KR20230031016A - Robotic prosthetic leg including variable absorbing module - Google Patents

Abstract

A robotic prosthetic leg according to an embodiment of the present invention includes a coupling module worn on a user's limb, a joint module rotatably coupled to the coupling module, a prosthetic leg module coupled to the joint module and rotating with the joint module, and an absorption module provided to absorb ground reaction force applied to the prosthetic leg module during walking and to have a variable degree of absorbing the ground reaction force.

Description

Robotic prosthetic leg including variable absorption module {ROBOTIC PROSTHETIC LEG INCLUDING VARIABLE ABSORBING MODULE}

The present invention relates to a robotic prosthetic leg in which the degree of ground reaction force absorbed by a prosthetic leg module varies according to the degree of rotation of the prosthetic leg module during walking.

In walking using a prosthetic robot, various attempts have been made to absorb the ground repelling force and use it as a driving force of the prosthetic robot or to reduce the load of the driving unit.

For example, as shown in FIG. 5, the ground reaction force is transmitted to the robot prosthetic leg while the front and rear sides of the sole contact the ground.

Therefore, when the ground reaction force transmitted to the robot prosthesis is absorbed, more stable walking motion of the robot prosthesis is possible or it can be used as power for rotation of the robot prosthesis.

However, in the case of section c in which a propulsive force for forward movement is to be provided in the walking process, there is a problem in that the buffer structure for absorbing the ground reaction force acts as a resistance of the drive motor.

Republic of Korea Patent Registration No. 10-1994242

The present invention is to solve the above problems, to provide a prosthetic leg that can adjust the degree of absorbing the ground reaction force in a certain section according to the degree of rotation of the prosthetic leg module rotating during the walking process.

The problem to be solved by the present invention is not limited to the above-mentioned problems, and problems not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings. .

The robot prosthesis of the present invention for solving the above problems is a coupling module worn on a user's body part, a joint module rotatably coupled to the coupling module, and a joint module coupled to the joint module and rotating together with the rotation of the joint module. It includes a prosthetic leg module and an absorbing module provided to absorb a ground reaction force applied to the prosthetic leg module during walking and to have a variable degree of absorbing the ground reaction force.

The absorption module may include a buffer unit, and the buffer unit may include a buffer part having a variable buffering level and a control part for adjusting the buffering level of the buffering part.

The buffering part includes a buffering unit and a buffering power adjusting unit for adjusting the degree of buffering, and the adjusting part is connected to the prosthetic leg module and the buffering power adjusting unit to operate the buffering power adjusting unit according to the movement of the prosthetic leg module.

The control part may include a plurality of gears for transmitting power by rotation of the prosthetic leg module.

The joint module includes a case unit to which a coupling module is coupled, a drive unit provided in the case unit, and a connection unit connecting the drive unit and the prosthetic leg module, and the control part includes the case unit and the prosthetic leg module can be connected to

The prosthetic leg module includes a fixing unit, the adjusting part includes a first gear, the first gear is coupled to the fixing unit to be movable in forward and backward directions, and one end of the first gear is connected to the case It may be coupled to the unit so as to be movable in the upward and downward directions.

A first fixing part to which one end of the buffer unit is connected is formed in the case unit, and the prosthetic leg module further includes a fixing unit, and the fixing unit has a through hole into which the buffer unit is inserted and a third fixing unit to which the other end of the buffer unit is fixed. may be provided.

The adjusting part may adjust the restoring force of the restoring part when the prosthetic leg module moves beyond the set angle.

The absorption module further includes a restoration unit, the buffer unit provides a restoring force by the ground repelling force to the prosthetic leg module when the rear end of the prosthetic leg module contacts the ground, and the restoration unit makes contact with the ground at the front end of the prosthetic leg module In this case, restoring force against the ground reaction force may be provided to the prosthetic leg module.

The robot prosthesis according to an embodiment of the present invention has the following effects.

First, there is an advantage in that more effective walking driving can be performed by varying the degree of ground reaction force absorbed by the absorption module according to the degree of rotation of the prosthetic leg module during the walking process.

Second, there is an advantage in that the size of the entire robot prosthetic leg can be configured compactly by interlocking with the rotation of the prosthetic leg module rather than a separate driving device that adjusts the degree of absorbing the ground reaction force of the variable absorption module.

Effects of the present invention are not limited to the above-mentioned effects, and effects not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings.

1 is a perspective view of a robot prosthesis according to an embodiment of the present invention;
Figure 2 is an exploded perspective view of an embodiment of the robot prosthesis of the present invention;
Figure 3 is a perspective view of an embodiment of the joint module and absorption module of the present invention;
Figure 4 is an exploded perspective view of an embodiment of the joint module and absorption module of the present invention;
5 is a view showing a general walking process;
Figure 6 is a cross-sectional view of the prosthetic robot of one embodiment of the present invention;
Figure 7 is a view showing a state in which the prosthetic module is rotated upward in Figure 6;
8 is a view showing a state in which the prosthetic leg module is rotated downward in FIG. 6;
Figure 9 is a view explaining the process of adjusting the degree of absorbing the ground reaction force of the buffer unit of the present invention;
10 is a cross-sectional view of a prosthetic robot according to an embodiment of the present invention;
11 is a view showing a state in which the prosthetic leg module is rotated upward in FIG. 10;
12 is a view showing a state in which the prosthetic leg module is rotated downward in FIG. 10;
13 to 15 are views showing the rotation of the third gear in FIGS. 11 to 13;

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

1 is a perspective view of a robot prosthesis according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of a robot prosthesis according to an embodiment of the present invention.

Referring to Figures 1 and 2, the robot prosthesis of the present invention is a device for assisting walking by wearing it on the user's limb. Specifically, the robot prosthetic leg in this embodiment includes a coupling module 100, a joint module 200, a prosthetic leg module 300 and a restoration module 400.

The coupling module 100 has an upper portion connected to the user's body part, and in this embodiment, a connection part 110 connected to a socket coupled to the user's body part is provided.

The inside of the coupling module 100 is provided with a battery cell 120 for driving the drive unit 220 of the joint unit 200.

The lower portion of the coupling module 100 may be coupled to the joint module 200 in various ways, and in this embodiment, an insertion portion 130 formed to be inserted into the joint module 200 is provided.

The number of inserts 130 is not limited, but in this embodiment, a pair of inserts 130 are inserted into the joint module 200 and coupled thereto.

Specifically, a through-hole 130a through which the rotation shaft 220a of the drive unit 220 of the joint module 200 passes is formed in the insertion part 130 of this embodiment, and the inside of the insertion part 130 is the joint module ( The connection unit 230 of the joint module 200 is coupled to the outside of the insertion part 130 in a state of being coupled to the case unit 220 of (200).

Figure 3 is a perspective view of the joint module and restoration module of one embodiment of the present invention, Figure 4 is an exploded perspective view of the joint module and restoration module of one embodiment of the present invention.

2 to 4, the joint module 200 of this embodiment includes a case unit 210, a drive unit 220, and a connection unit 230.

The case unit 210 is coupled to the coupling module 100 and has a driving unit 220 therein.

In addition, the case unit 210 is formed with a first fixing part 211 to which one end of the buffer unit 500 to be described later is connected and a second fixing part 212 to which one end of the restoration unit 600 is connected. In addition, a protrusion 211a to which a first gear 521 described later is movably coupled is formed on the first fixing part 211, and the protrusion 211a is formed through a first opening hole 521a of the first gear 521. to be inserted into

The driving unit 220 provides rotational force to the prosthetic leg module 300 to be described later. As the driving unit 220, various known driving devices such as a motor may be applied. And the drive unit 220 is provided with a rotating shaft (220a).

The connection unit 230 connects the driving unit 220 and the prosthetic leg module 300 . Therefore, the prosthetic leg module 300 rotates according to the rotation of the driving unit 220 . The connection unit 230 also serves to fix the insertion part 130 to the case unit 210 by being combined with the outside of each insertion part 130 of the coupling module 100 . The lower end of the connection unit 230 in this embodiment is fixed to the fixing unit 310 of the prosthetic leg module 300 to be described later.

Specifically, in the connection unit 230 in this embodiment, a groove 230a to which the rotating shaft 220a of the driving unit 220 is fixed is formed, and the lower part of the connection unit 230 is attached to the fixing unit 310 with a bolt. It is configured to be fixed by That is, the driving force of the driving unit 120 is transmitted to the prosthetic leg module 300 through the driving unit 220 and the connection unit 230.

The prosthetic leg module 300 has a configuration corresponding to the user's foot and induces walking while making contact with the ground. The prosthetic leg module 300 is rotatably coupled to the joint module 200 to rotate. That is, the prosthetic leg module 300 induces walking while rotating according to the driving force of the driving unit 220, and rotates by the ground repelling force as it contacts the ground during the walking process.

The prosthetic leg module 300 is provided with a fixing unit 310 for fixing a buffer unit 500 and a restoration unit 400 to be described later. Accordingly, the fixing unit 310 compresses the buffer unit 500 and the restoration unit 400 according to the rotation of the prosthetic leg module 300 .

Specifically, a guide protrusion 311, a through hole 312, a third fixing part 313, and a fourth fixing part 314 are formed in the fixing unit 310 in this embodiment. In addition, the connection unit 230 of the joint module 200 is fixed to both sides of the fixing unit 310, and thus the prosthetic leg module 300 rotates along with the rotation of the driving unit 220.

The guide protrusion 311 is fitted into the second opening hole 521b formed in the first gear 521 of the adjusting part 520, and the first gear 521 guides the prosthesis along the rotation of the prosthetic leg module 300 ( 311) and moves in the forward and backward directions.

A buffer part 510 is inserted into the through hole 312 . That is, in the inserted state of the through hole 312, the buffer part 510 has one end rotatably coupled to the first fixing part 211, and the other end coupled with the third gear 523 of the adjusting part 520 to be described later. do.

A second gear 522 to be described later is rotatably coupled to the third fixing part 313 about left and right axes. Therefore, when the distance between the third fixing part 313 and the first fixing part 211 decreases according to the rotation of the prosthetic leg module 300, the shock absorbing part 510 is compressed while linearly moving backward.

One end of the restoration unit 600 is fixed to the fourth fixing part 314 . Therefore, when the distance between the fourth fixing part 314 and the second fixing part 212 decreases according to the rotation of the prosthetic leg module 300, the restoration unit 600 is compressed.

The absorption module 400 absorbs the ground reaction force applied to the prosthetic leg module 300, and the degree of absorbing the ground reaction force is adjustable.

As the absorption module 400 of the present invention, various known springs and shock absorbers having elasticity capable of absorbing an external force may be used.

On the other hand, the prosthetic leg module 300 walks while sequentially contacting the front and rear surfaces. Therefore, the prosthetic leg module 300 receives a ground reaction force rotating in a clockwise or counterclockwise direction by the ground reaction force. In the present invention, the restoration module 400 absorbs the ground reaction force transmitted in the clockwise and counterclockwise directions, or is compressed, and then, when the prosthetic module 300 is separated from the ground and the ground reaction force is resolved, the prosthesis while restoring The module 300 may be rotated.

On the other hand, a pair of absorption modules 400 are provided, one absorbs the ground reaction force when the front of the prosthetic leg module 300 comes into contact with the ground, and the other absorbs the ground reaction force when the rear of the prosthetic leg module 300 contacts the ground. Absorbs the ground reaction force in case of contact.

In addition, the pair of absorption modules 400 may be provided as a buffer unit that absorbs the ground reaction force, or may be provided as a restoration unit that absorbs and compresses the ground reaction force and then provides a restoring force.

Specifically, in this embodiment, the absorption module 400 includes a buffer unit 500 and a restoration unit 600. In addition, the buffer unit 500 performs a function of absorbing and buffering the ground reaction force when the rear of the prosthetic leg module 300 touches the ground, and when the front of the prosthetic leg module 300 of the restoration unit 600 touches the ground, the ground It is compressed by reaction force and then provides restoring force.

The buffer unit 500 includes a buffer part 510 provided to vary the degree of absorbing the ground reaction force and an adjustment part 520 for adjusting the buffer effect of the buffer part 510.

The buffer part 510 includes a buffer unit 511 and a buffer power control unit 512 . The buffer unit 511 is configured to absorb the external force while moving backward when an external force is applied to the front, and the buffer control unit 512 serves to adjust the degree of buffering of the buffer unit 511.

The buffering force control unit 512 can adjust the buffering power of the buffering unit 511 in various ways, and specifically, in this embodiment, it is provided to be rotatable in front of the buffering unit 511, and the buffering unit 511 rotates according to the rotation. adjust the restoring force of

Various well-known devices may be used as the buffer part 510, and in this embodiment, a hydraulic control dial for adjusting hydraulic pressure for buffering while rotating at the front end is provided, and a hydraulic buffer capable of absorbing an applied external force is used. can

Therefore, in the present invention, the degree of absorbing the external force of the buffer unit 500 in the walking process is varied according to the rotation of the buffer force control unit 512 .

The control part 520 operates the buffering force control unit 512 as the prosthetic leg module 300 rotates during walking.

The adjusting part 520 may adopt various power transmission structures such as a multi-link that can transmit power according to the movement of the prosthetic leg module 300 to the buffering force adjusting unit 512, and in this embodiment, the buffering force through a plurality of gears The control unit 512 is rotated.

Specifically, the adjusting part 520 of this embodiment includes a first gear 521, a second gear 522 and a third gear 523.

One end of the first gear 521 is coupled to the case unit 220 and the other end is meshed with the second gear 522 . Specifically, the first gear 521 in this embodiment is formed in the form of a rack gear, and a first opening hole 521a long in the vertical direction and a second opening hole 521b long in the front and rear direction are formed. do. A protrusion 211a formed on the first fixing part 211 is inserted into the first opening hole 521a. The guide protrusion 311 of the fixing unit 310 is fitted into the second opening hole 521b.

One end of the second gear 522 is meshed with the first gear 521, and the other end is meshed with the third gear 523. Also, the second gear 522 is provided to the third fixing part 313 so as to be rotatable about left and right axes. In this embodiment, one end of the second gear 522 is formed in the shape of a pinion gear, and the other end is formed in the shape of a worm gear.

The third gear 523 meshes with the second gear 522 and is formed in the shape of a wheel gear in this embodiment. And the third gear 523 is coupled with the buffering force adjusting unit 512, and the buffering force adjusting unit 512 is operated according to the rotation of the third gear 523.

Therefore, the driving force by the rotation of the prosthetic leg module 300 drives the first gear 521, the second gear 522, and the third gear 523 to rotate the buffering force adjusting unit 512, and accordingly in the walking process The degree of buffering of the buffer unit 511 is adjusted at a specific point. The point at which the specific buffering power is adjusted will be described later.

The restoration unit 600 provides restoring force when the front of the prosthetic leg module 300 comes into contact with the ground. Also, the restoration unit 600 may be configured to have a variable degree of restoration like the buffer unit 500. However, as will be described later, the case where the restoration unit 600 acts as a load for driving the driving unit 220, like the buffer unit 500, is relatively small, and accordingly, as in the first restoration unit 500, the restoration force is high. If the adjustable structure is not adopted, the size of the entire robot prosthesis can be brought compactly.

Therefore, as the restoration unit 600, a known elastic spring, material, shock absorber, etc. that can return to its original position after being compressed by an external force may be used. In this embodiment, it is assumed that block-type urethane having compression and restoring force is used.

That is, the restoration unit 600 is formed in a block shape and positioned between the second fixing part 212 and the fourth fixing part 314 . Therefore, when the front of the prosthetic leg module 300 is in contact with the ground, the distance between the second fixing part 212 and the fourth fixing part 314 is reduced, and the restoration unit 600 is compressed, and then the ground repulsive force When it is solved, restoring force is provided to rotate the prosthetic leg module 300 .

5 is a view showing a general walking process, FIG. 6 is a cross-sectional view of a robot prosthetic leg of one embodiment of the present invention, FIG. 7 is a view showing a state in which the prosthetic leg module is rotated upward in FIG. 6, and FIG. 8 is a prosthetic leg in FIG. It is a diagram showing a state in which the module is rotated downward.

Referring to Figures 5 to 8, the process of operating the restoration module 400 of the present invention in the walking process will be described.

As can be seen in FIG. 5, in the general walking process, the prosthetic leg module 300 rotates by driving the driving unit 220, and the front and rear sides sequentially come into contact with the ground.

In addition, ground reaction force is transmitted to the prosthetic leg module 300 as it makes contact with the ground. That is, power and ground reaction force of the drive unit 220 are applied to the prosthetic leg module 300, and in the present invention, the ground reaction force is absorbed or a restoring force for the ground reaction force is provided to enable stable walking.

Specifically, referring to FIGS. 6 and 7, when the front of the prosthetic leg module 300 is in contact with the ground, the prosthetic leg module 300 rotates upward, and the second fixing part 212 and the fourth fixing part As the distance between the 314 is shortened, the restoration unit 600 compresses, and then provides a restoring force to rotate the prosthetic leg module 300 downward in the process of reducing the ground reaction force. In addition, the driving force of the driving unit 220 may be used to rotate the prosthetic leg module 300 downward.

6 and 8, when the rear of the prosthetic leg module 300 is in contact with the ground (the prosthetic leg module 300 is applied with a ground reaction force to move the prosthetic leg module downward, and accordingly, the first fixing part As the distance between the 211 and the third fixing part 313 is shortened, the shock absorbing unit 500 absorbs the applied ground reaction force while being compressed.Therefore, the joint module 200 moves excessively backward from the prosthetic leg module. It does not fall over, and the user can walk more stably.

Figure 9 is a view explaining the process of reducing the restoring force of the first restoration unit of the present invention, Figure 10 is a cross-sectional view of the robot prosthetic leg of one embodiment of the present invention, Figure 11 is a state in which the prosthetic module is rotated upward in FIG. 12 is a cross-sectional view showing a state in which the prosthetic leg module is rotated downward in FIG. 10, and FIGS. 13 to 15 are views showing rotation of the third gear in a state in which the prosthetic leg module is rotated downward.

Referring to Figs. 5, 9 to 15, a process of varying the degree of buffering against the ground reaction force of the buffer unit 500 of the first restoration unit 500 according to the present invention will be described.

For convenience of description, the state in which the prosthetic leg module 300 is not rotated (Figs. 10 and 13) is in A state, and the state in which the prosthetic leg module 300 is rotated upward is in state B (Figs. 11 and 14), prosthetic leg A state in which the module 300 rotates downward is defined as a C state and will be described.

10 and 13 show a state A, that is, a state in which no driving force or ground reaction force is applied to the robot prosthesis 1. This state may also appear in a state in which the robot prosthetic leg does not touch the ground in the walking process of FIG. 5 or in the process of rotating the prosthetic leg module 300 in the walking process.

In state A, a load sufficient to buffer the ground reaction force is applied to the buffer unit 500 . For example, as shown in FIG. 13, a load of about 11 is applied, and the robot prosthetic leg 1 is in the air, and the ground reaction force generated while the rear of the prosthetic leg module 300 contacts the ground is a buffer unit (500) will absorb. That is, in the states shown in FIGS. 10 and 13, even if the ground reaction force is applied through the rear of the prosthetic leg module 300, the prosthetic leg module 300 restricts the movement of the lower part so that a stable posture can be maintained during the walking process.

11 and 14 are state B, that is, a state in which the prosthetic leg module 300 is rotated upward. When the front of the prosthetic leg module 300 contacts the ground during the walking process, ground reaction force is applied to the front of the prosthetic leg module 300 so that the prosthetic leg module 300 rotates upward.

As the prosthetic leg module 300 rotates upward, the first gear 521 rotates the second gear 522 while moving backward. And according to the rotation of the second gear 522, the third gear 523 rotates, and the third gear 523 and the combined buffering force adjusting unit 512 rotates. In addition, the buffering force of the buffering unit (hydraulic buffering unit 511) is varied according to the rotation of the buffering capacity adjusting unit (hydraulic control dial 512).

Specifically, the third gear 523 in this embodiment rotates counterclockwise as shown in FIG. 14 from the state shown in FIG. is reduced from the state of 11 to the state of 9, for example.

Meanwhile, when the prosthetic leg module 300 rotates upward, the restoration unit 600 absorbs the ground reaction force separately from the buffer unit 500 as described above.

12 and 15 show a state C, that is, a state in which the prosthetic leg module 300 is rotated downward. In the process of walking, when the rear of the prosthetic leg module 300 is in contact with the ground or when the driving unit 220 provides driving force for walking, the prosthetic leg module 300 rotates downward.

As the prosthetic leg module 300 rotates upward, the first gear 521 rotates the second gear 522 while moving forward. And, according to the rotation of the second gear 52, the third gear 523 rotates, and the third gear 523 and the combined buffering force adjusting unit 512 rotates. In addition, the buffering force of the buffering unit (hydraulic buffering device 511) is changed according to the rotation of the buffering capacity adjusting unit (hydraulic control dial 512).

Specifically, the third gear 523 in this embodiment rotates clockwise as shown in FIG. 15 in the state shown in FIG. 13, and at this time, the buffering force of the buffer unit (hydraulic buffer 511) is For example, it is converted from the state of 11 to the state of OFF.

That is, when the prosthetic leg module 300 moves downward from state A to state C, the buffering power of the buffer unit (hydraulic shock absorber 511) increases from 11 to 12 and then turns to the OFF state so that there is no load. . And accordingly, when the drive unit 220 rotates to apply the driving force for walking, the shock absorber (hydraulic shock absorber 511) does not act as a load for rotation.

Therefore, in the present invention, when the prosthetic leg module 300 moves downward in the C state, the compression force of the buffer module 500 is reduced so that the driving unit 220 can be driven without a load.

Specifically, as shown in FIG. 9 , the first gear 521 moves forward and backward as the prosthetic leg module 500 rotates. And the second gear 522 and the third gear 523 meshed with the first gear 521 rotate, and the third gear 523 is the hydraulic control dial of the hydraulic shock absorber (restoring unit 511) ( The restoring force adjusting unit 512) is rotated, and thus the restoring force (compression force) of the hydraulic shock absorber 511 is reduced.

On the other hand, as described above, the restoring force of the first restoration unit 500 should be reduced at point a acting as a load to drive the drive unit 120 of the first restoration unit 500 in the walking process of FIG. 5, At point b where the rear of the prosthetic leg module 300 makes contact with the ground, the restoring force of the first restoration unit 500 should be maintained.

Therefore, the adjustment part 520 should maintain the restoring force of the first restoration unit 500 when rotating below the set rotation angle, and when the prosthetic leg module 300 rotates beyond the set rotation angle, the first restoration The restoring force of the unit 500 should be reduced.

On the other hand, the gear ratios of the first gear 521, the second gear 522, and the third gear 523 so that the hydraulic control dial (restoring force control unit 512) is opened when the rotation is greater than the set angle θ. will be regulated.

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

100: coupling module 200: joint module
210: case unit 220: drive unit
230: connection unit 300: prosthetic leg module
310: fixed unit 400: absorption module
500: buffer unit 510: buffer part
520: control part 600: restoration unit

Claims (9)

Coupling modules worn on the user's limbs;
a joint module coupled to the coupling module;
a prosthetic leg module that is coupled to the joint module and rotates with rotation of the joint module; and
an absorption module provided to absorb the ground reaction force applied to the prosthetic leg module during walking and to have a variable degree of absorbing the ground reaction force;
A robotic prosthetic foot comprising a. According to claim 1,
The absorption module includes a buffer unit,
buffer unit,
A robotic prosthetic foot comprising a buffer part having a variable buffering degree and a control part for adjusting the buffering level of the buffering part. According to claim 2,
The buffering part includes a buffering unit and a buffering power adjusting unit for adjusting the buffering degree,
The control part is connected to the prosthetic leg module and the buffering force control unit to manipulate the buffering force control unit according to the movement of the prosthetic leg module. According to claim 3,
The control part includes a plurality of gears for transmitting power by rotation of the prosthetic leg module. According to claim 3,
The joint module,
Case unit to which the coupling module is coupled;
a driving unit provided in the case unit; and
A connection unit connecting the driving unit and the prosthetic leg module;
The control part,
A robotic prosthetic leg connected to the case unit and the prosthetic leg module. According to claim 5,
The prosthetic leg module includes a fixing unit,
The control part includes a first gear,
The first gear is coupled to the fixing unit to be movable in forward and backward directions, and one end of the first gear is coupled to the case unit to be movable in up and down directions. According to claim 5,
A first fixing part to which one end of the buffer part is connected is formed in the case unit,
The prosthetic leg module further includes a fixing unit,
The robot prosthesis is provided with a through hole into which the buffer unit is inserted and a third fixing unit to which the other end of the buffer unit is fixed in the fixing unit. According to claim 5,
The control part controls the restoring force of the restoration part when the prosthetic leg module moves beyond the angle set to the lower part. According to claim 2,
The absorption module further includes a restoration unit,
The buffer unit provides the prosthetic module with a restoring force due to ground repulsive force when the rear end of the prosthetic module comes into contact with the ground,
The restoration unit is a robot prosthesis for providing a restoring force against the ground repulsive force to the prosthetic leg module when the front end of the prosthetic leg module is in contact with the ground.

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