CN116602801A - Bionic artificial limb with leg, knee and ankle linkage - Google Patents
Bionic artificial limb with leg, knee and ankle linkage Download PDFInfo
- Publication number
- CN116602801A CN116602801A CN202310672552.6A CN202310672552A CN116602801A CN 116602801 A CN116602801 A CN 116602801A CN 202310672552 A CN202310672552 A CN 202310672552A CN 116602801 A CN116602801 A CN 116602801A
- Authority
- CN
- China
- Prior art keywords
- ankle
- connecting piece
- shank
- knee
- thigh
- 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.)
- Pending
Links
- 210000003423 ankle Anatomy 0.000 title claims abstract description 41
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 26
- 210000003414 extremity Anatomy 0.000 title claims abstract description 22
- 210000003127 knee Anatomy 0.000 title claims abstract description 20
- 210000002414 leg Anatomy 0.000 title claims description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 53
- 210000001699 lower leg Anatomy 0.000 claims abstract description 52
- 210000000689 upper leg Anatomy 0.000 claims abstract description 50
- 210000000629 knee joint Anatomy 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000003139 buffering effect Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 241000218211 Maclura Species 0.000 abstract 1
- 244000309466 calf Species 0.000 description 5
- 210000002683 foot Anatomy 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 1
- 229960001030 mephenoxalone Drugs 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/604—Joints for artificial legs
-
- 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
- A61F2/64—Knee 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
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
-
- 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
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2/80—Sockets, e.g. of suction type
-
- 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
- A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
-
- 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
- A61F2002/607—Lower legs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a shank, knee and ankle linkage bionic artificial limb which comprises a thigh connecting piece, a shank connecting piece and an ankle connecting piece, wherein the thigh connecting piece is hinged with the shank connecting piece, the ankle connecting piece is hinged with the shank connecting piece, the thigh connecting piece is connected with the ankle connecting piece through a linkage rod, and is driven to synchronously move by the thigh, the linkage rod is hinged with the thigh connecting piece through an upper hinge point, the linkage rod is hinged with the ankle connecting piece through a lower hinge point, and the distance between the upper hinge point and a knee joint rotating shaft is smaller than the distance between the lower hinge point and the ankle joint rotating shaft. According to the artificial limb bionic motion device, the dorsiflexion and the cudrania motion of the artificial limb ankle joint are driven by the flexion and extension motion of the knee joint of a human body, knee ankle linkage during up-down steps and slopes and squatting is realized, the bionic motion effect of the artificial limb is achieved, a good bionic effect is provided for free motion of the up-down steps and slopes and squatting and balance of the body gravity center, and greater convenience is brought to work and life of amputees.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a shank, knee and ankle linkage bionic artificial limb.
Background
The compensation of the missing function of the human body can be achieved by wearing the ankle joint artificial limb. The early artificial limb is a passive ankle artificial limb, a wooden artificial limb is adopted as the early passive ankle artificial limb, and an elastic energy storage device is adopted to increase the elastic performance of the artificial limb in the later period due to material transformation, and the foot plate is made of energy storage materials such as rubber, carbon fiber and the like. The domestic research is mainly focused on realizing the functions of the knee joint prosthesis, and the ankle joint is only used as an elastic energy storage structure for assisting the human body to walk, so that some key technologies are still to be developed and perfected, and pain points of amputees are solved.
Most of the prior artificial ankles of the lower leg are passive, the deformation of the foot plate is utilized to meet the resilience force required by the residual limb, and the artificial ankles are relatively dead, stiff and poor in flexibility when moving. For climbing stairs, walking on a slope up and down, the bare joints cannot perform plantarflexion and dorsiflexion according to road surface conditions, and the bare joints basically need the power provided by body swing of the stumps and the crotch of an assembler, so that the bare joints are relatively forceful to act, and are very inconvenient.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the shank, knee and ankle linkage bionic artificial limb which can simulate the walking gait of a normal person, can perform plantar flexion and dorsiflexion changes according to the road surface condition, has good movement flexibility and is convenient for climbing stairs and walking on slopes.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a shank knee ankle linkage bionic artificial limb, includes the thigh connecting piece of being connected with the thigh, the shank connecting piece of being connected with the shank, and ankle foot connecting piece, the thigh connecting piece is articulated with the shank connecting piece, and can rotate around knee joint axis of rotation and do flexion and extension motion, ankle foot connecting piece is articulated with the shank connecting piece, and can rotate around ankle joint axis of rotation and do plantar flexion and dorsiflexion motion, the thigh connecting piece passes through the gangbar with ankle foot connecting piece and links to each other, and by thigh drive synchronous motion, the gangbar passes through the upper hinge point with the thigh connecting piece and articulates, the gangbar passes through the lower hinge point with ankle foot connecting piece and articulates, the distance between upper hinge point and the knee joint axis of rotation is less than the distance of lower hinge point and ankle joint axis of rotation.
As a further improvement of the above technical scheme:
the distance between the upper hinge point and the knee joint rotation axis is 17mm, and the distance between the lower hinge point and the ankle joint rotation axis is 21mm.
The line of the upper hinge point and the knee joint rotation shaft forms an included angle of 15 degrees with the central line of the thigh, and the line of the lower hinge point and the ankle joint rotation shaft forms an included angle of 45 degrees with the central line of the shank.
The ankle foot connecting piece is provided with a buffering limiting device, the buffering limiting device is located at the front side of the ankle joint rotating shaft and used for buffering dorsiflexion of the ankle joint and limiting maximum dorsiflexion of the ankle joint, and the buffering limiting device is any one of an air cylinder, an oil cylinder and a spring.
The upper hinge point is located on the side of the knee joint rotation axis away from the calf portion, and the lower hinge point is located on the side of the ankle joint rotation axis near the heel portion.
The rotary table is rotatably arranged on the lower leg connecting piece, and one end, close to the knee joint rotary shaft, of the thigh connecting piece is connected with the rotary table.
The gangbar is arranged on the outer side of the lower leg part, is arc-shaped close to the outer surface of the lower leg connecting piece and is arranged at intervals with the lower leg connecting piece.
Leg surrounding pieces are hinged to the thigh connecting pieces and are detachably connected with the thigh.
The leg surrounding piece is arc-shaped and is provided with an opening, and tightening belts which are mutually matched and connected are arranged on two sides of the opening.
The shank connector is provided with a receiving cavity for receiving the shank.
Compared with the prior art, the invention has the advantages that:
according to the invention, through the connection of the linkage rod, the linkage rod is connected with the thigh connecting piece, the shank connecting piece and the ankle connecting piece to form a non-parallelogram connecting rod mechanism, so that the ankle joint is linked with the knee joint, and the thigh drives the knee joint to perform flexion and extension movements, and performs synchronous movements of plantarflexion movement and dorsiflexion movement with the ankle joint; the dorsiflexion and tricuspid movement of the artificial limb ankle joint is driven by the flexion and extension movement of the human knee joint, so that knee ankle linkage during up-down steps and slopes and squatting is realized, the bionic movement of the artificial limb is realized, a good bionic effect is provided for the free movement of the up-down steps and slopes and squatting and the balance of the body gravity center, and greater convenience is brought to the work and life of amputees; the distance between the upper hinging point and the knee joint rotating shaft is smaller than the distance between the lower hinging point and the ankle joint rotating shaft, so that labor is saved, the ankle joint is more stable when a human body stands and supports, and the ankle joint is more favorable to the initial stage of knee joint buckling to drive the ankle joint to bend when walking, and the thigh connecting piece, the shank connecting piece and the linkage rod form a triangular support when standing, so that the three-dimensional support has the structural characteristics of stable support.
Drawings
Fig. 1 is a schematic diagram of the structure of the outer side view of a leg, knee and ankle linkage bionic artificial limb.
Fig. 2 is a schematic diagram of the structure of the inner side view of the leg, knee and ankle linkage bionic artificial limb.
Fig. 3 is a schematic rear view of a simulated artificial limb with leg, knee and ankle linkage.
Legend description:
100. thigh section; 1. thigh links; 11. leg cuffs; 12. tightening the belt; 2. a shank link; 21. a turntable; 22. a receiving cavity; 3. an ankle foot connection; 31. an ankle joint rotation shaft; 4. a linkage rod; 41. an upper hinge point; 42. a lower hinge point; 5. and a buffer limiting device.
Description of the embodiments
The invention is described in further detail below with reference to the drawings and the specific examples.
As shown in fig. 1 to 3, the shank-knee-ankle linkage bionic prosthesis of the present embodiment includes a thigh link 1 connected with a thigh 100, a shank link 2 connected with the shank, and an ankle-foot link 3, the thigh link 1 being hinged with the shank link 2 and being capable of rotating around a knee joint rotation axis to perform flexion and extension movements, the ankle-foot link 3 being hinged with the shank link 2 and being capable of rotating around an ankle joint rotation axis 31 to perform plantarflexion and dorsiflexion movements, the thigh link 1 being connected with the ankle-foot link 3 through a link lever 4 and being driven to perform synchronous movements by the thigh 100, the link lever 4 being hinged with the thigh link 1 through an upper hinge point 41, the link lever 4 being hinged with the ankle-foot link 3 through a lower hinge point 42, the distance between the upper hinge point 41 and the knee joint rotation axis being smaller than the distance between the lower hinge point 42 and the ankle joint rotation axis 31. The thigh 100 drives the knee joint to flex and stretch, and synchronously moves with plantar flexion and dorsiflexion of the ankle joint by connecting the thigh connecting piece 1, the shank connecting piece 2 and the ankle foot connecting piece 3 through the linkage rod 4 to form a non-parallelogram connecting rod mechanism, so that the ankle joint is linked with the knee joint; the dorsiflexion and tricuspid movement of the artificial limb ankle joint is driven by the flexion and extension movement of the human knee joint, so that knee ankle linkage during up-down steps and slopes and squatting is realized, the bionic movement of the artificial limb is realized, a good bionic effect is provided for the free movement of the up-down steps and slopes and squatting and the balance of the body gravity center, and greater convenience is brought to the work and life of amputees; the distance between the upper hinge point 41 and the knee joint rotation shaft is smaller than the distance between the lower hinge point 42 and the ankle joint rotation shaft 31, so that labor is saved, the ankle joint is more stable when a human body stands and supports, and the ankle joint is more favorable to be driven to be tricked and bent in the early stage of knee joint buckling when walking, and the thigh connecting piece 1, the shank connecting piece 2 and the linkage rod 4 form a triangular support when standing, so that the three-dimensional support has the structural characteristic of stable support.
In this embodiment, the distance between the upper hinge point 41 and the knee joint rotation axis is 17mm, and the distance between the lower hinge point 42 and the ankle joint rotation axis 31 is 21mm. Since the upper hinge point 41 is located 17mm on the upper front side of the knee rotation axis, the line connecting the upper hinge point 41 and the knee rotation axis makes an angle of 15 degrees with the center line of the thigh section 100. The design ensures that the knee joint is bent for 15 degrees at the early stage of bending, namely the toe-off stage, and the ankle joint is bent for 15 degrees, so as to play a role in compensating the support compensation of the shortening of the length of the lower limb caused by the instant bending of the hip and the knee joint, thereby keeping the body balance and the gait nature. The articulated point of the linkage rod 4 and the ankle and foot connecting piece 3 is positioned at 21 millimeters on the rear upper side of the ankle joint rotating shaft 31, the articulated point and the ankle joint rotating shaft 31 form an included angle of 45 degrees with the center line of the shank, when the knee joint is flexed by 15 degrees, the ankle joint is tricuspid to be flexed by 15 degrees, when the knee joint is flexed by 15 degrees to a larger angle, the ankle joint is changed from tricuspid to dorsiflexion, and the sole of the foot is correspondingly lifted in the leg swinging period, so that the toe is prevented from touching the ground and kicking the step.
In this embodiment, the line connecting the upper hinge point 41 and the knee joint rotation axis forms an angle of 15 ° with the center line of the thigh section 100, and the line connecting the lower hinge point 42 and the ankle joint rotation axis 31 forms an angle of 45 ° with the center line of the calf section. The inclination angle range of the rotation of the hinge point of the linkage rod 4 and the thigh connecting piece 1 around the knee joint rotation axis is 70-90 degrees, and the inclination angle range of the rotation of the hinge point of the linkage rod 4 and the ankle connecting piece 3 around the ankle joint rotation axis 31 is 45-60 degrees. Through the hinge points of the linkage rod 4, the thigh connecting piece 1 and the ankle connecting piece 3 in a proper rotation range, the walking gait of a normal person can be further simulated, and therefore the movement flexibility is improved. When the ankle joint is bent back by 45 degrees maximally, the knee joint is not bent any more by 75 degrees maximally.
In this embodiment, the ankle-foot connecting piece 3 is provided with a buffering and limiting device 5, the buffering and limiting device 5 is located at the front side of the ankle joint rotating shaft 31 and is used for buffering the dorsiflexion of the ankle joint and limiting the maximum dorsiflexion of the ankle joint, and the buffering and limiting device 5 is any one of an air cylinder, an oil cylinder and a spring. The buffering and limiting device is preferably a rotary hydraulic cylinder, and the buffering and limiting device 5 can buffer dorsiflexion of the ankle joint and limit the maximum dorsiflexion of the ankle joint to 45 degrees.
In this embodiment, the upper hinge point 41 is located on the side of the knee joint rotation axis away from the calf portion, and the lower hinge point 42 is located on the side of the ankle joint rotation axis 31 near the heel portion. The structure is simpler, the volume and the weight are smaller, and the transmission is more effective.
In this embodiment, the rotary table 21 is rotatably mounted on the lower leg link 2, and one end of the upper leg link 1 near the knee joint rotation axis is connected to the rotary table 21. Through the setting of carousel 21 for thigh connecting piece 1 is more smooth and easy with the articulated of shank connecting piece 2, connects more firmly stable.
In this embodiment, the link lever 4 is disposed on the outer side of the lower leg portion, and the link lever 4 is in an arc shape near the outer surface of the lower leg link 2 and is disposed at a distance from the lower leg link 2. The overall volume can be further reduced without affecting the visual appearance.
In this embodiment, leg-surrounding members 11 are hinged to the thigh link 1, and the leg-surrounding members 11 are detachably connected to the thigh portion 100. The leg-surrounding piece 11 can be conveniently worn and detached, so that the experience of a wearer is better. The leg-surrounding member 11 attached to the thigh 100 of the human body can be rotated along with the hinge point thereof, so that the knee joint of the human body can be bent by a larger angle, because the residual limb of the calf can naturally remove a part from the receiving chamber 22 of the calf connecting member 2 when the leg-surrounding member 11 is rotated around the hinge point of the thigh 100, which is advantageous for squatting actions of the human body. The leg surrounding piece 11 is hinged with the thigh connecting piece 1 through a hinge point, so that the problem that the maximum ankle joint can only dorsiflex 45 degrees in knee-ankle linkage and the knee joint needs to flex more than 75 degrees is effectively solved.
In this embodiment, the leg-surrounding member 11 is arc-shaped and provided with an opening, and two sides of the opening are provided with tightening bands 12 which are mutually matched and connected. The tightening strap 12 is easy to purchase, low in cost and convenient to manufacture and install.
In this embodiment, the shank coupling element 2 is provided with a receiving cavity 22 for receiving the shank. By providing the receiving chamber 22, the lower leg portion can be comfortably received.
The above description is merely a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above examples. Modifications and variations which would be obvious to those skilled in the art without departing from the spirit of the invention are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a bionic artificial limb of shank knee ankle linkage, its characterized in that includes thigh connecting piece (1) that is connected with thigh (100), shank connecting piece (2) that is connected with the shank, and ankle foot connecting piece (3), thigh connecting piece (1) is articulated with shank connecting piece (2) and can rotate around knee joint axis of rotation and do flexion and extension motion, ankle foot connecting piece (3) are articulated with shank connecting piece (2) and can rotate around ankle joint axis of rotation (31) and do plantarflexion and dorsiflexion motion, thigh connecting piece (1) and ankle foot connecting piece (3) link to each other through gangbar (4) and by thigh (100) drive synchronous motion, gangbar (4) are articulated through last pin joint (41) with thigh connecting piece (1), link bar (4) are articulated through lower pin joint (42) with ankle joint axis of rotation, distance between pin joint (41) and the knee joint axis of rotation is less than the distance of pin joint (42) with ankle joint axis of rotation (31).
2. The shank, knee and ankle linkage bionic prosthesis according to claim 1, wherein the distance between the upper hinge point (41) and the knee joint rotation axis is 17mm, and the distance between the lower hinge point (42) and the ankle joint rotation axis (31) is 21mm.
3. The shank-knee-ankle linkage bionic prosthesis according to claim 2, wherein the line connecting the upper hinge point (41) and the knee joint rotation axis forms an included angle of 15 degrees with the central line of the thigh (100), and the line connecting the lower hinge point (42) and the ankle joint rotation axis (31) forms an included angle of 45 degrees with the central line of the shank.
4. The shank, knee and ankle linkage bionic prosthesis according to claim 1, wherein the ankle connecting piece 3 is provided with a buffering limiting device (5), the buffering limiting device (5) is located on the front side of the ankle joint rotating shaft 31 and is used for buffering dorsiflexion of the ankle joint and limiting maximum dorsiflexion of the ankle joint, and the buffering limiting device (5) is any one of a cylinder, an oil cylinder and a spring.
5. The shank-knee-ankle linkage bionic prosthesis according to claim 1, wherein the upper hinge point (41) is located on a side of the knee joint rotation axis away from the shank, and the lower hinge point (42) is located on a side of the ankle joint rotation axis (31) near the heel.
6. The shank, knee and ankle linkage bionic prosthesis according to claim 1, wherein a turntable (21) is rotatably arranged on the shank connecting piece (2), and one end, close to a knee joint rotation shaft, of the thigh connecting piece (1) is connected with the turntable (21).
7. The shank, knee and ankle linkage bionic prosthesis according to claim 1, wherein the linkage rod (4) is arranged on the outer side of the shank, and the linkage rod (4) is arc-shaped close to the outer surface of the shank connecting piece (2) and is arranged at a distance from the shank connecting piece (2).
8. The shank-knee-ankle-linkage bionic prosthesis according to any one of claims 1 to 7, wherein the thigh connecting piece (1) is hinged with a leg-surrounding piece (11), and the leg-surrounding piece (11) is detachably connected with the thigh (100).
9. The shank, knee and ankle linkage bionic prosthesis according to claim 8, wherein the leg surrounding piece (11) is arc-shaped and is provided with an opening, and two sides of the opening are provided with tightening belts (12) which are mutually matched and connected.
10. The shank-knee-ankle-linkage bionic prosthesis according to claim 9, wherein the shank connecting piece (2) is provided with a receiving cavity (22) for receiving the shank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310672552.6A CN116602801A (en) | 2023-06-08 | 2023-06-08 | Bionic artificial limb with leg, knee and ankle linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310672552.6A CN116602801A (en) | 2023-06-08 | 2023-06-08 | Bionic artificial limb with leg, knee and ankle linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116602801A true CN116602801A (en) | 2023-08-18 |
Family
ID=87678050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310672552.6A Pending CN116602801A (en) | 2023-06-08 | 2023-06-08 | Bionic artificial limb with leg, knee and ankle linkage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116602801A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4614518A (en) * | 1983-03-08 | 1986-09-30 | New York University | Artificial limb with automatic release for free rotation |
| CN111529149A (en) * | 2020-04-29 | 2020-08-14 | 北京精博现代假肢矫形器技术有限公司 | Knee and ankle linkage artificial limb with stumble prevention function |
| CN112399838A (en) * | 2018-07-18 | 2021-02-23 | 奥托博克欧洲股份两合公司 | Orthopedic device with foot, lower leg and upper leg |
| CN115192278A (en) * | 2022-06-30 | 2022-10-18 | 吉林大学 | Wearable knee prosthesis without external power |
| CN115192275A (en) * | 2022-06-30 | 2022-10-18 | 吉林大学 | Bionic active artificial limb integrating knee and ankle |
-
2023
- 2023-06-08 CN CN202310672552.6A patent/CN116602801A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4614518A (en) * | 1983-03-08 | 1986-09-30 | New York University | Artificial limb with automatic release for free rotation |
| CN112399838A (en) * | 2018-07-18 | 2021-02-23 | 奥托博克欧洲股份两合公司 | Orthopedic device with foot, lower leg and upper leg |
| CN111529149A (en) * | 2020-04-29 | 2020-08-14 | 北京精博现代假肢矫形器技术有限公司 | Knee and ankle linkage artificial limb with stumble prevention function |
| CN115192278A (en) * | 2022-06-30 | 2022-10-18 | 吉林大学 | Wearable knee prosthesis without external power |
| CN115192275A (en) * | 2022-06-30 | 2022-10-18 | 吉林大学 | Bionic active artificial limb integrating knee and ankle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| CA2079587C (en) | Artificial toggle joint | |
| US5545234A (en) | Lower extremity prosthetic device | |
| US10772742B2 (en) | Polycentric powered ankle prosthesis | |
| CN113478466B (en) | Passive lower limb exoskeleton with load conduction and walking energy conservation functions | |
| CN111084680B (en) | Passive hydraulic bionic ankle joint | |
| WO2023066272A1 (en) | Mechanical foot | |
| CN109091816A (en) | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton | |
| CN207341906U (en) | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device | |
| CN211095005U (en) | Ankle joint artificial limb | |
| KR102071611B1 (en) | Auxiliary apparatus for assisting muscular strength of ankle | |
| CN103222905B (en) | Motion instant center adjustable type prosthetic multiaxial joint | |
| CN116602801A (en) | Bionic artificial limb with leg, knee and ankle linkage | |
| CN210078229U (en) | Auxiliary walking device | |
| KR100328303B1 (en) | An apparatus for an articulation of the artificial foot which has a various axis | |
| CN113768761A (en) | Unpowered lower limb exoskeleton device | |
| CN208959240U (en) | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton | |
| CN209220596U (en) | A kind of foot-drop corrector | |
| CN114712171B (en) | Wearable bionic leg-foot mechanism for assisting disabled and walk | |
| WO2021130651A1 (en) | A passive prosthetic knee | |
| CN116763512A (en) | Knee-ankle linkage artificial limb | |
| CN109528440B (en) | Lower limb exoskeleton ankle joint based on telecentric mechanism | |
| CN219516736U (en) | Ankle joint fixing frame | |
| CN112168439B (en) | Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis | |
| CN213217958U (en) | Loading-free type knee joint orthosis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |