CN114886626A - Artificial limb and control method thereof - Google Patents

Abstract

The invention provides an artificial limb and a control method thereof, a knee angle monitoring component is arranged on a knee crank structure, a plurality of sensors are arranged on a main control component to collect and identify the motion attitude and motion position data of a shank and a thigh, the knee angle monitoring component realizes the small-stroke linear movement of magnetic steel through ingenious design to ensure that an angle sensor can always receive a magnetic field change signal, thereby quickly and accurately judging the gait intention of a user, a damping adjusting structure consisting of a hydraulic oil cylinder component, a throttle valve opening monitoring component and a driving component is arranged in a matching way, the damping of the artificial limb is synchronously and accurately adjusted according to the judged gait tendency of the user, and intelligent damping adjustment can be carried out according to different stages of the gait under the same gait, the intelligent artificial limb of the invention can assist a patient who amputates below the thigh to comfortably and flexibly complete different gait actions, the technical problems in the prior art are solved.

Description

Artificial limb and control method thereof

Technical Field

The invention relates to the technical field of medical appliances, in particular to an artificial limb and a control method thereof.

Background

With the continuous development of science and technology, various intelligent products capable of bringing convenience to the life of people are increasingly used. In the medical field, the use of intelligent prostheses enables patients with below-thigh amputations to improve their living standard considerably. The most basic knee joint prosthesis is a mechanical prosthesis, which can only solve the walking requirement of a patient, the telescopic damping provided by the damper is constant, and the patient cannot freely switch different motion states according to the intention of the patient, so that the knee joint prosthesis is inflexible and hard to use. With the development of technology, intelligent artificial limbs appear on the market at present, the motion recognition mainly adopts the modes of receiving biological signals of a human body, such as thigh electromyographic signals or brain wave signals, and the like, and the motion intention of a user is estimated through the received signals, so that the damping of a damper is actively adjusted, and the adjustment of the artificial limb damping in different motion states is realized.

Chinese patent CN202111158478.3 discloses a prosthesis and a control method thereof, the prosthesis comprises: the cavity is provided with an accommodating cavity; the knee joint component is rotatably connected with the cavity; the motion state detection component is used for detecting the motion state information of the knee joint component; a hydraulic cylinder assembly for providing damping to the knee joint assembly; the driving assembly is used for adjusting the damping of the hydraulic cylinder assembly; a position sensor assembly for detecting position information of the driving assembly; and the main control assembly is respectively and electrically connected with the motion state detection assembly, the position sensor assembly, the electromyographic signal line and the driving assembly and is used for controlling the driving assembly to adjust the damping size of the hydraulic cylinder assembly according to the motion state information, the electromyographic signal and the position information. According to the invention, the damping of the hydraulic cylinder assembly is adjusted according to the current use state of the user, so that the state of the knee joint support of the artificial limb is adjusted according to the walking state of the user, and the use of the user is facilitated.

However, in the prior art, because the human-computer interaction technology is not mature, the accuracy of the program for identifying the human biological signals is low, and the response is slow, so that the patient is easy to be stuck, fallen down and the like in the using process, and great potential safety hazards are generated; in addition, the intelligent artificial limb does not have a built-in power supply, the power supply problem needs to be solved through an external portable charger, and a great deal of external connecting wires also cause great inconvenience in use.

Disclosure of Invention

The invention aims at the defects of the prior art and provides an artificial limb and a control method thereof, a knee angle monitoring component is arranged on a knee crank structure, a plurality of attitude sensors are arranged on a main control component to collect and identify the motion attitude and the motion position data of a shank and a thigh, the knee angle monitoring component realizes the small-stroke linear movement of magnetic steel through ingenious design to ensure that the angle sensor can always receive a magnetic field change signal, thereby quickly and accurately judging the gait intention of a user, a damping adjusting structure consisting of a hydraulic oil cylinder component, a throttle valve opening monitoring component and a driving component is arranged in a matching way, the damping of the artificial limb is synchronously and accurately adjusted according to the judged gait trend of the user, and intelligent damping adjustment can be provided according to different stages of the gait under the same gait, the intelligent artificial limb of the invention can assist the amputated patient below the thigh to comfortably and flexibly complete different gait actions, the technical problems in the prior art are solved.

In order to achieve the purpose, the invention provides the following technical scheme:

a prosthesis, comprising: a housing; further comprising: a shaft portion fixedly mounted within the housing; a knee crank rotatably mounted on the shaft portion; the knee angle monitoring component is connected and arranged between the shaft part and the knee crank; the main control assembly is arranged in the shell and is opposite to the knee angle monitoring assembly; when the knee crank rotates relative to the shaft part, the knee angle monitoring component is driven to synchronously act and generate a variable magnetic field, and the main control component identifies the variable magnetic field and obtains the motion state information of the knee crank.

Preferably, the knee angle monitoring assembly comprises: a slot structure; and the magnetic steel component is limited and clamped in the clamping groove structure, and when the knee crank rotates, the magnetic steel component linearly moves in a small stroke under the guiding and limiting effect of the clamping groove structure to generate a variable magnetic field.

Preferably, the main control assembly comprises: a main control board; and the knee angle sensor is arranged close to the magnetic steel component, identifies a variable magnetic field generated by the magnetic steel component and feeds the variable magnetic field back to the main control board.

Preferably, the knee angle monitoring assembly further comprises: the knee crank rotates relative to the shaft hoop, and a transverse groove is formed in the shaft hoop along the axial direction of the shaft part; the guide rail part is arranged on the knee crank to synchronously rotate along with the knee crank, an arc-shaped groove is formed in the guide rail part along the rotation direction of the knee crank, and the arc-shaped groove is of an oblique curve structure which is twisted along the forming direction of the transverse groove; the transverse groove and the arc-shaped groove form the clamping groove structure, and when the guide rail part rotates, the magnetic steel assembly is guided by the arc-shaped groove to move in the transverse groove.

Preferably, the axle hoop is coaxially and fixedly sleeved on the shaft part and is wrapped by the knee crank, and the axle hoop limits the rotation of the knee crank so as to limit the maximum extension position which can be reached by the knee crank.

Preferably, the shaft hoop at the front side of the artificial knee is convexly provided with a limiting part, the lower part of the knee crank is provided with a rotating groove along the rotating direction, the limiting part is positioned in the rotating groove, and when the knee crank rotates to the maximum extension position, the limiting part is abutted against the end part of the rotating groove positioned at the front side of the artificial knee.

Preferably, the method further comprises the following steps: a hydraulic cylinder assembly mounted within the housing and providing power or damping to the knee crank; and the main control assembly controls the driving assembly to adjust the damping of the hydraulic oil cylinder assembly according to the rotating position information of the driving assembly.

Preferably, the housing is provided as a hollow cavity.

Preferably, the throttle opening monitoring module includes: the magnetic ring connecting piece comprises a connecting shell and a magnetic ring embedded in the connecting shell, the connecting shell is connected and arranged between a throttle valve of the hydraulic oil cylinder assembly and a driving shaft of the driving assembly, and when the driving shaft rotates, the magnetic ring generates a variable magnetic field; the angle sensor identifies the variable magnetic field of the magnetic ring and feeds the variable magnetic field back to the main control assembly so as to obtain the rotation position information of the driving assembly, and the main control assembly controls the driving assembly to rotate so as to adjust the opening of the throttle valve.

Preferably, the main control assembly further comprises: and the calf posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board.

Preferably, the shank posture identification sensor group comprises a gyroscope and an acceleration sensor; the knee angle sensor and the shank posture recognition sensor group are welded on the main control board.

Preferably, the method further comprises the following steps: the shaft part is of a hollow structure, the battery is installed in the shaft part, and the battery supplies power to the hydraulic oil cylinder assembly, the main control assembly and the driving assembly.

The invention also provides a control method of the artificial limb, which comprises the following steps:

s1: when the knee crank rotates, the magnetic steel component is driven to linearly move to generate a variable magnetic field, the knee angle sensor identifies the variable magnetic field and feeds the variable magnetic field back to the main control board, and the shank posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board;

s2: the main control assembly determines the next movement intention of the user according to the overall movement information of the artificial limb acquired by each sensor;

s3: the main control assembly controls the driving assembly to rotate according to the judged movement intention so as to adjust the opening of the throttle valve;

s4: the throttle valve opening monitoring assembly detects the opening position of the throttle valve and feeds the opening position back to the main control board, and when the required opening position is reached, the main control board controls the driving assembly to stop rotating, so that damping adjustment of the hydraulic oil cylinder assembly is completed.

The invention has the beneficial effects that:

(1) according to the invention, the knee angle monitoring component is arranged on the knee crank component, the plurality of sensors are arranged on the main control component, so that the motion attitude and the motion position data of the crus and the thighs are collected and identified, the gait intention of a user is rapidly and accurately judged, the damping adjusting structure consisting of the hydraulic oil cylinder component, the throttle valve opening degree monitoring component and the driving component is arranged in a matched manner, the damping of the artificial limb is synchronously and accurately adjusted according to the gait trend of the user obtained by judgment, and intelligent damping adjustment can be carried out according to different stages of gait under the same gait;

(2) the knee angle monitoring assembly is arranged in the knee crank assembly and comprises a guide rail part rotating synchronously with the knee crank, a shaft hoop fixedly arranged relative to the knee crank and a magnetic steel assembly, an arc-shaped groove is formed in the guide rail part along the circumferential direction of the rotation of the knee crank, a transverse groove is formed in one side of the shaft hoop, which is opposite to the guide rail, along the axial direction of the knee shaft body, the magnetic steel assembly is clamped in the arc-shaped groove and the transverse groove simultaneously, the magnetic steel assembly does reciprocating linear motion along the transverse groove along with the motion guide of the arc-shaped groove along with the rotation of the knee crank, the rotary motion of the knee crank is ingeniously utilized to drive the magnetic steel assembly to do linear motion so as to generate a variable magnetic field, so that knee angle data is obtained, the magnetic steel assembly only does linear motion with a small stroke under the guide limit of a clamping groove structure, and an angle sensor can be guaranteed to accurately and quickly receive the variable magnetic field all the time and judge the gait intention of a user, the magnetic steel component is wrapped by the guide rail and the shaft hoop to move, so that the stability is good, the risk of falling and loosening is avoided, and the integral structure of the invention has high integration level and good compactness;

(3) the shaft hoop has the function of rotating and limiting the knee crank assembly in an accidental state, when the connection between the hydraulic oil cylinder assembly and the shell or the knee crank assembly is broken through impact of large external force, the knee crank is clamped and limited by the limiting part of the shaft hoop when rotating to the maximum extension position, so that the situation that a user falls down due to the fact that the knee crank is bent reversely is prevented, and the use safety of the user is fully guaranteed;

(4) the artificial limb and the thigh are mechanically connected and fixed through the built-in rechargeable battery on the artificial limb, so that the artificial limb and the thigh can be used, any external data line is not needed in the using process, and the convenience of use of a user is fully guaranteed.

Drawings

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

FIG. 2 is a sectional view of the overall structure of the present invention;

FIG. 3 is a schematic view of a connection structure of a knee crank assembly and a knee angle monitoring assembly according to the present invention;

FIG. 4 is a schematic view of the installation structure of the knee angle monitoring assembly of the present invention;

FIG. 5 is an enlarged view of FIG. 2 at A;

FIG. 6 is a front view of the main control assembly of the present invention;

FIG. 7 is a schematic view of the structure of the guide rail of the present invention;

FIG. 8 is a schematic view of an installation structure of the axle hoop and the magnetic steel assembly according to the present invention;

FIG. 9 is a front view of the structure of the guide rail part of the present invention;

FIG. 10 is a schematic view of the fitting structure of the shaft hoop and knee crank assembly of the present invention;

FIG. 11 is an enlarged view of a portion of FIG. 5;

FIG. 12 is a schematic view of the overall structure of the present invention (without the housing);

FIG. 13 is a schematic view of the connection structure of the hydraulic cylinder assembly and the driving assembly according to the present invention;

fig. 14 is a front view of fig. 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Example one

A prosthesis, as shown in fig. 1-4, comprising: a housing 3; further comprising: a shaft portion 11, the shaft portion 11 being fixedly mounted in the housing 3; a knee crank 12, the knee crank 12 being rotatably attached to the shaft portion 11; the knee angle monitoring component 2 is connected and arranged between the shaft part 11 and the knee crank 12; the main control component 5 is arranged in the shell 3 and is opposite to the knee angle monitoring component 2; when the knee crank 12 rotates relative to the shaft part 11, the knee angle monitoring component 2 is driven to synchronously act and generate a variable magnetic field, and the main control component 5 identifies the variable magnetic field and obtains the motion state information of the knee crank 12.

In this embodiment, the shaft portion 11 and the knee crank 12 form a knee crank assembly 1, and the knee crank assembly 1 is installed in the shell 3 of the prosthesis, can rotate within a certain angle range, and is used for simulating bending and straightening actions of a human knee joint in a motion process. The shaft 11 is inserted into the housing 3 and the knee crank 12 and is fixedly connected with the housing 3, and bearings 13 are mounted on two sides of the knee crank 12 so that the knee crank 12 can rotate around the shaft 11.

Preferably, as shown in fig. 4, the knee angle monitoring assembly 2 includes: a card slot structure 20; and the magnetic steel component 21 is limited and clamped in the clamping groove structure 20, and when the knee crank 12 rotates, the magnetic steel component 21 linearly moves in a small stroke under the guiding and limiting effect of the clamping groove structure 20 to generate a variable magnetic field.

Preferably, as shown in fig. 5 to 6, the main control assembly 5 includes: a main control board 51; and the knee angle sensor 52 is arranged close to the magnetic steel component 21, identifies a variable magnetic field generated by the magnetic steel component 21 and feeds the variable magnetic field back to the main control board 51.

In this embodiment, the magnetic steel assembly 21 only makes the linear motion of little stroke under the direction of the slot structure 20 is spacing, and the guarantee magnetic steel assembly 21 can be in the signal reception scope of knee angle sensor 52 all the time to guarantee that knee angle sensor 52 can accurate quick receipt change magnetic field.

Preferably, as shown in fig. 4 and 7-8, the knee angle monitoring assembly 2 further comprises: a shaft hoop 22, wherein the knee crank 12 rotates relative to the shaft hoop 22, and a transverse groove 221 is formed in the shaft hoop 22 along the axial direction of the shaft part 11; the guide rail part 23 is mounted on the knee crank 12 to rotate synchronously with the knee crank 12, an arc-shaped groove 231 is formed in the guide rail part 23 along the rotation direction of the knee crank 12, and the arc-shaped groove 231 is of an inclined curve structure which is twisted along the opening direction of the transverse groove 221; the transverse groove 221 and the arc-shaped groove 231 form the slot structure 20, and when the guide rail portion 23 rotates, the magnetic steel assembly 21 is guided by the arc-shaped groove 231 to move in the transverse groove 221.

The key point of the design of the knee angle monitoring assembly 2 in this embodiment is that during the flexion and extension of the knee crank 12 of the knee joint, the knee crank 12 rotates, the guide rail 23 fixed on the knee crank 12 rotates synchronously with the knee crank 12, the arc-shaped groove 231 is provided on the guide rail 23, the magnetic steel assembly 21 clamped thereon reciprocates linearly along the transverse groove 221 of the shaft hoop 22 along with the motion of the guide rail 23, because the shaft hoop 22 is fixed on the shaft 11 and does not rotate, and the shaft 11 itself does not rotate, after the transverse groove 221 is provided on the shaft hoop 22, the bracket portion of the magnetic steel assembly 21 is embedded in the arc-shaped groove 231, the magnetic steel 211 is embedded in the transverse groove 221, the arc-shaped groove 231 is provided with an oblique curve along the circumferential direction, the magnetic steel assembly 16 is driven to move by the rotation of the knee crank 12, and the data of the knee angle is acquired by the magnetic field variation generated by the reciprocating linear motion of the magnetic steel 211, utilize the rotary motion of knee crank 12 to drive magnetic steel assembly 21 minirange linear movement, the cooperation sets up knee angle sensor 52 just to magnetic steel assembly 21 the position department that is close to most, and guarantee knee angle sensor 52 can accurate quick receipt magnetic steel assembly 21's change magnetic field all the time, and structural design is ingenious.

As a preferred embodiment, as shown in fig. 2 and 5, the knee angle sensor 52 is disposed on the other side of the guide rail portion 23 relative to the magnetic steel assembly 21, facing the magnetic steel assembly 21, so as to ensure that the knee angle sensor 52 is closest to the magnetic steel assembly 21, and can well receive the magnetic field change of the magnetic steel assembly 21, and the signal receiving capability is strong.

In addition, it is worth to be noted that the magnetic steel assembly 21 is wrapped by the arc-shaped slot 231 and the transverse slot 221 for movement, so that the risk of falling off and loosening does not exist, and the knee angle sensor 52 is integrated on the main control board 51, so that the whole structure is compact, and the motion stability and the detection sensitivity are high.

Preferably, the magnetic steel assembly 21 is located between the shaft hoop 22 and the guide rail 23, and two ends of the magnetic steel assembly are respectively clamped in the transverse groove 221 and the arc-shaped groove 231; magnetic steel assembly 21 includes: the bracket is clamped in the arc-shaped groove 231; and the magnetic steel 211 is adhered to the bracket through a strong adhesive, and the magnetic steel 211 is clamped in the transverse groove 221.

In this embodiment, the bracket of the magnetic steel assembly 21 is clamped in the arc-shaped slot 231, and the magnetic steel 211 moves back and forth in the transverse slot 221 along the arc-shaped slot 231 due to the rotation of the knee crank 12, so as to generate the change of the magnetic field.

Preferably, as shown in fig. 9, the angle of the arc-shaped slot 231 twisted along the opening direction of the transverse slot 221 is α, wherein α is greater than or equal to 5 ° and less than or equal to 10 °; as shown in FIG. 14, the length of the transverse slot 221 is L, wherein L is more than or equal to 1cm and less than or equal to 3 cm.

As a preferred embodiment, α =7 °, L =1.5 cm.

In this embodiment, the twisting angle of the arc-shaped slot 231 is small, the length of the transverse slot 221 to be matched is short, and the displacement of the linear reciprocating motion of the magnetic steel assembly 21 is short.

Preferably, as shown in fig. 6, the main control assembly 5 further includes: and the lower leg posture identification sensor group 53 identifies the motion state of the artificial limb and feeds the motion state back to the main control board 51.

Preferably, the knee angle sensor 52 and the lower leg posture recognition sensor group 53 are welded to the main control board 51.

In this embodiment, the artificial leg limb drives the sensors fixed on the main control assembly 5 to move when rotating, the knee angle monitoring assembly 2 is arranged to be matched with the knee angle sensor 52 to identify the bending angle between the thigh and the leg, and the leg posture identification sensor group 53 is arranged to identify the motion state of the whole artificial leg limb in the whole three-dimensional space, so as to collect the motion posture data of the leg in real time, comprehensively judge the motion posture data of the thigh by combining the knee angle sensor, and complete the identification of the gait of the user by collecting the two motion posture data.

It should be added that the knee angle sensor 52 in this embodiment is configured as a magnetic field sensor, such as a KMT32B magnetic field angle sensor in the prior art, and is actually a chip, and the working principle thereof is that when the direction of the magnetic field (X-Y plane) parallel to the chip surface changes, the output signal changes, and the change amount of the external magnetic field angle can be calculated, and since the position of the angle chip is static and unchanged, the angle change amount of the magnetic field is the angle change of the knee joint. The magnetic steel 211 in this embodiment performs linear motion in the transverse slot 221, and the moving direction of the magnetic steel 211 is parallel to the surface of the chip, so that the magnetic field change can be accurately identified.

The lower leg posture identifying sensor group 53 in this embodiment is an angular velocity and acceleration sensor, and is a physical sensor integrating a gyroscope sensor and an acceleration sensor, the gyroscope can identify posture changes (such as forward tilting, backward swinging or overturning) of the three-dimensional space of the prosthesis, the acceleration sensor is used for measuring acceleration changes in the process of changing the posture of the prosthesis, and the two sensors can be combined to completely identify the spatial motion posture of the lower leg.

Preferably, as shown in fig. 1, the method further includes: the hydraulic oil cylinder assembly 4 is arranged in the shell 3 and provides power or damping for the knee crank 12; as shown in fig. 12 to 13, a driving assembly 6 and a throttle opening monitoring assembly 7 are installed in the housing 3 and electrically connected to the main control assembly 5, the throttle opening monitoring assembly 7 is connected between the driving assembly 6 and a throttle 41 of the hydraulic cylinder assembly 4 and monitors rotation angle information of the driving assembly 6, a rotation angle of the driving assembly 6 is an opening of the throttle 41, and the main control assembly 5 controls the driving assembly 6 to adjust the damping of the hydraulic cylinder assembly 4 according to the rotation position information of the driving assembly 6.

Preferably, the shell 3 is a hollow cavity, and the knee crank assembly 1, the hydraulic cylinder assembly 4 and the driving assembly 6 are mounted in the hollow cavity of the shell 3 from top to bottom.

In the present embodiment, the driving assembly 6 provides a rotation torque to control the throttle valve 41 to adjust the valve opening, and the main control assembly 5 is configured to receive the data read by the knee angle monitoring assembly 2, the throttle opening monitoring assembly 7 and the lower leg posture identifying sensor group 53, and control the driving assembly 6 to rotate.

Preferably, as shown in fig. 13, the throttle opening monitoring assembly 7 includes: the magnetic ring connecting piece 71 comprises a connecting shell and a magnetic ring embedded in the connecting shell, the connecting shell is connected and arranged between the throttle valve 41 of the hydraulic oil cylinder assembly 4 and the driving shaft of the driving assembly 6, and when the driving shaft rotates, the magnetic ring generates a variable magnetic field; and the angle sensor 72 is used for identifying the changing magnetic field of the magnetic ring and feeding the changing magnetic field back to the main control assembly 5 so as to obtain the rotation position information of the driving assembly 6, and the main control assembly 5 is used for controlling the driving assembly 6 to rotate so as to adjust the opening size of the throttle valve 41.

In this embodiment, the angle sensor 72 recognizes the changing magnetic field of the magnetic ring 712, thereby recognizing the opening degree of the current throttle valve 41 and feeding back the recognized opening degree to the main control assembly 5, and when the throttle valve 41 reaches a preset opening degree, the main control assembly 5 controls the driving assembly 6 to stop rotating.

Preferably, as shown in fig. 12, the hydraulic cylinder assembly 4 includes: the hydraulic cylinder 42 is rotatably arranged in the shell 3 through a cylinder lower shaft 43 at the bottom of the hydraulic cylinder 42, a piston rod 421 of the hydraulic cylinder 42 is rotatably arranged on the knee crank 12 through a cylinder upper shaft 44, and during operation, the linear reciprocating motion of the piston rod 421 is converted into the rotary motion of the knee crank 12; and the throttle valve 41 is used for adjusting and controlling the oil path switch of the hydraulic cylinder 42 and adjusting the flowing speed of the internal hydraulic oil, so that the hydraulic cylinder is controlled to have different damping effects.

Preferably, the drive assembly 6 is mounted on the hydraulic cylinder 42 and connected to a throttle 41 of the hydraulic cylinder 42 for adjusting the damping of the hydraulic cylinder assembly 4.

The intelligent artificial limb of the embodiment can autonomously judge and identify the gait intention (such as walking slowly, walking quickly, going up and down stairs, going up and down slopes, squatting and standing up, even riding and the like) of a user in the using process, adopts a sensor with a mature technology in the current market, is quick and accurate in the identification process, synchronously makes accurate adjustment while completing identification, changes the damping of the artificial limb, and enables the patient to feel comfortable and flexible in different postures.

It is worth to be noted that the intelligent artificial limb of the embodiment can also provide intelligent damping adjustment according to different stages of gait under the same gait, so that great physical strength is saved for a user in the using process. For example, in a normal walking state, when a user lifts the artificial limb to swing backwards, the damping of the damper is minimum, so that the artificial limb swings backwards flexibly and labor-saving; at the moment when the user falls to the ground, the damping of the damper is large, so that the knee joint can support the weight of the human body, and the user is prevented from falling down. In addition, when the special motion state that the user has the risk of falling down is identified, the damping can be adjusted to completely lock the whole knee joint, and the user is helped to stand stably.

Example two

The same or corresponding parts of this embodiment as those of the above embodiment are designated by the same reference numerals as those of the above embodiment, and only the points different from the above embodiment will be described below for the sake of convenience. This embodiment differs from the above embodiment in that:

preferably, as shown in fig. 8, the shaft hoop 22 is coaxially fixed to the shaft 11 and covered by the knee crank 12, and limits the rotation of the knee crank 12 to limit the maximum extension position that the knee crank 12 can reach, thereby preventing the user from falling down due to the reverse bending of the knee joint.

Preferably, as shown in fig. 10, a stopper 220 is protruded from the collar clamp 22 at the front side of the prosthetic knee, a rotation slot 120 is opened at the lower portion of the knee crank 12 along the rotation direction, the stopper 220 is located in the rotation slot 120, as shown in fig. 11, when the knee crank 12 rotates to the maximum extension position, the stopper 220 is in contact with the end 121 of the rotation slot 120 at the front side of the prosthetic knee, and fig. 2 shows a state where the knee crank 12 is located at a position close to the maximum extension position.

In the present embodiment, the shaft hoop 22 has two functions of limiting and the sliding groove of the magnetic steel assembly 21.

To limiting effect, in order to prevent the user from falling down due to the recurvation of the knee joint when being impacted by external force, the artificial limb in the embodiment has designed multiple limiting functions for the knee crank 12. First, for the process of extension of the knee joint: when the piston rod 421 of the hydraulic cylinder assembly 4 extends to the highest position, the knee crank 12 is connected with the piston rod 421, so that the rotation cannot be continued, which is the first heavy limit for the extension of the knee joint in the normal use process, and the shaft hoop 22 does not play a role at this time; if the external force strikes greatly, the joint of the hydraulic oil cylinder component 4 and the shell 3 or the knee crank 12 is broken, the knee crank 12 can continue to rotate until the axle hoop 22 is limited, and the angle of the knee crank 12 and the horizontal plane form an angle of 4 degrees (the angle can be adjusted through the locking position of the axle hoop 22), so that the situation that the knee joint is bent reversely is avoided.

It should be noted that the shaft hoop 22 is fixed and locked on the shaft portion 11 through a bolt, the limiting portion 220 is used for fixing the bolt, and the locking position of the limiting portion 220 can be adjusted according to the maximum extended position of the knee crank required to be designed.

EXAMPLE III

The same or corresponding parts of this embodiment as those of the above embodiment are designated by the same reference numerals as those of the above embodiment, and only the points different from the above embodiment will be described below for the sake of convenience. This embodiment differs from the above embodiment in that:

preferably, as shown in fig. 8, the method further includes: the battery 81, the shaft part 11 sets up to hollow structure, the battery 81 install in the shaft part 11, the battery 81 is for hydraulic cylinder subassembly 4, main control assembly 5 and drive assembly 6 power supply.

In the embodiment, the battery 81 is a rechargeable battery, the artificial limb does not need to be externally connected with a mobile power supply in the use process, a user does not need to worry about the invariance caused by various data lines pulled outside to the action of the artificial limb in the use process, and the use comfort is good.

Preferably, as shown in fig. 1, the method further includes: and the shaft cover plate 82 is covered at two ends of the shaft part 11, and is used for preventing the battery 81 from loosening and entering water.

Example four

The invention also provides a control method of the artificial limb, which comprises the following steps:

s1: when the knee crank 12 rotates, the magnetic steel component 21 is driven to linearly move to generate a variable magnetic field, the knee angle sensor 52 identifies the variable magnetic field and feeds the variable magnetic field back to the main control board 51, and the shank posture identification sensor group 53 identifies the motion state of the artificial limb and feeds the motion state back to the main control board 51;

s2: the main control component 5 determines the next movement intention of the user according to the overall movement information of the artificial limb acquired by each sensor;

s3: the main control assembly 5 controls the driving assembly 6 to rotate according to the judged movement intention so as to adjust the opening of the throttle valve 41 and control the damping of the hydraulic oil cylinder assembly 4;

s4: the throttle opening monitoring assembly 7 detects the opening position of the throttle 41 and feeds the opening position back to the main control board 51, and when the required opening position is reached, the main control board 51 controls the driving assembly 6 to stop rotating, so that the damping adjustment of the hydraulic oil cylinder assembly 4 is completed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A prosthesis, comprising:

a housing;

it is characterized by also comprising:

a shaft portion mounted in the housing;

a knee crank rotatably mounted on the shaft portion;

the knee angle monitoring component is connected and arranged between the shaft part and the knee crank; and

the main control assembly is arranged in the shell and is opposite to the knee angle monitoring assembly;

when the knee crank rotates relative to the shaft part, the knee angle monitoring component is driven to synchronously act and generate a variable magnetic field, and the main control component identifies the variable magnetic field and obtains the motion state information of the knee crank.

2. A prosthetic of claim 1, wherein the knee angle monitoring assembly comprises:

a slot structure; and

the magnetic steel component is clamped in the clamping groove structure in a limiting manner, and when the knee crank rotates, the magnetic steel component linearly moves under the guiding and limiting effect of the clamping groove structure to generate a variable magnetic field.

3. A prosthetic of claim 2, wherein said primary control assembly comprises:

a main control board; and

and the knee angle sensor is arranged close to the magnetic steel component, and is used for identifying a variable magnetic field generated by the magnetic steel component and feeding the variable magnetic field back to the main control board.

4. A prosthetic of claim 2, wherein the knee angle monitoring assembly further comprises:

the knee crank rotates relative to the shaft hoop, and a transverse groove is formed in the shaft hoop along the axial direction of the shaft part;

the guide rail part synchronously rotates along with the knee crank, an arc-shaped groove is formed in the guide rail part along the rotation direction of the knee crank, and the arc-shaped groove is of an oblique curve structure which is twisted along the forming direction of the transverse groove;

the transverse groove and the arc-shaped groove form the clamping groove structure, and when the guide rail part rotates, the magnetic steel assembly is guided by the arc-shaped groove to move in the transverse groove.

5. A prosthetic of claim 4, wherein said shaft is secured to said shaft portion and is covered by said knee crank to limit rotation of said knee crank to limit the maximum extension that said knee crank can reach.

6. A prosthetic knee according to claim 5, wherein a limit portion is protrudingly provided on said collar at the front side of the knee, the front and lower portions of said knee crank are provided with a rotation groove along the rotation direction thereof, said limit portion is located in said rotation groove, and when said knee crank is rotated to said maximum extended position, said limit portion is abutted against the end portion of the rotation groove located at the front side of the prosthetic knee.

7. A prosthetic device according to any of claims 1-6, further comprising:

a hydraulic cylinder assembly mounted within the housing and providing power or damping to the knee crank; and

install in the casing and all with drive assembly and throttle valve opening monitoring subassembly that the master control subassembly electricity is connected, throttle valve opening monitoring subassembly connect set up in between drive assembly and the hydraulic cylinder subassembly and monitor drive assembly's turned angle information, master control subassembly controls drive assembly to the damped regulation work of hydraulic cylinder subassembly according to drive assembly's rotational position information.

8. A prosthetic of any of claims 3-6, wherein the primary control assembly further comprises:

and the calf posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board.

9. A prosthetic of claim 7, further comprising:

the shaft part is of a hollow structure, and the battery is installed in the shaft part and supplies power to the hydraulic oil cylinder assembly, the main control assembly and the driving assembly.

10. A prosthesis control method, comprising the steps of:

s1: when the knee crank rotates, the magnetic steel component is driven to linearly move to generate a variable magnetic field, the knee angle sensor identifies the variable magnetic field and feeds the variable magnetic field back to the main control board, and the shank posture identification sensor group identifies the motion state of the artificial limb and feeds the motion state back to the main control board;

s2: the main control assembly determines the next movement intention of the user according to the overall movement information of the artificial limb acquired by each sensor in the step S;

s3: the main control assembly controls the driving assembly to rotate according to the judged movement intention so as to adjust the opening of the throttle valve;

s4: the throttle valve opening monitoring assembly detects the opening position of the throttle valve and feeds the opening position back to the main control board, and when the required opening position is reached, the main control board controls the driving assembly to stop rotating, so that damping adjustment of the hydraulic oil cylinder assembly is completed.

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