KR102478823B1 - Ankle-driven prosthetic foot apparatus - Google Patents

Abstract

An ankle-powered prosthetic foot device according to an embodiment of the present invention includes a support member; a frame having a first end rotatably connected to the support member; a hydraulic cylinder rotatably connected to an end of the support member and rotatably connected to a second end of the frame spaced apart from the first end; and a driving unit disposed between the support member and the frame and providing a driving force to tilt the frame in a direction away from or closer to one end of the support member, wherein the frame is selected by the hydraulic cylinder or the drive unit. It can be tilted by being provided with a driving force.

Description

Ankle-driven prosthetic foot device {ANKLE-DRIVEN PROSTHETIC FOOT APPARATUS}

The present invention relates to an ankle-driven prosthetic foot device, and more particularly, to an ankle-driven prosthetic foot device capable of controlling an ankle angle according to a walking state of a wearer while stably supporting the weight of the wearer.

A prosthetic foot is artificially made to perform the function of a foot due to a defect of the whole or a part of the leg or a defect of the foot. For a wearer of a prosthetic foot, it is a basic wish to walk with a natural gait like a normal person.

In order for the wearer to walk naturally while wearing the prosthetic foot, it is necessary to appropriately adjust the angle of the ankle of the prosthetic foot according to the walking condition such as the ground condition.

In addition, in order to walk naturally, torque for walking propulsion must be generated, but there is a problem in that the battery consumption for walking propulsion is turned on and the usage time is short.

In addition, when the battery capacity is increased, there is a problem in that the total weight of the prosthetic foot increases.

Therefore, there is a need to develop an artificial foot that is light in weight while generating a torque of a size necessary for natural walking.

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Registered Patent Publication No. 10-15094520000 (Electric prosthetic foot, Labor Welfare Corporation)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an ankle-powered prosthetic foot device that precisely controls an angle of an ankle of a prosthetic foot according to a walking state.

In addition, it is intended to provide an ankle-driven prosthetic foot device that can be used for a long time by minimizing energy consumption.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, an ankle-powered prosthetic foot device according to an embodiment of the present invention includes a support member; a frame having a first end rotatably connected to the support member; a hydraulic cylinder rotatably connected to an end of the support member and rotatably connected to a second end of the frame spaced apart from the first end; and a driving unit disposed between the support member and the frame and providing a driving force to tilt the frame in a direction away from or closer to one end of the support member, wherein the frame is selected by the hydraulic cylinder or the drive unit. It can be tilted by being provided with a driving force.

At this time, the driving unit is fixed to the support member, the driving actuator for providing a rotational force; a ball-screw provided with a feed shaft receiving the rotational force of the drive actuator and a feed member moved along the feed shaft by rotation of the feed shaft; and a crank having one end rotatably connected to the transfer member and the other end rotatably connected to the frame, and when the transfer member is moved in a first direction by receiving rotational force of the drive actuator, the The frame may be inclined in a direction away from one end of the support member.

At this time, the ankle-driven prosthetic foot device may include a first rotation shaft inserted into the support member and the first end of the frame; a second rotary shaft inserted into an end of the support member and the other end of the hydraulic cylinder; a third rotary shaft inserted into the second end of the frame and one end of the hydraulic cylinder; a fourth rotational shaft inserted into the other end of the crank and the frame, and disposed between the first rotational shaft and the third rotational shaft; And coupled to the hydraulic cylinder, further comprising a hydraulic control unit for adjusting the hydraulic pressure of the hydraulic cylinder, the inside of the hydraulic cylinder is provided with an elastic spring, the elastic spring is between the second rotation shaft and the third rotation shaft An elastic force may be provided so as to move away from each other.

At this time, when the frame receives an external force from the upper side of the frame and is inclined toward one end of the support member, the hydraulic cylinder supports the frame so that the frame maintains a predetermined angle with the support member, and the frame When receiving an external force from the upper side of the frame and inclining toward one end of the support member, the frame may move the transfer member connected to the crank in a second direction opposite to the first direction.

At this time, the ankle-driven prosthetic foot device further includes a bi-directional clutch provided between the drive actuator and the transfer shaft, wherein the bi-directional clutch transfers rotational force of the drive actuator to the transfer shaft, and Transmission of rotational force to the driving actuator may be blocked.

At this time, the ankle-powered artificial foot device may include a load sensor connected to the first rotational shaft and measuring an external force applied to the frame; an angle sensor connected to the first rotation shaft and measuring an angle between the support member and the frame; a moment sensor disposed above the frame and measuring motion of the frame; and a control unit receiving electrical signals from each of the load sensor, the angle sensor, and the moment sensor, and controlling the hydraulic pressure adjusting unit and the driving actuator based on the electrical signals.

In the ankle-powered prosthetic foot device according to an embodiment of the present invention, the angle between the frame and the support member is tilted by selectively receiving a driving force from a hydraulic cylinder or a drive unit, so that the angle between the frame and the support member is tilted according to the gait state. can be precisely controlled.

In addition, the consumption of electric energy consumed by the driving unit according to the walking state is reduced.

1 is a side view showing an ankle-powered artificial foot device according to an embodiment of the present invention.
2 is a perspective view showing an ankle-driven artificial foot device according to an embodiment of the present invention.
3 is a side view of an ankle-powered prosthetic foot device according to an embodiment of the present invention viewed from another side.
4 is an exploded perspective view showing an ankle-driven artificial foot device according to an embodiment of the present invention.
5 is a block diagram of an ankle-driven artificial foot device according to an embodiment of the present invention.
6 is a side view illustrating a state in which a frame of an ankle-powered artificial foot device according to an embodiment of the present invention is disposed in a first position.
7 is a side view illustrating a state in which a frame of an ankle-powered artificial foot device according to an embodiment of the present invention is disposed in a second position.
8 is a diagram illustrating the operation of an ankle-driven artificial foot device according to an embodiment of the present invention.

Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. Embodiments according to the present invention can be modified in various ways. Certain embodiments may be depicted in the drawings and described in detail in the detailed description. However, specific embodiments disclosed in the accompanying drawings are only intended to facilitate understanding of various embodiments. Therefore, the technical idea is not limited by the specific embodiments disclosed in the accompanying drawings, and it should be understood to include all equivalents or substitutes included in the spirit and technical scope of the invention.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but these components are not limited by the above terms. The terminology described above is only used for the purpose of distinguishing one component from another.

In the embodiments of the present invention, terms such as "comprise" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the embodiments of the present invention exist, It should be understood that it does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Meanwhile, a “module” or “unit” of a component used in an embodiment of the present invention performs at least one function or operation. Also, a “module” or “unit” may perform a function or operation by hardware, software, or a combination of hardware and software. In addition, a plurality of “modules” or “units” other than “modules” or “units” to be executed in specific hardware or to be executed in at least one processor may be integrated into at least one module. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In addition, in describing the embodiments of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be abbreviated or omitted.

1 is a side view showing an ankle-powered prosthetic foot device according to an embodiment of the present invention, FIG. 2 is a perspective view showing an ankle-powered artificial foot device according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. 4 is an exploded perspective view of the ankle-driven prosthetic foot device according to an embodiment of the present invention, and FIG. 5 is an ankle-driven artificial foot device according to an embodiment of the present invention. It is a block diagram of a prosthetic device.

1 to 5, the ankle-powered artificial foot device 100 according to an embodiment of the present invention includes a support member 110, a frame 120, a hydraulic cylinder 130, a driving unit 140, and a control unit ( 170).

The support member 110 supports the components of the ankle-driven artificial foot device 100 from the ground. The support member 110 includes a first support member 111 and a second support member 112 disposed above the first support member 111 .

The first support member 111 is formed in a plate shape having a predetermined thickness. At this time, the first support member 111 is made of a metal material having elasticity. However, the first support member 111 is not limited to being made of a metal material, and may be made of various materials such as plastic having elasticity.

The second support member 112 is coupled to the first support member 111 . At this time, the second support member 112 is made of a metal material. However, the second support member 112 is not limited to being made of a metal material, and may be made of various materials such as plastic having rigidity.

The second support member 112 is formed to be bent. For example, the height H1 of one side 112a of the second support member 112 is smaller than the height H2 of the other side 112b of the second support member 112 . In addition, the height of the other side 112b of the second support member 112 corresponds to the length of a heel of an ordinary person.

Meanwhile, the elastic force of the second supporting member 112 is greater than the elastic force of the first supporting member 111 . To this end, the thickness of the second support member 112 is greater than that of the first support member 111 . Accordingly, the first support member 111 is bent and deformed according to the state of the ground, and the second support member 112 is a component of the ankle-powered artificial foot device 100 regardless of the state of the ground. stably support them.

The frame 120 is connected to the wearer's leg or to a prosthesis mounted on the wearer's leg. The frame 120 is made of a metal material. However, the frame 120 is not limited to being made of a metal material, and may be made of a plastic material having rigidity. The frame 120 includes a first end 121 rotatably connected to the second support member 112 .

At this time, a first frame hole 121a is formed in the first end 121 of the frame 120, and a first frame hole 121a corresponding to the first frame hole 121a is formed in the second support member 112. A support hole 112c is formed. Also, the first rotation shaft 125a is inserted into the first frame hole 121a and the first support hole 112c.

The first rotation shaft 125a is made of a metal or plastic material. The frame 120 is rotated clockwise or counterclockwise around the first rotation axis 125a, and functions like an ankle of the body.

In addition, a first O-ring 126a is inserted into the first support hole 112c. The first O-ring 126a is made of a metal or plastic material. The first O-ring 126a prevents the second support member 112 from being worn by the first rotation shaft 125a. In addition, the first O-ring 126a prevents the first rotation shaft 125a from being separated from the first support hole 112c.

The hydraulic cylinder 130 includes a cylinder (not shown) and a piston (not shown) that moves along the longitudinal direction of the cylinder inside the cylinder. The piston is moved according to a change in hydraulic pressure inside the cylinder. The hydraulic cylinder is made of metal or plastic material.

In addition, a first through hole 131a is formed in one side 131 of the hydraulic cylinder 130, and the end of the support member 110, that is, the other side 112b of the second support member 112, A second support hole 112d corresponding to the first through hole 131a is formed. Also, the second rotation shaft 125b is inserted into the first through hole 131a and the second support hole 112d.

The second rotation shaft 125b is made of metal or plastic. The hydraulic cylinder 130 rotates clockwise or counterclockwise around the second rotation shaft 125b.

At this time, a second through hole 132a is formed in the other side 132 of the hydraulic cylinder 130, and a second through hole 132a corresponding to the second end 122 of the frame 120 is formed. A second frame hole 122a is formed. Also, a third rotation shaft 125c is inserted into the second through hole 132a and the second frame hole 122a. The third rotation shaft 125c is made of metal or plastic.

Meanwhile, the entire length of the hydraulic cylinder 130 is changed according to the hydraulic pressure of the hydraulic cylinder 130 . For example, when the hydraulic pressure of the hydraulic cylinder 130 decreases, the total length of the hydraulic cylinder 130 increases or decreases, and conversely, when the hydraulic pressure of the hydraulic cylinder 130 increases, the hydraulic cylinder 130 ) is fixed.

At this time, when an external force is generated from the upper side of the frame 120 and the hydraulic pressure of the hydraulic cylinder 130 decreases, the hydraulic cylinder 130 rotates clockwise around the second rotational shaft 125b. And, the second end 122 of the frame 120 is rotated about the third rotation axis 125c. That is, the frame 120 is inclined in a direction closer to the support member 110 .

In addition, an elastic spring 155 is provided inside the hydraulic cylinder 130. One end of the elastic spring 155 is fixed to the upper side of the hydraulic cylinder 130, and the other end of the elastic spring 155 is fixed to the piston. When an external force is generated from the upper side of the frame 120, the piston compresses the elastic spring 155. Then, the compressed elastic spring 155 again provides an elastic force to the piston, so that the hydraulic cylinder 130 is extended so that the distance between the second rotational shaft 125b and the third rotational shaft 125c is increased.

In addition, a hydraulic control unit 150 for adjusting the hydraulic pressure of the hydraulic cylinder 130 is provided on a side surface of the hydraulic cylinder 130 .

The hydraulic control unit 150 is coupled to the side of the hydraulic cylinder 130. The hydraulic control unit 150 includes a hydraulic nozzle (not shown) for supplying fluid to the hydraulic cylinder 130 and a hydraulic drive unit (not shown) for providing a driving force for supplying the fluid.

The driving unit 140 is disposed between the second support member 112 and the frame 120 . The driving unit 140 provides a driving force so as to be inclined in a direction away from or closer to one end of the support member 110 . The driving unit 140 includes a driving actuator 141, a ball-screw 142 and a crank 143.

The driving actuator 141 is fixed to the upper side of the second support member 112 . The drive actuator 141 receives power and generates rotational force.

The ball-screw 142 includes a feed shaft 142a connected to the drive actuator 141 and a feed member 142b moved along the feed shaft 142a.

The transfer shaft 142a is rotated clockwise or counterclockwise by receiving the rotational force of the driving actuator 141 . The conveying member 142b moves along the conveying shaft 142a as the conveying shaft 142a rotates. Accordingly, the rotational motion of the drive actuator 141 is converted into a linear motion of the transfer member 142b.

The crank 143 is configured to rotate the frame 120 through the linear motion of the transfer member 142b. One end 143a of the crank 143 is rotatably connected to the transfer member 142b through a bolt 147. At this time, a first crank hole 142d is formed at one end 143a of the crank 143, and a screw hole 142c is formed at the conveying member 142b. The bolt 147 is inserted into the first crank hole 142d and the screw hole 142c.

Also, the other end 143c of the crank 143 is rotatably connected to the frame 120 through a fourth rotation shaft 146 . At this time, a second crank hole 143d is formed at the other end 143c of the crank 143, and a third frame hole 123 is formed at the frame 120. The fourth rotation shaft 146 is inserted into the second crank hole 143d and the third frame hole 123 .

When the transfer member 142b is moved toward the frame 120 , the crank 143 pushes the frame 120 in a direction away from the support member 110 . Also, the frame 120 is rotated counterclockwise around the first rotation axis 125a. Accordingly, the angle between the support member 110 and the frame 120 increases.

Conversely, when the transfer member 142b moves in a direction away from the frame 120, the crank 143 pulls the frame 120 in a direction closer to the support member 110. Also, the frame 120 is rotated clockwise about the first rotation axis 125a. Accordingly, the angle between the support member 110 and the frame 120 decreases. At this time, when the conveying member 142b is moved, the conveying shaft 142a is rotated. The rotational force of the transfer shaft 142a is transmitted to the driving actuator 141 .

In order to prevent the drive actuator 141 from being damaged due to excessive rotational force of the feed shaft 142a being transmitted to the drive actuator 141, there is a bidirectional coupling between the drive actuator 141 and the feed shaft 142a. A clutch 145 is provided.

The two-way clutch 145 transfers the rotational force of the driving actuator 141 to the transfer shaft 142a. For example, when the drive actuator 141 provides rotational force in a clockwise direction, the feed shaft 142a is rotated clockwise, and when the drive actuator 141 provides rotational force in a counterclockwise direction, the transfer Shaft 142a is rotated counterclockwise.

Also, the two-way clutch 145 blocks transmission of the rotational force of the transfer shaft 142a to the driving actuator 141 . For example, even if the transfer shaft 142a is rotated clockwise or counterclockwise by the movement of the crank 143, the drive actuator 141 is not rotated by the two-way clutch 145.

In addition, a load sensor 171 for measuring an external force applied to the frame 120 is provided at the first end 121 of the frame 120 .

The load sensor 171 is connected to the first rotation shaft 125a. The load sensor 171 measures the displacement value of the first rotating shaft 125a by the external force applied to the frame 120, and measures the external force applied to the frame 120 based on this displacement value do.

In addition, an angle sensor 172 for measuring an angle between the support member 110 and the frame 120 is provided at the first end 121 of the frame 120 .

The angle sensor 172 has a shape surrounding the load sensor 171 . The angle sensor 172 is connected to the first rotation shaft 125a. The angle sensor 172 measures an angle at which the frame 120 is rotated around the first rotational axis 125a, and based on the angle at which the frame 120 is rotated, the frame 120 and the The angle between the support members 110 is measured.

In addition, a moment sensor 173 for measuring the movement of the upper side of the frame 120 is provided on the upper side of the frame 120 .

The moment sensor 173 may measure the movement of the upper side of the frame 120 by measuring force components in the three-axis direction of the upper side of the frame 120 and moment components rotating around the three axes.

Also, as shown in FIG. 5 , the controller 170 receives electrical signals from each of the load sensor 171 , the angle sensor 172 , and the moment sensor 173 .

Also, the control unit 170 is electrically connected to the hydraulic control unit 150 and the driving actuator 141 . The control unit 170 controls driving of the hydraulic control unit 150 and the driving actuator 141 based on the electrical signal.

In addition, when the frame 120 is inclined toward the direction in which the support member 110 approaches, the control unit 170 controls the second rotational shaft 125b and the third rotational shaft ( 125c) controls the hydraulic control unit 150 to maintain the length between the two. That is, the frame 120 and the support member 110 are locked by the hydraulic cylinder 130 .

In addition, the ankle-driven artificial foot device 100 includes a cover 160 surrounding the support member 110 . In addition, the cover 160 is not limited to covering only the support member 110, and may also cover the first end 121 of the frame 120.

The cover 160 is made of a resin material, and may be made of various materials such as silicon. The cover 160 prevents the ankle-powered prosthesis 100 from being separated from the shoe when the wearer wears shoes such as sneakers while wearing the ankle-powered prosthesis 100. do. In addition, the cover 160 performs a cushion function, thereby reducing impact to the wearer's knee when the wearer walks while wearing the ankle-driven prosthetic foot device 100 .

6 is a side view showing a frame of an ankle-powered artificial foot device according to an embodiment of the present invention disposed in a first position, and FIG. 7 is a side view showing a frame of an ankle-powered artificial foot device according to an embodiment of the present invention. It is a side view showing a state disposed in the second position.

6 and 7, the frame 120 may be positioned at a first position inclined in a direction away from the support member 110 and a second position inclined in a direction closer to the support member 110. are moved so that

A first angle θ1 between the frame 120 and the support member 110 at the first position of the frame 120 is the first angle θ1 between the frame 120 and the support member at the second position of the frame 120. It is greater than the second angle θ1 formed with (110).

As shown in FIG. 6 , in order for the frame 120 to be positioned in the first position, the rotational force of the drive actuator 141 is transmitted to the transfer shaft 142a. As the conveying shaft 142a rotates, the conveying member 142a moves in the first direction ①.

At this time, the crank 143 connected to the transfer member 142a pushes the frame 120 . The frame 120 is rotated about the first rotation shaft 125a by the crank 143 . Also, by the rotation of the frame 120, the hydraulic cylinder 130 is rotated about the third rotational shaft 125c. The first position of the frame 120 may be a state in which the ankle-powered artificial foot device 100 is raised upward from the ground or in direct contact with the ground.

As shown in FIG. 7 , when the ankle-powered prosthetic foot device 100 is in contact with the ground and the knee is bent to kick off the ground for walking, an external force is applied from the upper side of the frame 120. all. At this time, the external force is proportional to the sum of the weight of the wearer and the weight of the ankle-driven artificial foot device 100 .

When the frame 120 is located in the second position, the wearer can comfortably bend their knees. In order for the frame 120 to be located in the second position, the hydraulic pressure regulator 150 reduces the hydraulic pressure of the hydraulic cylinder 130 .

As the hydraulic pressure of the hydraulic cylinder 130 with reduced hydraulic pressure decreases, the overall length of the hydraulic cylinder 130 increases. At this time, the external force is applied in a direction in which the frame 120 is brought closer to the support member 110 .

The hydraulic cylinder 130 rotates counterclockwise around the third rotation shaft 125c. That is, the hydraulic cylinder 130 releases the fixation of the frame 120 by a decrease in hydraulic pressure. The frame 120 is rotated counterclockwise about the first rotation axis 125a.

At this time, the crank 143 connected to the frame 120 pushes the transfer member 142a in a second direction (②) opposite to the first direction (①). As the conveying member 142a moves in the second direction ②, the conveying shaft 142b rotates. At this time, the two-way clutch 145 blocks transmission of the rotational force of the transfer shaft 142b to the driving actuator 141 .

8 is a diagram illustrating the operation of an ankle-driven artificial foot device according to an embodiment of the present invention.

First, the gait section during human walking is divided into a stance phase in which the feet touch the ground and move, and a swing phase in which the feet move away from the ground. During normal walking, the knee undergoes two flexion and one extension in the stance phase, and one flexion and one extension in the swing phase. Furthermore, human walking is performed not only on flat ground but also on various types of ground such as stairs.

For these various walks, as shown in FIG. 8 , the angle between the frame 120 and the support member 110 is adjusted.

First, as shown in FIG. 8(a), the driving of the driving unit 140 is stopped, and the angle between the frame 120 and the support member 110 is adjusted only by the hydraulic cylinder 130.

At this time, the hydraulic cylinder 130 is maintained at the first hydraulic pressure. The hydraulic cylinder 130 maintained by the first hydraulic pressure adjusts the angle between the frame 120 and the support member 110 when it touches the ground or falls.

Accordingly, as the ankle-driven prosthetic foot device stops driving the driving unit 140, consumption of electrical energy for driving the driving unit 140 is reduced.

And, as shown in FIGS. 8(b) and 8(c), the driving of the driving unit 140 is stopped, and the frame 120 and the support member 110 are moved by the hydraulic cylinder 130. After reducing the angle between them, the hydraulic cylinder 130 is maintained with the second hydraulic pressure to stop the length change of the hydraulic cylinder 130.

The second hydraulic pressure is greater than the first hydraulic pressure. Accordingly, the ankle-powered prosthetic foot device is appropriately used according to the walking situation of the wearer in a state in which the frame 120, which looks like a person's ankle is bent, maintains a predetermined angle formed with the support member 110. It can be.

In addition, as shown in FIG. 8(d), the hydraulic cylinder 130 is maintained at a third hydraulic pressure lower than the first hydraulic pressure, and the frame 120 and the support member ( 110) is adjusted.

Accordingly, in the ankle-driven artificial foot device, the angle between the frame 120 and the support member 110 can be more accurately adjusted by the driving unit 140 .

As described above, the preferred embodiments according to the present invention have been reviewed, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope in addition to the above-described embodiments is a matter of ordinary skill in the art. It is self-evident to them. Therefore, the embodiments described above are to be regarded as illustrative rather than restrictive, and thus the present invention is not limited to the above description, but may vary within the scope of the appended claims and their equivalents.

100: Ankle-driven artificial foot device 110: Support member
120: frame 130: hydraulic cylinder
140: driving unit

Claims (6)

support member;
a frame having a first end rotatably connected to the support member;
a hydraulic cylinder rotatably connected to an end of the support member and rotatably connected to a second end of the frame spaced apart from the first end; and
A driving unit disposed between the support member and the frame and providing a driving force so that the frame is tilted in a direction away from or closer to one end of the support member;
The frame is inclined by receiving a driving force selectively provided by the hydraulic cylinder or the driving unit,
the driving unit,
a driving actuator fixed to the support member and providing rotational force;
a ball-screw provided with a feed shaft receiving the rotational force of the drive actuator and a feed member moved along the feed shaft by rotation of the feed shaft; and
A crank having one end rotatably connected to the transfer member and the other end rotatably connected to the frame;
When the transfer member is moved in the first direction by receiving the rotational force of the driving actuator,
The frame is inclined in a direction away from one end of the support member, the prosthetic foot device.
delete According to claim 1,
a first rotation shaft inserted into the support member and the first end of the frame;
a second rotary shaft inserted into an end of the support member and the other end of the hydraulic cylinder;
a third rotary shaft inserted into the second end of the frame and one end of the hydraulic cylinder;
a fourth rotational shaft inserted into the other end of the crank and the frame, and disposed between the first rotational shaft and the third rotational shaft; and
It is coupled to the hydraulic cylinder, further comprising a hydraulic control unit for adjusting the hydraulic pressure of the hydraulic cylinder,
An elastic spring is provided inside the hydraulic cylinder,
The elastic spring provides an elastic force so that the second rotational axis and the third rotational axis are far apart.
According to claim 3,
When the frame is inclined toward one end of the support member by receiving an external force from the upper side of the frame,
The hydraulic cylinder supports the frame so that the frame maintains a predetermined angle with the support member,
When the frame is inclined toward one end of the support member by receiving an external force from the upper side of the frame,
The prosthetic foot device, wherein the frame moves the transfer member connected to the crank in a second direction opposite to the first direction.
According to claim 4,
Further comprising a two-way clutch provided between the drive actuator and the transfer shaft,
The prosthetic foot device, wherein the two-way clutch transmits the rotational force of the drive actuator to the transfer shaft and blocks transmission of the rotational force of the transfer shaft to the drive actuator.
According to claim 3,
a load sensor connected to the first rotation shaft and measuring an external force applied to the frame;
an angle sensor connected to the first rotation shaft and measuring an angle between the support member and the frame;
a moment sensor disposed above the frame and measuring motion of the frame; and
The prosthetic foot device further comprises a controller receiving electrical signals from each of the load sensor, the angle sensor, and the moment sensor, and controlling the hydraulic pressure controller and the drive actuator based on the electrical signals.

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