KR20210079143A - Adjustable length smart prosthesis - Google Patents

Adjustable length smart prosthesis Download PDF

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KR20210079143A
KR20210079143A KR1020190171308A KR20190171308A KR20210079143A KR 20210079143 A KR20210079143 A KR 20210079143A KR 1020190171308 A KR1020190171308 A KR 1020190171308A KR 20190171308 A KR20190171308 A KR 20190171308A KR 20210079143 A KR20210079143 A KR 20210079143A
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prosthetic leg
length
motor
unit
screw
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KR1020190171308A
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Korean (ko)
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김지헌
한승규
송태헌
서혁호
이재성
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김지헌
이재성
서혁호
한승규
송태헌
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Priority to KR1020190171308A priority Critical patent/KR20210079143A/en
Publication of KR20210079143A publication Critical patent/KR20210079143A/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6811—External prosthesis
    • 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
    • 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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5006—Dampers, e.g. hydraulic damper
    • 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
    • A61F2002/5016—Prostheses not implantable in the body adjustable
    • A61F2002/502—Prostheses not implantable in the body adjustable for adjusting length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Transplantation (AREA)
  • Dentistry (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Physiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

The present invention provides a length adjustable robot prosthetic leg capable of adjusting the length according to conditions of a lower extremity amputated patient, assisting the walking through the control of a motor and alleviating an impact from the ground. In order to adjust the length according to conditions of an amputated patient, a fixing pin handle (405) is pressed down to release a fixing device of a screw jack (401), and the screw jack (401) is rotated to shorten or increase the length.

Description

길이조절이 가능한 스마트 의족{Adjustable length smart prosthesis}Adjustable length smart prosthesis

본 발명은 길이조절이 가능한 로봇의족에 관한 것으로, 구체적으로 길이를 조절 가능하면서도, 지면으로의 충격을 완화하고, 발바닥 센서를 통해 보행상태를 파악하여 그에 맞게 모터를 제어하는 보행보조 로봇의족에 관한 것이다. The present invention relates to a robot prosthetic leg that can be adjusted in length, and more specifically, it relates to a walking assist robot prosthesis that can adjust the length, alleviate the impact to the ground, and control the motor according to the walking state through the sole sensor. will be.

1. 전 세계적으로 수십만 명의 사람들이 매년 절단 수술로 다리를 잃거나, 보행을 제약하는 다양한 다리 이상을 종종 유발하고 사고에서 살아남아 쇠약 손실로 고통받고 있다. 1. Hundreds of thousands of people worldwide suffer from debilitating loss each year from amputation surgery, often resulting in various leg abnormalities that restrict gait, and surviving accidents.

2. 초기의 상용 의족들은 주로 미관적인 측면에서 절단된 신체 부위를 대신할 목적으로 개발되었으나, 점차 자연스러운 보행이 가능하고 사용자에게 과도한 신진대사 소모가 발생하지 않도록 하는 기능적인 측면에서도 중요한 역할을 하는 의족들이 개발되고 있다.2. Early commercial prosthetic legs were mainly developed for the purpose of replacing amputated body parts from an aesthetic point of view, but they play an important role in functional aspects that allow for a more natural walking and prevent excessive metabolic consumption for users. are being developed

3. 하지만, 기존의 로봇 의족은 개인 맞춤형으로 제작되어 높은 비용이 발생하고, 이에 대부분의 사람들의 로봇 의족이 아닌 일반 의족을 사용하는 문제가 있었다.3. However, the existing robotic prosthetic leg is custom-made, resulting in high cost, and there is a problem in that most people use a general prosthetic leg rather than a robot prosthesis.

4. 일례로, Ossur사의 Proprio Foot 로봇의족은 높은 수준의 보행보조 기능을 제공하지만 맞춤형으로 제작되어야하여, 이에 매우 비용이 높다는 문제가 있었다.4. For example, Ossur's Proprio Foot robot prosthesis provides a high level of walking assistance function, but it has to be custom-made, so there is a problem that the cost is very high.

5. 다른 예로, 한국기계연구원에서 개발한 로봇의족은 해외 제품에 비해 저렴한 가격이지만, 그럼에도 맞춤형으로 제작되어 높은 가격이 책정되고 있는 상황이다.5. As another example, the robot prosthesis developed by the Korea Institute of Machinery and Materials has a lower price compared to overseas products, but it is custom-made and has a high price.

6. 따라서, 보다 많은 절단 환자에게 저렴한 가격에 제공될 수 있는 대량 생산이 가능한 로봇의족이 필요하다. 6. Therefore, there is a need for a mass-produced robotic prosthesis that can be provided to more amputated patients at an affordable price.

본 발명의 목적은 종래의 문제점을 해결하기 위한 것으로서, 하지 절단자의 상태에 따라 길이조절을 가능하게 하고, 모터제어를 통해 보행을 보조하면서도, 지면으로부터의 충격을 댐퍼를 통해 완화시키는, 길이조절부와 충격완화부, 그리고 관절제어부를 포함한 로봇 의족을 제공함에 있다. An object of the present invention is to solve the problems of the prior art, enabling length adjustment according to the condition of the lower limb amputator, assisting walking through motor control, and alleviating the impact from the ground through a damper, length adjustment unit It is to provide a robot prosthetic leg including a shock absorber, and a joint control unit.

상술한 본 발명의 목적을 달성하기 위한 실시예에 따르면, 본 발명에 따른 로봇 의족은 보행 상태를 파악하고, 이를 토대로 모터를 제어하여 보행을 보조하는 관절제어부; 상기출력구동축에 결합되어 상기 출력구동축의 동작에 따라 인체의 발을 모사하는 의족 모듈, 지면 반발력으로 인해 발생되는 충격을 완화하는 충격완화부; 및 절단 환자의 절단 위치에 따라 길이를 조절할 수 있게 하는 길이 조절부;를 포함한다. According to an embodiment for achieving the above object of the present invention, the robot prosthetic leg according to the present invention includes: a joint control unit for detecting a walking state, and controlling a motor based on this to assist in walking; a prosthetic leg module coupled to the output drive shaft to simulate a human foot according to the operation of the output drive shaft, a shock alleviation unit for alleviating the impact generated by the ground repulsion force; and a length adjustment unit that allows the length to be adjusted according to the cutting position of the amputated patient.

여기서, 관절제어부는 모터가 거치되고 고정되는 모터 브라켓; 의족 부재와 모터 브라켓을 연결하여 회전할 수 있도록 돕는 모터 회전자; 그리고 관절의 역할을 함 토크를 가하는 모터로 구성된다.Here, the joint control unit includes a motor bracket on which the motor is mounted and fixed; a motor rotor that connects the prosthetic member and the motor bracket to help them rotate; And it consists of a motor that applies a torque that acts as a joint.

여기서, 충격완화부는 모터 브라켓에 고정되어 실제 충격을 완화하는 댐퍼부; 해당 댐퍼부와 부착되어 댐퍼가 하나처럼 동작하게하는 댐퍼 홀더;로 구성되며, 댐퍼부는 4개의 유압 댐퍼;로 구성된다.Here, the shock mitigating unit is fixed to the motor bracket and the damper unit to relieve the actual shock; It consists of a damper holder attached to the corresponding damper so that the dampers operate as one, and the damper part consists of four hydraulic dampers.

여기서, 길이조절부는 회전을 통해 길이를 조절할 수 있도록 하는 스크류잭; 해당 스크류잭의 외부를 덮으며 스크류잭이 상하로 움직일 스크류 홀더; 길이 고정을 위해 스크류잭을 고정하는 스크류 고정핀; 해당 스크류 고정핀이 스크류잭을 고정하도록 힘을 가하는 스프링; 길이 조절을 위해 스프링의 힘을 제거할 때 사용하는 고정핀 손잡이; 스크류 홀더에 부착되어 스크류 홀더를 고정시키는 내부 커버; 및 댐퍼 홀더 상단에 부착되어 전체 부품들을 덮어 외부 충격으로부터 길이조절부를 보호하는 외부 커버;로 구성된다.Here, the length adjusting unit is a screw jack for adjusting the length through rotation; a screw holder that covers the outside of the screw jack and moves the screw jack up and down; A screw fixing pin for fixing the screw jack for fixing the length; a spring for applying a force so that the corresponding screw fixing pin fixes the screw jack; A retaining pin handle used to remove the force of the spring for length adjustment; an inner cover attached to the screw holder to fix the screw holder; and an outer cover attached to the top of the damper holder to cover all parts and protect the length adjustment unit from external impact.

여기서, 상기 의족모듈은 관절제어부에 연결되며 모터 회전자로 결합되어 모터에 의한 출력에 따라 회전하는 제1의족부재; 제1의족부재에 연결되며 발바닥 역할을 하는 제2의족부재; 그리고 제2의족부재 하단에 부착되어 압력을 측정하여 보행 상태를 판단할 수 있는 센서부;가 포함된다.Here, the prosthetic leg module includes: a first prosthetic leg member connected to the joint control unit and coupled to a motor rotor to rotate according to an output from the motor; a second prosthetic leg member connected to the first prosthetic leg member and serving as a sole; and a sensor unit attached to the lower end of the second prosthetic leg member to measure the pressure to determine the walking state.

본 발명의 길이조절 로봇의족에 따르면, 보행 상태에 따른 보행 보조를 통해 자연스러운 보행을 돕고, 길이조절부를 통해 절단 환자의 상태에 맞게 길이를 조절하여 범용적으로 사용될 수 있도록 한다.According to the length-adjusting robot prosthesis of the present invention, natural walking is aided through walking assistance according to the walking state, and the length is adjusted according to the condition of the amputated patient through the length adjustment unit so that it can be used universally.

일례로, 본 발명은 기존의 로봇 의족과 동일한 보행을 제공하면서도 사용할 수 있는 하지 절단의 위치는 발목으로부터 20~30cm로 다양한 다리 절단 환자에게 적용이 가능하다. 또한, 본 발명은 제2의족부재 하단에 부착된 센서부를 통해 압력을 측정하여 사용자의 보행상태를 정확하게 판단할 수 있다. 또한, 본 발명은 센서부를 통하여 받아온 압력 데이터를 바탕으로 필요에 따른 관절제어를 할 수 있다.For example, the present invention can be applied to various leg amputation patients with a position of 20 to 30 cm from the ankle that can be used while providing the same gait as the existing robotic prosthesis. In addition, the present invention can accurately determine the user's gait state by measuring the pressure through the sensor attached to the lower end of the second prosthetic leg member. In addition, the present invention can perform joint control as needed based on the pressure data received through the sensor unit.

또한, 본 발명은 로봇의족을 사람이 착용하는 경우, 지면으로부터 올라오는 충격을 완화하여 사용자의 피로를 최소화하고, 걸음에 따라 관절 부분을 제어함으로써 자연스러운 동작을 취할 수 있다.또한, 본 발명은 길이조절부의 스프링을 이용하여 비틀림 마찰력을 활용해 길이 조절부의 변형이 이루어지지 않도록 한다. 또한, 본 발명은 길이조절부의 고정핀 손잡이를 이용해 손쉽게 그 길이를 안정적으로 변경시킬 수 있다. 또한, 본 발명은 길이조절부의 내부커버와 외부 커버로 그 안정성을 높일 수 있다. 또한, 본 발명은 모터 회전자의 재질을 변화하여, 항복 강도 및 인장 강도를 높일 수 있다.In addition, in the present invention, when a person wears a robot prosthetic leg, it is possible to minimize the user's fatigue by alleviating the shock rising from the ground, and to take a natural motion by controlling the joint part according to the step. Using the spring of the adjustment part, the torsional friction force is used to prevent deformation of the length adjustment part. In addition, the present invention can easily and stably change the length by using the fixing pin handle of the length adjustment unit. In addition, the present invention can increase the stability of the inner cover and the outer cover of the length adjustment unit. In addition, the present invention can increase the yield strength and tensile strength by changing the material of the motor rotor.

도면1은 의족모듈을 나타낸다.
도면2는 모터와 구동부의 연결부분을 나타낸다.
도면3은 충격 흡수장치를 나타낸다.
도면4는 길이고정장치 및 길이조절수단을 나타낸다. 1 shows a prosthetic leg module.
Figure 2 shows the connection part of the motor and the driving unit.
3 shows a shock absorber.
Figure 4 shows the length fixing device and the length adjusting means.

이하, 첨부된 도면들을 참조하여 본 발명에 따른 길이조절 로봇의족의 일 실시예를 설명한다. 이 때, 본 발명은 실시예에 의해 제한되거나 한정되는 것은 아니다. 또한, 본 발명을 설명함에 있어서, 공지된 기능 혹은 구성에 대해 구체적인 설명은 본 발명의 요지를 명확하게 하기 위해 생략될 수 있다 Hereinafter, an embodiment of the length-adjusting robot prosthesis according to the present invention will be described with reference to the accompanying drawings. At this time, the present invention is not limited or limited by the examples. In addition, in describing the present invention, detailed descriptions of well-known functions or configurations may be omitted in order to clarify the gist of the present invention.

절단 환자의 상태에 맞추어 길이를 조절하기 위해, 고정핀 손잡이(405)를 아래로 눌러 스크류잭(401)의 고정장치를 풀고, 스크류잭(401)을 회전시켜 길이를 줄이거나 늘린다.In order to adjust the length according to the condition of the amputated patient, the fixing pin handle 405 is pressed down to release the fixing device of the screw jack 401, and the length is reduced or increased by rotating the screw jack 401.

해당 고정장치는 스크류 고정핀(404)와 고정핀 손잡이(405)로 이루어져있다.The fixing device consists of a screw fixing pin 404 and a fixing pin handle 405 .

고정핀 손잡이(405)가 아래로 눌리기 전, 스크류잭(401)은 스크류 고정핀(404)에 의해 고정되어 있으며, 이 때, 스크류 고정핀(404)는 스프링(403)에 의해 힘을 받는다.Before the fixing pin handle 405 is pressed down, the screw jack 401 is fixed by the screw fixing pin 404 , and at this time, the screw fixing pin 404 receives a force by the spring 403 . .

고정핀 손잡이(405)를 아래로 눌러 스크류 고정핀(404)를 아래쪽으로 이동시키면, 스크류 고정핀(404)와 스크류잭(401)이 떨어지면서 비틀림 마찰력이며, 이러한 방식으로 고정장치를 풀 수 있다.When the screw fixing pin 404 is moved downward by pressing the fixing pin handle 405 down, the screw fixing pin 404 and the screw jack 401 fall and are torsional frictional force, and in this way, the fixing device can be loosened .

길이 조절이 완료되어 고정핀 손잡이(405)를 놓으면, 다시 스프링(403)이 위로 힘을 가하여 스크류 고정핀(404)이 스크류잭(401)과 접촉하게 되고, 이러한 방식으로 고정장치를 잠근다.When the length adjustment is completed and the fixing pin handle 405 is released, the spring 403 again applies upward force so that the screw fixing pin 404 comes into contact with the screw jack 401, and the fixing device is locked in this way.

의족모듈(100)의 제2의족부재(102)는 접속브라켓(201)에 모터회전자(202)를 축으로 결합된다. The second prosthetic leg member 102 of the prosthetic leg module 100 is coupled to the connection bracket 201 with the motor rotor 202 as an axis.

모터는 접속브라켓(201)에 고정되며, 모터의 구동축은 제2의족부재(102)에 직접 부착된다. The motor is fixed to the connection bracket 201 , and the driving shaft of the motor is directly attached to the second prosthetic leg member 102 .

모터의 회전에 따라 토크가 제2의족부재(102)에 직접 전달됨으로 의족모듈(100) 전체가 토크에 의해 회전한다.As the torque is directly transmitted to the second prosthetic leg member 102 according to the rotation of the motor, the entire prosthetic leg module 100 rotates by the torque.

해당 토크는 제1의족부재(101)의 하단에 부착된 센서부(103)로부터 얻어온 압력 데이터로 보행 상태를 파악하여 결정된다.The corresponding torque is determined by grasping the walking state with the pressure data obtained from the sensor unit 103 attached to the lower end of the first prosthetic leg member 101 .

제1의족부재(101)의 제일 뒤쪽 발꿈치 부분에 해당된 1번 압력센서(111)에 압력이 감지가 되면, 현재 보행 상태 중 뒤꿈치가 바닥에 닿은 상태로 판단하고 토크를 가하여 2번 압력센서(112)가 바닥에 닿도록 한다.When pressure is sensed in the first pressure sensor 111 corresponding to the rearmost heel part of the first prosthetic leg member 101, it is determined that the heel is in contact with the floor during the current walking state, and torque is applied to the second pressure sensor ( 112) touch the floor.

2번 압력센서(112)가 바닥에 닿아 압력이 감지가 되면, 자연스럽게 보행자는 몸이 앞으로 이동하면서 무게 중심이 앞으로 이동하게 되고, 이에 따라 3번 압력센서(113)이 바닥에 닿는다.When the second pressure sensor 112 touches the floor and pressure is sensed, the pedestrian naturally moves forward and the center of gravity moves forward, and accordingly, the third pressure sensor 113 touches the floor.

3번 압력센서(113)이 바닥에 닿아 압력이 감지가 되면, 모터의 토크를 이용해 지면을 밀어내고, 이에 따라 4번 압력센서(114)가 바닥에 닿는다.When the third pressure sensor 113 touches the floor and pressure is sensed, it pushes the ground using the torque of the motor, and accordingly, the fourth pressure sensor 114 touches the floor.

4번 압력센서가(114)가 바닥에 닿은 뒤 떨어지면, 보행자의 발이 공중에 떠있다고 판단하고 토크를 가하여 발끝을 들어, 1번 압력센서(111)가 바닥에 닿을 수 있도록 한다.When the No. 4 pressure sensor 114 falls after touching the floor, it is determined that the foot of the pedestrian is floating in the air and torque is applied to lift the toe so that the No. 1 pressure sensor 111 can touch the floor.

다시 1번 압력센서(111)이 감지가 되면 상기 과정이 반복되고, 이에 따라 앞으로 이동할 수 있도록 한다.When the first pressure sensor 111 is sensed again, the above process is repeated, so that it can move forward accordingly.

제1의족부재(101)이 바닥에 닿고 떨어질 때마다 로봇의족의 상단에 가해지는 충격이 충격 완화부의 댐퍼(301)에 의해 감소한다.Whenever the first prosthetic leg member 101 touches the floor and falls, the impact applied to the upper end of the robot prosthesis is reduced by the damper 301 of the shock mitigating unit.

충격이 가해질 때마다 댐퍼(301)이 압축되고, 다시 원 상태로 복구함으로 충격완화를 반복한다.Whenever an impact is applied, the damper 301 is compressed, and the shock relief is repeated by restoring it to its original state.

(발)
100 : 의족모듈 : (제1의족부재 + 제2의족부재) 101 : 제1의족부재( - 발바닥 파트)
102 : 제2의족부재( - 발-모터 연결파트) 103 : 센서부(-압력센서)
111 : 1번 압력센서(뒤꿈치) 112 : 2번 압력센서
113 : 3번 압력센서 114 : 4번 압력센서 (앞꿈치)
모터
200: 구동부 201 : 접속 브라켓. - 코어를 말함.
202 : 모터 회전자 - 그 쇠로 만든 축을 말함 203 : 모터
충격완화부
300: 충격흡수부 301 : 댐퍼 302 : 댐퍼홀더
길이조절부
400 : 스크류 (스크류잭 + 스크류홀더 + 스프링 + 스크류 고정핀)
401 : 스크류잭 402 : 스크류홀더 403 : 스프링
404 : 스크류 고정핀 405 : 고정핀 손잡이 410 : 내부 커버 411 : 외부 커버 (foot)
100: prosthetic leg module: (first prosthetic leg member + second prosthetic leg member) 101: first prosthetic leg member (- sole part)
102: second prosthetic leg member (-foot-motor connection part) 103: sensor unit (-pressure sensor)
111: No. 1 pressure sensor (heel) 112: No. 2 pressure sensor
113: No. 3 pressure sensor 114: No. 4 pressure sensor (forefoot)
motor
200: drive unit 201: connection bracket. - I'm talking about the core.
202: motor rotor - refers to the shaft made of iron 203: motor
shock absorber
300: shock absorber 301: damper 302: damper holder
length adjustment part
400: screw (screw jack + screw holder + spring + screw fixing pin)
401: screw jack 402: screw holder 403: spring
404: screw fixing pin 405: fixing pin handle 410: inner cover 411: outer cover

Claims (1)

길이 조절이 가능한 스마트 의족에 있어서, 길이 조절 수단인 스크류잭(401)과 스크류홀더(402) 및 이를 덮는 내부 커버(410), 외부커버(411)를 포함하는 길이 조절부(400)와; 길이조절부의 외부커버(411)의 하단에 부착되어 수 개의 충격 흡수 장치인 댐퍼(301)와 댐퍼를 고정하는 댐퍼홀더(302)를 포함하는 충격 흡수부(300)와; 충격 흡수부의 하단의 수 개의 댐퍼(301)에 부착되어 모터 제어를 위한 회로와 제어기판과 모터와 배터리를 포함하는 구동부(200)와; 구동부의 하단에 모터회전자(202)에 회전할 수 있도록 연결되어, 압력을 측정하는 센서부를 포함하여 의족의 발 역할을 하는 의족모듈(100);로 구성되는 것을 특징으로 하는 길이 조절이 가능한 스마트 의족.
A smart prosthetic leg capable of length adjustment, comprising: a length adjustment unit 400 including a screw jack 401 and a screw holder 402 as a length adjustment means, and an inner cover 410 and an outer cover 411 covering them; a shock absorbing part 300 attached to the lower end of the outer cover 411 of the length adjusting part and including a damper 301 which is several shock absorbing devices and a damper holder 302 for fixing the dampers; a driving unit 200 attached to several dampers 301 at the lower end of the shock absorbing unit and including a circuit and a control board for motor control, a motor and a battery; A prosthetic leg module 100 that is connected to the lower end of the driving unit so as to be rotatably connected to the motor rotor 202, and serves as a foot of the prosthetic leg, including a sensor unit for measuring pressure; artificial leg.
KR1020190171308A 2019-12-19 2019-12-19 Adjustable length smart prosthesis KR20210079143A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230036349A (en) 2021-09-07 2023-03-14 선문대학교 산학협력단 A prosthetic orthosis with ventilation and shock dampening
CN117814969A (en) * 2024-03-04 2024-04-05 吉林大学 Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230036349A (en) 2021-09-07 2023-03-14 선문대학교 산학협력단 A prosthetic orthosis with ventilation and shock dampening
CN117814969A (en) * 2024-03-04 2024-04-05 吉林大学 Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted

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