CN114129320B - Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism - Google Patents
Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism Download PDFInfo
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- CN114129320B CN114129320B CN202111456575.0A CN202111456575A CN114129320B CN 114129320 B CN114129320 B CN 114129320B CN 202111456575 A CN202111456575 A CN 202111456575A CN 114129320 B CN114129320 B CN 114129320B
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- ankle joint
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 38
- 210000002683 foot Anatomy 0.000 claims abstract description 25
- 229920003225 polyurethane elastomer Polymers 0.000 claims abstract description 20
- 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
- 210000003127 knee Anatomy 0.000 claims description 8
- 210000002414 leg Anatomy 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000003796 beauty Effects 0.000 claims 1
- 238000011542 limb amputation Methods 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 210000003423 ankle Anatomy 0.000 abstract description 3
- 241000469816 Varus Species 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 5
- 241001227561 Valgus Species 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000002537 cosmetic Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
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
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
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 connecting piece, a polyurethane rubber block and an artificial foot, wherein the quadrangular frustum 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 patient with lower amputation through the quadrangular frustum, 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 artificial foot through the quadrangular frustum 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 in the walking process; the motion turntable of the 4-4R parallel mechanism has the characteristic of equal-radius equal-length spherical motion and can provide double-degree-of-freedom rotation; therefore, the double-freedom passive flexible artificial limb ankle joint can effectively improve the walking adaptability and the comfort of an 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
The artificial ankle joint can meet the daily use requirement of patients with lower limb disability, the artificial ankle joint can be generally divided into an active type and a passive type, the active ankle joint is an ankle joint with additional moment 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 lighten the energy consumption of amputees and provide good gait control, and literature research shows that the traditional active ankle joint has an insufficiently compact structure, large occupied space and large mass, so that the rotation center of the ankle joint is higher from the ground, and meanwhile, the high price of the artificial ankle joint can also enable a plurality of disabled patients to bear the weakness.
The passive ankle joint has the characteristics of light weight, simple structure, labor saving in wearing and the like although the passive ankle joint does not have the defects of self-adjusting gait, incapability of providing moment and the like, and compared with an active ankle joint artificial limb, the price is more accepted by the masses, but according to documents and market research, most of the conventional passive ankle joint artificial limbs are of single-rotation-shaft structures, and only the rotation degrees of freedom of toe bending and dorsiflexion actions can be provided, so that the passive ankle joint artificial limb cannot be well adapted to uneven pavement, and great limitation is brought to daily use of amputees.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides a double-freedom-degree passive flexible artificial limb ankle joint based on a parallel mechanism.
A double-freedom passive flexible artificial limb ankle joint based on a parallel mechanism comprises a 4-4R parallel mechanism, a quadrangular table connecting piece, a polyurethane rubber block and an artificial foot, wherein the quadrangular table 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 patient with knee amputation through the quadrangular table, the quadrangular table connecting piece is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the artificial foot through the quadrangular table 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 motion turntable and a base, wherein two ends of each V-shaped connecting rod are respectively hinged with one L-shaped connecting rod through a rotary joint, the free end of one L-shaped connecting rod is hinged with the motion turntable through a rotary joint, the free end of the other L-shaped connecting rod is hinged with the base through a rotary joint, the four V-shaped connecting rods are distributed at 90 degrees around the motion turntable and the base, the upper end and the lower end of each polyurethane rubber block are respectively embedded in central holes of the motion turntable and the base, and adjacent bolt holes on the motion turntable and the base are vertically arranged at 90 degrees;
Specifically, the quadrangular table is fixedly connected with the movement turntable through four inner hexagon bolts, and is fixedly connected with a shank leg pipe of a knee lower amputee patient through a connecting piece, and the quadrangular table connecting piece is fixedly connected with the prosthetic foot through a bolt;
the rotary joint comprises a boss bolt, two nylon gaskets and an oilless bushing;
Specifically, the motion turntable is hinged with the L-shaped connecting rod 1 through a rotary joint, an oilless bushing is installed at the end part of the L-shaped connecting rod in an interference fit manner, and a boss bolt firstly penetrates through two nylon gaskets and then penetrates through the oilless bushing to be in threaded connection with the motion turntable; the base is hinged with the L-shaped connecting rod through a rotary joint, the oilless bushing is installed at the end part of the L-shaped connecting rod in an interference fit manner, and the boss bolts firstly penetrate through the two nylon gaskets and then penetrate through the oilless bushing to be in threaded connection with the base; meanwhile, the front ends of boss bolts which are in threaded connection with the turntable and the base can penetrate through the turntable and the base to play a role in fixing and clamping the polyurethane rubber blocks embedded in the central holes of the turntable and the base; the V-shaped connecting rod and the L-shaped connecting rod are hinged through a rotary joint, the oilless bushing is installed at the end part of the V-shaped connecting rod in an interference fit manner, and the boss bolts firstly pass through the two nylon gaskets and then pass 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 board or a cosmetic foot.
The working principle and the process of the invention are as follows:
When the artificial limb ankle joint is used, when a knee lower amputee wears the flexible passive ankle joint to stand, the weight falling on one side of the amputee leg is born by the 4-4R parallel mechanism, when the artificial limb is ready to walk and the prosthetic foot touches the ground, the center of gravity moves, a quadrangular frustum connected with a shank pipe of the patient bends relative to the rotation center of the ankle joint, the bending is in the range allowed by the 4-4R parallel mechanism, at the moment, the polyurethane rubber block is passively bent to generate corresponding bending torque, and when the artificial limb ankle joint leaves the ground, the polyurethane rubber block quickly returns to the initial state to prepare for the next landing of the prosthetic foot;
When dorsiflexion/toe flexion movement is performed, the four edges fixedly connected with the movement turntable form dorsiflexion movement relative to the advancing direction of the prosthesis, and vice versa, and when varus/valgus movement is performed, the four edge table fixedly connected with the movement turntable forms varus movement relative to the advancing direction of the prosthesis, and vice versa, so that the passive flexible artificial ankle joint can realize two-degree-of-freedom movement.
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, the polyurethane rubber block can provide a considerable bending torque in the walking process; secondly, the motion turntable of the 4-4R parallel mechanism has the characteristic of equal-radius spherical motion and can provide double-degree-of-freedom rotation; therefore, the double-freedom passive flexible artificial limb ankle joint can effectively improve the walking adaptability and the comfort of an amputee on uneven road surfaces.
The ankle joint rotation center is the geometric center of the 4-4R parallel mechanism, so the ankle joint rotation center has the characteristic of lower rotation center, namely, the ankle joint rotation center is close to the ankle joint rotation center of a healthy person, the requirement of walking can be better met, and the gait is 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 illustration of the connection between links and a moving turntable/base of the present invention;
FIG. 5 is a top view of the internal polyurethane block arrangement of the present invention;
FIG. 6 is a schematic diagram of a 4-4R parallel mechanism for dorsiflexion/toe flexion movement of the present invention;
fig. 7 is a schematic diagram of a 4-4R parallel mechanism for varus/valgus motion of the present invention.
Detailed Description
Referring to fig. 1 to 7, a dual-freedom passive flexible artificial limb ankle joint based on a parallel mechanism comprises a 4-4R parallel mechanism, a quadrangular table 5, a quadrangular table connecting piece 6, a polyurethane rubber block 7 and an artificial foot 8, wherein the quadrangular table 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 knee lower amputee patient through the quadrangular table 5, the quadrangular table connecting piece 6 is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the artificial foot 8 through the quadrangular table 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 turntable 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 turntable 3 through the rotary joint, the free end of the other L-shaped connecting rod 1 is hinged with the base 4 through the rotary joint, the four V-shaped connecting rods 2 are distributed at 90 degrees around the moving turntable 3 and the base 4, the upper end and the lower end of a polyurethane rubber block 7 are respectively embedded in central holes of the moving turntable 3 and the base 4, and adjacent bolt holes on the moving turntable 3 and the base 4 are vertically arranged at 90 degrees;
Specifically, the quadrangular table 5 is fixedly connected with the movement turntable 3 through four inner hexagon bolts, the quadrangular table 5 is fixedly connected with a shank leg pipe of a knee lower amputee patient through a connecting piece, and the quadrangular table connecting piece 6 is fixedly connected with the prosthetic foot 8 through bolts;
The rotary joint comprises a boss bolt 31, two nylon gaskets 32 and an oilless bushing 33;
specifically, the motion turntable 3 is hinged with the L-shaped connecting rod 1 through a rotary joint, an oilless bushing 33 is installed at the end part of the L-shaped connecting rod 1 in an interference fit manner, and a boss bolt 31 firstly passes through two nylon gaskets 32 and then passes through the oilless bushing 33 to be in threaded connection with the motion turntable 3; the base 4 and the L-shaped connecting rod 1 are hinged through a rotary joint, the oilless bushing 33 is installed at the end part of the L-shaped connecting rod 1 in an interference fit manner, and the boss bolts 31 firstly pass through the two nylon gaskets 32 and then pass through the oilless bushing 33 to be in threaded connection with the base 4; meanwhile, the front ends of boss bolts 31 which are in threaded connection with the turntable 3 and the base 4 can pass through the turntable 3 and the base 4 to play a role in fixing and clamping the polyurethane rubber blocks 7 embedded in the central holes of the movable turntable 3 and the base 4; the V-shaped connecting rod 2 and the L-shaped connecting rod 1 are hinged through a rotary joint, an oilless bushing 33 is installed at the end part of the V-shaped connecting rod 2 in an interference fit manner, and a boss bolt 31 firstly passes through two nylon gaskets 32 and then passes 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 board 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 comprising the L-shaped link 1, the V-shaped link 2, the motion turret 3 and the base 4 has the capability of equal-radius spherical motion, when the patient with amputation at the knee is standing by wearing the flexible passive ankle joint of the invention, the weight falling on one side of the amputation leg is borne by the 4-4R parallel mechanism, when the patient is ready to walk and the prosthetic foot 8 touches the ground, the center of gravity moves, the quadrangular table 5 connected with the calf tube of the patient bends relative to the rotation center of the ankle joint, the bending is within the range allowed by the 4-4R parallel mechanism, the polyurethane rubber block 7 is then passively bent to generate corresponding bending torque, and when the prosthetic ankle joint leaves the ground, the polyurethane rubber block 7 quickly returns to the initial state to prepare for the next landing of the prosthetic foot 8;
When dorsiflexion/toe flexion movement is performed, the quadrangular frustum pyramid 5 fixedly connected with the movement turntable 3 forms dorsiflexion action relative to the advancing direction of the prosthesis 8, and vice versa, and when varus/valgus movement is performed, the quadrangular frustum pyramid 5 fixedly connected with the movement turntable 3 forms varus action relative to the advancing direction of the prosthesis foot 8, and vice versa, so that the passive flexible artificial ankle joint of the invention can realize two-degree-of-freedom movement.
Claims (2)
1. A double-freedom-degree passive flexible artificial limb ankle joint based on a parallel mechanism is characterized in that: the four-edge-table type artificial limb amputation device comprises a 4-4R parallel mechanism, a four-edge-table (5), a four-edge-table connecting piece (6), a polyurethane rubber block (7) and an artificial foot (8), wherein the four-edge-table (5) 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 patient with the knee amputation through the four-edge-table (5), the four-edge-table connecting piece (6) is arranged at the lower part of the 4-4R parallel mechanism, the 4-4R parallel mechanism is connected with the artificial foot (8) through the four-edge-table 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 turntable (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 rotating joint, the free end of one L-shaped connecting rod (1) is hinged with the moving turntable (3) through the rotating joint, the free end of the other L-shaped connecting rod (1) is hinged with the base (4) through the rotating joint, the four V-shaped connecting rods (2) are distributed at 90 degrees around the moving turntable (3) and the base (4), the upper end and the lower end of each polyurethane rubber block (7) are respectively embedded in central holes of the moving turntable (3) and the base (4), and adjacent bolt holes on the moving turntable (3) and the base (4) are vertically arranged at 90 degrees;
The four-edge table (5) is fixedly connected with the movement turntable (3) through four inner hexagon bolts, the four-edge table (5) is fixedly connected with a shank leg pipe of a patient with knee lower amputation through a connecting piece, and the four-edge table connecting piece (6) is fixedly connected with the artificial foot (8) through bolts;
The rotary joint comprises a boss bolt (31), two nylon gaskets (32) and an oil-free bushing (33).
2. The parallel mechanism-based two-degree-of-freedom passive flexible prosthetic ankle joint of claim 1 wherein: the artificial foot (8) is a carbon fiber foot plate or a beauty foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456575.0A CN114129320B (en) | 2021-12-02 | 2021-12-02 | Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456575.0A CN114129320B (en) | 2021-12-02 | 2021-12-02 | Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism |
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| Publication Number | Publication Date |
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| CN114129320A CN114129320A (en) | 2022-03-04 |
| CN114129320B true CN114129320B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111456575.0A Active CN114129320B (en) | 2021-12-02 | 2021-12-02 | Double-freedom-degree passive flexible artificial limb ankle joint based on parallel mechanism |
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Citations (2)
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959975B (en) * | 2015-07-27 | 2017-01-18 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
| CN105997439B (en) * | 2016-07-26 | 2018-09-21 | 郑州轻工业学院 | The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control |
| 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 |
| CN113183131B (en) * | 2021-04-23 | 2023-10-03 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint with double flexible driving branches |
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2021
- 2021-12-02 CN CN202111456575.0A patent/CN114129320B/en active Active
Patent Citations (2)
| 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 |
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| CN114129320A (en) | 2022-03-04 |
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