CN1150868C - Six-bar mechanism knee joint with knee moment controller - Google Patents
Six-bar mechanism knee joint with knee moment controller Download PDFInfo
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- CN1150868C CN1150868C CNB011348658A CN01134865A CN1150868C CN 1150868 C CN1150868 C CN 1150868C CN B011348658 A CNB011348658 A CN B011348658A CN 01134865 A CN01134865 A CN 01134865A CN 1150868 C CN1150868 C CN 1150868C
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- Prior art keywords
- bar
- knee joint
- knee
- control device
- force moment
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 38
- 210000003127 knee Anatomy 0.000 title abstract description 7
- 230000006835 compression Effects 0.000 claims abstract description 3
- 238000007906 compression Methods 0.000 claims abstract description 3
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 238000004873 anchoring Methods 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 abstract 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000005021 gait Effects 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 244000309466 calf Species 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
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Abstract
The present invention discloses a six-rod mechanism knee joint with a knee force moment control device, which relates to the structural design of a six-rod mechanism knee joint with a knee force moment control device. The present invention is characterized in that a knee force moment control device is arranged on a hinge shaft which is composed of a member (5) and a member (6) The knee force moment control device is composed of a stepping motor, a transmission gear which is installed on a shaft of the stepping motor, and a controlled friction force moment system. A bilateral symmetry structure using a center line as a shaft is adopted by the controlled friction force moment system. The bilateral symmetry structure mainly comprises a screw rod whose both ends are provided with a left screw and a right screw, a left screw nut, a right screw nut, a compression spring, and a friction cone arranged on the screw rod, wherein the friction cone and the member (6) are fixed in a circumferential direction, and the outer conical surface of the friction cone and the inner conical surface of the member (5) form conical surface friction. The knee force moment control device which is designed by the present invention has flexible operation and favorable controlled performance. The adjustment range of force moment measured by experiments can reach 0.2 to 5.8 Nm. The integral six-rod mechanism knee joint is compact and flexible, and can favorably realize the motion law of a swing phase and the stability of a supporting period.
Description
Technical field
The present invention relates to the design of human body pseudocolloid in a kind of hygiology, relate in particular to the kneed structural design of a kind of six-bar mechanism with the knee joint moment control device.
Background technology
Knee joint is to realize the vitals of artificial leg function.After dressing, the patient should guarantee safety and near natural gait as far as possible.Need to satisfy stable and two basic demands of the shaking peroid characteristics of motion of support phase for this reason.The method that realizes artificial limb support phase stability mainly contains three kinds: 1) braking or locking device are installed; 2) to the line adjustment; 3) rely on the deformed limb muscular strength.Realize that the shaking peroid characteristics of motion then will rely on the appropriate design of knee-joint mechanism and to the technology of knee joint Torque Control two aspects.The track that will satisfy relative motion rule between large and small lower limb and ankle joint in mechanism design is to realize natural gait and to avoid the collision on false foot and ground.Realize that at present the adoptable device of the control of knee joint moment is had mechanical friction type, hydraulic-pneumatic damp type, magnetic powder cluth formula, ER fluid damp type etc.If on knee joint moment device, add control system, then can it be changed on demand in addition, form intelligent artificial limb according to leg speed or road conditions control knee joint moment.
At present, in existing technology, knee-joint mechanism generally adopts single shaft, four-bar mechanism or six-bar mechanism.What the Total Knee of the U.S. (patent 5314498) related to is a kind of six-bar mechanism knee joint, but it can't guarantee the gait of realizing ideal in shaking peroid non-moment control, and it supports the stable of phase is to realize by electromechanical stop, as shown in Figure 1.People such as the Japan Akio Nakagawa of icebox county rehabilitation center have proposed a kind of pneumatic intelligent single-axis knee joint with shaking peroid control function in 1989, and be developed to product (Fig. 2), the damping in its joint is to be realized by the cylinder that is installed in the shank pipe, and the size by microcomputer and step motor control choke valve opening is to adjust the damping force of cylinder.The shortcoming of this knee joint Torque Control method is that structural volume is big.Owing to be single-shaft configuration, be restricted aspect the realization thigh and calf characteristics of motion and the ankle joint track in addition.
Summary of the invention
Purpose of the present invention and task be design a kind of small and exquisite flexibly and the good knee joint torque control device of controllability, be used to realize Torque Control to shaking peroid; Simultaneously by to the optimal design of six-bar mechanism, realize knee joint in shaking peroid desired thigh and calf relative motion rule and ankle motion track, thereby realize natural gait and guarantee the stability of support phase.
The present invention adopts following technical scheme: a kind of six-bar mechanism knee joint with the knee joint moment control device, comprise thigh bar, the shank bar, six six-bar mechanism and hinge axis thereof that member is formed, it is characterized in that on the hinge axis that member 5 and member 6 constitute, a knee joint moment control device being set, this device is by motor, being installed in travelling gear on the step motor shaft and controlled moment of friction system forms, it is the left-right symmetric structure of axle that described moment of friction system adopts with its centrage, this structure mainly comprises the screw rod of the band left and right sides, two ends spiral, a left side, the right-handed nut, compression spring and be arranged on friction cone on the screw rod; Its friction cone and member 6 are circumferentially fixing, and its male cone (strobilus masculinus) and member 5 inner conical surfaces form conical surface friction.
For making thigh and calf relative motion rule and ankle joint track as far as possible near desirable gait, guarantee that simultaneously mechanism is in self-locking position when upright, the present invention utilizes Optimization Design to determine following design variable, and its optimization result is:
Angle theta=88 between thigh bar and the member 1 °; Angle β=11 between shank bar and the member 5 °.Each bar is long than being:
L/l
1＝[1，2.864，1.6，1.516，1.12，0.872，1.268，0.76，0.68，1.4，1.28，15.32，
0.56，10.68]
T
L＝[l
1，l
2，......l
14]
T
Wherein:
l
1～l
10The bar of representing six-bar mechanism respectively is long,
l
11: the distance that the anchoring point I of thigh bar 10 and member 1 is ordered apart from A,
l
12: the length of thigh bar,
θ: the angle of thigh bar and member 1,
l
13: the distance that the anchoring point J of shank bar 11 and member 5 is ordered apart from F,
l
14: the length of shank bar 11.
The sample experiment shows that knee joint torque control device of the present invention goes slick, and has excellent controllability, and measuring moment adjusting range can reach 0.2～5.8Nm.Whole knee joint is small and exquisite flexibly, can well realize the characteristics of motion of shaking peroid and stablizing of the phase of support.
Description of drawings
Fig. 1 is a kind of six-bar mechanism knee joint structure sketch map in the prior art, and it supports the stable of phase is to realize by electromechanical stop.
Fig. 2 is another kind of structural representation with pneumatic intelligent single-axis knee joint of shaking peroid control function in the prior art.
Fig. 3 is the position view of knee-joint mechanism of the present invention in artificial leg.
Fig. 4 is the variable sketch map when this mechanism is optimized design.
Fig. 5 is the structural representation of knee joint torque control device.
The specific embodiment
Describe concrete structure of the present invention and preferred forms in detail below in conjunction with accompanying drawing.Fig. 3, Fig. 4 are respectively the position of knee-joint mechanism of the present invention in artificial leg and the variable sketch map that this mechanism is optimized when design.Six-bar mechanism is made up of member 1 (AB), member 2 (BD), member 3, (CDG), member 4 (ACE), member 5 (GF) and member 6 (EF) respectively.A～G is seven hinge axis of six-bar mechanism.
l
1～l
10The bar of representing six-bar mechanism respectively is long.
l
11: the distance that the anchoring point I of thigh bar 10 and member 1 (AB) is ordered apart from A
l
12: the length of thigh bar HI
The angle of θ: HI and AB
l
13: the anchoring point J of shank bar 11 and FG member is apart from the distance of F
l
14: the length of shank bar JP
The angle of β: JP and FG.
The present invention determines above-mentioned these design variables with Optimization Design.The target of optimizing is to make thigh and calf relative motion rule and ankle joint track as far as possible near desirable gait, guarantees that simultaneously mechanism is in self-locking position when upright.Design result, wherein:
θ=88 °, β=11 °, each bar is long than being:
L/l
1＝[1，2.864，1.6，1.516，1.12，0.872，1.268，0.76，0.68，1.4，1.28，
15.32，0.56，10.68]
T
L＝[l
1，l
2，......l
14]
T
The knee joint torque control device as shown in Figure 5.The knee joint torque control device is installed on the hinge axis F of member 5 and member 6, applies position (Fig. 4) as control moment.This device is by motor 9, and travelling gear 7,8 and change moment of friction system form.Becoming the employing of moment of friction system is the left-right symmetric structure of axle with the centrage.Friction cone 17 is circumferentially fixing by key 14 with member 6, can slide vertically.The inner conical surface of its male cone (strobilus masculinus) and member 5 forms conical surface friction.Left and right spin nut 16,19 can move axially in the hole of member 5 under the drive of screw rod 12; Screw rod is supported on bearing 13 and 21, and there is left and right spiral at two.The 15th, bearing (ball) cover, the 10th, the holding screw of fixed gear.When motor rotates by the gear driven screw rod, left and right nut 16,19 will move relative to (or opposing), by ball 20 and disk spring 18 male cone (strobilus masculinus) of cone is pressed to (or leaving) inner conical surface, thereby improve the pressure of (or minimizing) cone of friction, realize control member 5 and 6 moment of frictions of member.Motor can be controlled by controller by computer, rotates by needed rule.
Claims (3)
1, a kind of six-bar mechanism knee joint with the knee joint moment control device, comprise thigh bar (10), shank bar (11), six six-bar mechanism and hinge axis thereof that member is formed, it is characterized in that on the hinge axis (F) of member (5) and member (6), a knee joint moment control device being set, this device is by motor (9), be installed in the travelling gear (7 on the step motor shaft, 8) and controlled moment of friction system form, it is the left-right symmetric structure of axle that described moment of friction system adopts with its centrage, this structure mainly comprises the screw rod (12) of the band left and right sides, two ends spiral, a left side, the right-handed nut, compression spring (18) and be arranged on friction cone (17) on the screw rod; Its friction cone and member (6) are circumferentially fixing, and its male cone (strobilus masculinus) and member (5) inner conical surface forms conical surface friction.
2,, it is characterized in that the bar of above-mentioned each member is long than being according to the described a kind of six-bar mechanism knee joint of claim 1 with the knee joint moment control device:
L/l
1＝[1，2.864，1.6，1.516，1.12，0.872，1.268，0.76，0.68，1.4，1.28，15.32，
0.56,10.68]
TL=[l
1, l
2... l
14]
T, wherein:
l
1～l
10The bar of representing six-bar mechanism respectively is long,
l
11: the distance that the anchoring point (I) of thigh bar (10) and member (1) is ordered apart from A,
l
12: the length of thigh bar (10),
θ: the angle of thigh bar and member (1),
l
13: the distance that the anchoring point (J) of shank bar (11) and member (5) is ordered apart from F,
l
14: the length of shank bar (11).
3,, it is characterized in that angle theta=88 ° between thigh bar (10) and the member (1) according to claim 1 or 2 described a kind of six-bar mechanism knee joints with the knee joint moment control device; Angle between shank bar (11) and the member (5) is β=11 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011348658A CN1150868C (en) | 2001-11-16 | 2001-11-16 | Six-bar mechanism knee joint with knee moment controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011348658A CN1150868C (en) | 2001-11-16 | 2001-11-16 | Six-bar mechanism knee joint with knee moment controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1348744A CN1348744A (en) | 2002-05-15 |
| CN1150868C true CN1150868C (en) | 2004-05-26 |
Family
ID=4672806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011348658A Expired - Fee Related CN1150868C (en) | 2001-11-16 | 2001-11-16 | Six-bar mechanism knee joint with knee moment controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1150868C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008008284A1 (en) | 2008-02-07 | 2009-08-13 | Otto Bock Healthcare Gmbh | Orthopedic knee joint and method for controlling an orthopedic knee joint |
| EP2391486A4 (en) * | 2009-01-30 | 2013-09-04 | Massachusetts Inst Technology | Model-based neuromechanical controller for a robotic leg |
| CN103976807B (en) * | 2014-05-20 | 2016-03-02 | 西北工业大学 | A kind of artificial limb knee-joint of Gear-Five |
| CN106420271B (en) * | 2016-09-06 | 2018-11-30 | 广州科安康复专用设备有限公司 | It is single to drive bionical gait rehabilitation training robot system |
| CN106974750A (en) * | 2017-05-03 | 2017-07-25 | 哈尔滨理工大学 | A kind of power type knee joint artificial limb |
| CN109172065A (en) * | 2018-09-26 | 2019-01-11 | 天津工业大学 | Double self-locking artificial limb knee-joint structures |
-
2001
- 2001-11-16 CN CNB011348658A patent/CN1150868C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1348744A (en) | 2002-05-15 |
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