blocks are respectively embedded in central holes of the moving rotary table and the base, and adjacent bolt holes on the moving rotary table and the base are vertically distributed at 90 degrees;
specifically, the quadrangular frustum pyramid is fixedly connected with the motion turntable through four inner hexagonal bolts, the quadrangular frustum pyramid is fixedly connected with a crus leg tube of a below-knee amputation patient through a connecting piece, and the quadrangular frustum pyramid connecting piece is fixedly connected with the artificial foot through bolts;
the rotary joint comprises a boss bolt, two nylon gaskets and an oil-free lining;
specifically, the moving turntable is hinged with the L-shaped connecting rod 1 through a rotary joint, the oilless bushing is arranged at the end part of the L-shaped connecting rod in an interference fit manner, and the boss bolt firstly penetrates through the two nylon gaskets and then penetrates through the oilless bushing to be in threaded connection with the moving turntable; the base is hinged with the L-shaped connecting rod through a rotating joint, the oil-free bushing is arranged at the end part of the L-shaped connecting rod in an interference fit manner, and the boss bolt firstly penetrates through the two nylon gaskets and then penetrates through the oil-free bushing to be in threaded connection with the base; meanwhile, the front end of a boss bolt in threaded connection with the rotary table and the base can penetrate through the rotary table and the base, and plays a role in fixing and clamping a polyurethane rubber block embedded in the central holes of the movable rotary table and the base; the V-shaped connecting rod is hinged with the L-shaped connecting rod through a rotary joint, the oilless bushing is arranged at the end part of the V-shaped connecting rod in an interference fit manner, and the boss bolt firstly penetrates through the two nylon gaskets and then penetrates through the oilless bushing to be in threaded connection with the end part of the L-shaped connecting rod;
the prosthetic foot may be a carbon fiber foot plate or a cosmetic foot.
The working principle and the process of the invention are as follows:
when the artificial limb ankle joint is away from the ground, the polyurethane rubber block can be quickly restored to the initial state to prepare for landing of the next artificial foot;
when doing dorsiflexion/toe flexion movement, the quadrangular platform fixedly connected with the movement rotary table forms dorsiflexion movement relative to the advancing direction of the artificial foot, and vice versa, when doing varus/valgus movement, the quadrangular platform fixedly connected with the movement rotary table forms varus movement relative to the advancing direction of the artificial foot, and vice versa, therefore, the passive flexible artificial ankle joint can realize movement with two degrees of freedom.
The invention has the beneficial effects that:
1 the invention adopts a 4-4R parallel mechanism and a polyurethane rubber block to form a passive flexible artificial limb, and has the characteristics of compact structure, small volume and light weight; meanwhile, compared with a common fixed ankle or a traditional passive ankle joint, the polyurethane rubber block can provide a certain bending torque during walking; secondly, a motion turntable of the 4-4R parallel mechanism has the characteristic of spherical motion with equal radius and the like, and can provide two-degree-of-freedom rotation; therefore, the two-degree-of-freedom passive flexible artificial limb ankle joint can effectively improve the walking adaptability and comfort of the amputee on uneven road surfaces.
2 the ankle joint rotation center of the invention is the geometric center of the 4-4R parallel mechanism, therefore, the invention has the characteristic of lower rotation center, namely, the height of the rotation center is close to the ankle joint rotation center of healthy people, thereby better meeting the walking requirement of people and leading the gait to be more coordinated.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a schematic view of the connections between the links and the moving turret/base of the present invention;
FIG. 5 is a top view of the arrangement of the inner urethane rubber blocks of the present invention;
FIG. 6 is a schematic view of the 4-4R parallel mechanism of the dorsiflexion/toe flexion motion of the present invention;
figure 7 is a schematic view of the 4-4R parallel mechanism of varus/valgus movement of the present invention.
Detailed Description
Referring to fig. 1 to 7, a two-degree-of-freedom passive flexible artificial limb ankle joint based on a parallel mechanism comprises a 4-4R parallel mechanism, a quadrangular frustum pyramid 5, a quadrangular frustum pyramid connecting piece 6, a polyurethane rubber block 7 and a prosthetic foot 8, wherein the quadrangular frustum pyramid 5 is arranged at the upper part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with a metal leg tube of a below-knee amputation patient through the quadrangular frustum pyramid 5, the quadrangular frustum pyramid connecting piece 6 is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the prosthetic foot 8 through the quadrangular frustum pyramid connecting piece 6, and the polyurethane rubber block 7 is arranged inside the 4-4R parallel mechanism;
the 4-4R parallel mechanism comprises eight L-shaped connecting rods 1, four V-shaped connecting rods 2, a moving rotary table 3 and a base 4, wherein two ends of each V-shaped connecting rod 2 are respectively hinged with one L-shaped connecting rod 1 through a rotary joint, the free end of one L-shaped connecting rod 1 is hinged with the moving rotary table 3 through a rotary joint, the free end of the other L-shaped connecting rod 1 is hinged with the base 4 through a rotary joint, the four V-shaped connecting rods 2 are distributed around the moving rotary table 3 and the base 4 at 90 degrees, the upper end and the lower end of a polyurethane rubber block 7 are respectively embedded in central holes of the moving rotary table 3 and the base 4, and adjacent bolt holes on the moving rotary table 3 and the base 4 are vertically distributed at 90 degrees;
specifically, the quadrangular frustum pyramid 5 is fixedly connected with the motion turntable 3 through four inner hexagonal bolts, the quadrangular frustum pyramid 5 is fixedly connected with a crus leg tube of a below-knee amputation patient through a connecting piece, and the quadrangular frustum pyramid connecting piece 6 is fixedly connected with a prosthetic foot 8 through a bolt;
the rotary joint comprises a boss bolt 31, two nylon gaskets 32 and an oil-free bushing 33;
specifically, the moving turntable 3 is hinged with the L-shaped connecting rod 1 through a rotary joint, the oilless bush 33 is arranged at the end part of the L-shaped connecting rod 1 in an interference fit manner, and the boss bolt 31 firstly penetrates through the two nylon gaskets 32 and then penetrates through the oilless bush 33 to be in threaded connection with the moving turntable 3; the base 4 is hinged with the L-shaped connecting rod 1 through a rotary joint, the oilless bushing 33 is arranged at the end part of the L-shaped connecting rod 1 in an interference fit manner, and the boss bolt 31 firstly penetrates through the two nylon gaskets 32 and then penetrates through the oilless bushing 33 to be in threaded connection with the base 4; meanwhile, the front end of a boss bolt 31 which is in threaded connection with the rotary table 3 and the base 4 can penetrate through the rotary table 3 and the base 4, and plays a role in fixing and clamping the polyurethane rubber block 7 which is embedded in the central holes of the rotary table 3 and the base 4; the V-shaped connecting rod 2 is hinged with the L-shaped connecting rod 1 through a rotary joint, the oilless bushing 33 is arranged at the end part of the V-shaped connecting rod 2 in an interference fit mode, and the boss bolt 31 firstly penetrates through the two nylon gaskets 32 and then penetrates through the oilless bushing 33 to be in threaded connection with the end part of the L-shaped connecting rod 1;
the prosthetic foot 8 may be a carbon fiber foot plate or a cosmetic foot.
The working principle and the process of the invention are as follows:
referring to fig. 1 to 7, in use, the 4-4R parallel mechanism composed of the L-shaped link 1, the V-shaped link 2, the motion turntable 3 and the base 4 has the ability of equal-length radius spherical motion, when an amputee patient wears the flexible passive ankle joint of the present invention and stands, the weight of the amputee leg is borne by the 4-4R parallel mechanism, when the artificial foot 8 touches the ground in preparation for walking, the center of gravity moves, the quadrangular platform 5 connected to the lower leg tube of the patient bends relative to the rotation center of the ankle joint within the range allowed by the 4-4R parallel mechanism, and at this time, the polyurethane rubber 7 bends passively to generate a corresponding bending torque, and when the artificial ankle joint leaves the ground, the polyurethane rubber 7 rapidly returns to the initial state to prepare for landing of the next artificial foot 8;
when doing dorsiflexion/toe flexion movement, the quadrangular prism 5 fixedly connected with the moving turntable 3 forms dorsiflexion action relative to the advancing direction of the artificial foot 8, and vice versa, when doing varus/valgus movement, the quadrangular prism 5 fixedly connected with the moving turntable 3 forms varus action relative to the advancing direction of the artificial foot 8, and vice versa, therefore, the passive flexible artificial ankle joint of the invention can realize movement with two degrees of freedom.
Claims (3)
1. A two-degree-of-freedom passive flexible artificial limb ankle joint based on a parallel mechanism is characterized in that: the artificial limb amputation device comprises a 4-4R parallel mechanism, a quadrangular frustum pyramid (5), a quadrangular frustum pyramid connecting piece (6), a polyurethane rubber block (7) and a prosthetic foot (8), wherein the quadrangular frustum pyramid (5) is arranged at the upper part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with a metal leg tube of a below-knee amputation patient through the quadrangular frustum pyramid (5), the quadrangular frustum pyramid connecting piece (6) is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the prosthetic foot (8) through the quadrangular frustum pyramid connecting piece (6), and the polyurethane rubber block (7) is arranged inside the 4-4R parallel mechanism;
the 4-4R parallel mechanism comprises eight L-shaped connecting rods (1), four V-shaped connecting rods (2), a moving rotary table (3) and a base (4), wherein two ends of each V-shaped connecting rod (2) are hinged to one L-shaped connecting rod (1) through a rotating joint, the free end of one L-shaped connecting rod (1) is hinged to the moving rotary table (3) through a rotating joint, the free end of the other L-shaped connecting rod (1) is hinged to the base (4) through a rotating joint, the four V-shaped connecting rods (2) are distributed at 90 degrees around the moving rotary table (3) and the base (4), the upper end and the lower end of a polyurethane rubber block (7) are embedded into center holes of the moving rotary table (3) and the base (4) respectively, and adjacent bolt holes in the moving rotary table (3) and the base (4) are vertically arranged at 90 degrees.
2. The two-degree-of-freedom passive flexible prosthetic ankle joint based on the parallel mechanism as claimed in claim 1, wherein: the rotary joint comprises a boss bolt (31), two nylon gaskets (32) and an oilless bushing (33).
3. The two-degree-of-freedom passive flexible prosthetic ankle joint based on the parallel mechanism as claimed in claim 1, wherein: the artificial foot (8) can be a carbon fiber foot plate or a cosmetic foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456575.0A CN114129320A (en) | 2021-12-02 | 2021-12-02 | Double-freedom passive flexible artificial limb ankle joint based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456575.0A CN114129320A (en) | 2021-12-02 | 2021-12-02 | Double-freedom passive flexible artificial limb ankle joint based on parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN114129320A true CN114129320A (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111456575.0A Pending CN114129320A (en) | 2021-12-02 | 2021-12-02 | Double-freedom passive flexible artificial limb ankle joint based on parallel mechanism |
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| CN (1) | CN114129320A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102973338A (en) * | 2012-12-07 | 2013-03-20 | 上海交通大学 | Active-passive type ankle joint prosthesis and movement mode thereof |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| CN209564265U (en) * | 2018-08-28 | 2019-11-01 | 北京工道风行智能技术有限公司 | A kind of hydraulic artificial limb knee-joint of double leval jib |
| CN211095005U (en) * | 2019-07-09 | 2020-07-28 | 南方科技大学 | Ankle joint artificial limb |
-
2021
- 2021-12-02 CN CN202111456575.0A patent/CN114129320A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102973338A (en) * | 2012-12-07 | 2013-03-20 | 上海交通大学 | Active-passive type ankle joint prosthesis and movement mode thereof |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| CN209564265U (en) * | 2018-08-28 | 2019-11-01 | 北京工道风行智能技术有限公司 | A kind of hydraulic artificial limb knee-joint of double leval jib |
| CN211095005U (en) * | 2019-07-09 | 2020-07-28 | 南方科技大学 | Ankle joint artificial limb |
Non-Patent Citations (2)
| Title |
|---|
| 张强，董英: "下肢假肢装配后的功能评估方法的研究", 中国医疗器械信息, vol. 27, no. 05, 15 March 2021 (2021-03-15) * |
| 杨鹏, 王喜太, 王人成, 陈玲玲, 郭欣, 张腾宇, 耿艳利: "智能下肢假肢研发与应用", 医药卫生科技, 1 January 2016 (2016-01-01) * |
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