201206404 、發明說明： 【發明所屬之技術領域】 本發明是有關於一種補償系統，特別是指一種義肢感 知補償系統。 【先前技術】 為了改善因思外傷害、健康問題、天生殘缺等因素而 導致下肢截肢的殘障人士於行動上的不便，現今有許多義 肢機構陸陸續續地被使用。 病患下肢截肢後負責腿部伸屈動作之主肌肉群及膝關 節以下構造均被切除’導致下肢肌力不足及本體感覺缺喪 失’因此就膝上截肢的患者而§，其在步行的時候，須使 用殘肢（即患侧腳）髖關節甩動義肢機構使其膝關節弯曲，但 易造成義肢膝關節晃動，無法精準控制膝關節的角度，導 致運動控制不良’且病患行走時也會消耗較多能量，容易 產生步態不穩而跌倒。 【發明内容】 因此，本發明之目的，即在提供一種可以補償義肢感 知以達協同控制的義肢感知補償系統。 於是’本發明義肢感知補償系統，係裝設於截肢患者 下肢的一健側腳及一患側腳上，該義肢感知補償系統包 含：一控制模組、一步態感測模組及一義肢機構。控制模 組包括一步態資料儲存器及一耦接於步態資料儲存器的步 態控制器；步態感測模組耦接於步態資料儲存器，用以感 測健側腳及患側腳的站立期（Stand phase)與擺盡期（swjng 201206404 Ρ=)狀悲’並將健側腳的膝關節與體關節資訊儲存於步態 貝料儲存Θ，義肢機構|設於患側腳，步態控制器利用患 側聊親關節的角度與步態資料儲存器中的健側腳的膝關節 與髖關節進行比對，以求得患側腳膝關節的角度，進而驅 動義肢機構’使得義肢機構可以模擬健側腳的膝關節的角 度變化’利用步態感測模组補償截肢患者患側腳的感知能 力’以達協同控制之目的。 ，佳地，步態感測模組包括裝設於健側腳的一第一角 度里測器及-第二角度量測器，且控制模組還包括一裝設 :患側腳的第三角度量測器，第一角度量測器與第二二 量測器分別用以量測健側腳的一髖關節及一膝關節的彎曲 角度。並將其1測結果儲存於步態資料儲存^ ;第三角度 量測器用以量測患側腳的一髖關節的彎曲角度，其量測$ 果即時與步態資料儲存器中健側腳之_節與膝關節的角° ，進行比對求得步態協同之對應的膝關節角度，步態控制 器：根據第-角度量測器、第二角度量測器及第三量 測器的量測結果控制該義肢機構的膝關節彎曲角度。 較佳地，步態感測模組還包括連接於步態資料儲存器 的至少一第一壓力感測元件及至少一第二壓力感測元件， 第一壓力感測元件及第二壓力感測元件分別用以感測健側 腳及患側腳的一腳底踩踏壓力，步態控制器還根據第一壓 力感測兀件及第二壓力感測元件的感測結果分析判斷其所 處於站立期或擺盪期狀態。 較佳地，控制模組還包括一耦接於步態資料儲存器及 201206404 步態控制器的計時器，用以根據第一壓力感測元件及第二 壓力感測元件的感測結果計算出健側腳及患側腳從起腳到 落地的時間。 本發明之功效在於，利用截肢患者健侧腳的髖關節與 膝關節及患側腳的髖關節之間的角度資訊，來補償患側腳 的膝關節角度，使得患者在利用患側腳行走時的感知可以 如同健側腳在行走時的感知，以達協同控制之目的。 【實施方式】 有關本發明之如述及其他技術内容、特點與功效，在 以下配合參考圖式之一個較佳實施例的詳細說明中，將可 清楚的呈現。 參閱圖1，為本發明義肢感知補償系統1〇〇之較佳實施 例，該義肢感知補償系統1〇〇是應用於單腳殘肢的患者使 用，其中包含一裝設於患者的一健側腳（正常的腳）的步態感 測杈組1、一裝設於患者的一患側腳（被截肢的腳）的義肢機 構2、一設置於一腰包4中的控制糢組義肢感知補償系 、、克1 〇〇藉由步態感測模組1感測患者的健侧腳在站立期 (Stand phase)與擺盪期（Swing phase)的髖關節與膝關節的角 度Μ戒，使得控制模组3可利用患者患側腳的髖關節角度 與上述角度資料進行比對來控制義肢機構2的膝關節角 度，以補償患者患側腳的感知能力，以達協同控制之目 的。 配合參閱圖2及圖7，步態感測模組丨包括一裝設於患 者健側腳的一競關節附近的第一角度量測器1 〇、一裝設於 [S] 5 201206404 患者健側腳的-膝關節附近的第二角度量測器2〇、至少一 設置於患者健側腳腳底的第_壓力感測元# 4g，及至卜一 設置於患者患側簡底的第二壓力感測元# 50。控龍組 3包括-裝設於患者患側腳的__體關節附近的第三角度量測 器30、-步態資料儲存器31、一步態控制器32及：計時 器33。 配合參閱圖3,第一角度量測器1〇用以量測患者健側 腳的髖關節的-曲角度’並得到一第一髖關節角度^;第 二角度量測H 20 _量測患者健側腳的膝關節的彎曲角 度，並得到-第-膝關節角度点；第三角度量測器3〇用以 量測患者患侧腳的髖關節的彎曲角度，並得到—第二髖關 節角度α ’。特別說明的是，本實施例之第一角度量測器 10、第一角度量測器20及第三角度量測器3〇係利用束帶 將三者分別固定於患者健側腳的髖關節與膝關節，以及患 側腳的髖關節上，當然也可以利用綁帶、黏貼等固定方 式，並不以本實施例為限。 此外，在本實施例中，第一角度量測器丨〇、第二角度 量測器20及第二角度量測器30的結構相同，參閱圖3及 圖4,以第二角度量測器2〇來說明，其中包括一上固定板 組21、一下固定板組22、一蓋體23及一角度量測元件 24。上固定板組21係固定於患者的大腿，且其延伸方向與 大腿的延伸方向平行；下固定板組22係固定於患者的小 腿，且其延伸方向與小腿的延伸方向平行，且上固定板組 21與下固定板組22分別利用連接件（螺絲）25連接於蓋體23 201206404 的兩相反側；本實施例之角度量測元件24係為可變電阻 (variable reSiStor)24’且固定於蓋體23中，當患者移動健 側腳時，大腿與小腿之間的相互運動會使得上固定板組Μ 及下固定板組22之間的角度改變，進而帶動可變電阻 旋轉而改變其電阻值’如此在通過一定的電流下，可變電 阻24的跨電壓可對應域與小腿之間的角度，進而得知第 一膝關節角度冷。 麥閲圖201206404, invention description: TECHNICAL FIELD The present invention relates to a compensation system, and more particularly to a prosthetic sensory compensation system. [Prior Art] In order to improve the inconvenience of people with disabilities who have suffered from lower limb amputation due to extra-sense injuries, health problems, and natural disabilities, many prosthetic organizations are now being used. After the patient's lower extremity amputation, the main muscle group responsible for the flexion and extension of the leg and the structure below the knee joint are all removed, resulting in insufficient muscle strength of the lower extremity and loss of proprioception. Therefore, the patient who is amputated on the knee is §, while walking The residual limb (ie, the affected side foot) must be used to bend the knee joint, but it is easy to cause the knee of the prosthetic limb to sway, and the angle of the knee joint cannot be accurately controlled, resulting in poor exercise control and the patient is walking. Will consume more energy, easy to produce gait instability and fall. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a prosthetic sensory compensation system that can compensate for prosthetic sensing for coordinated control. Therefore, the prosthetic sensing compensation system of the present invention is installed on a healthy side leg and an affected side foot of the lower limb of the amputated patient. The prosthetic sensing compensation system comprises: a control module, a one-step sensing module and a prosthetic mechanism. The control module includes a one-step data storage device and a gait controller coupled to the gait data storage device; the gait sensing module is coupled to the gait data storage device for sensing the health side foot and the affected side foot The standing phase and the running period (swjng 201206404 Ρ=) are sad and store the knee joint and body joint information of the healthy side of the foot in the gait storage, prosthetic mechanism | set on the affected side, step The state controller uses the angle of the affected side joint and the knee joint of the healthy side of the gait data storage to compare with the hip joint to obtain the angle of the affected side knee joint, thereby driving the prosthetic mechanism to enable the prosthetic mechanism to Simulating the angle change of the knee joint of the healthy side foot 'Using the gait sensing module to compensate the sensory ability of the affected leg of the amputated patient' for synergistic control purposes. Preferably, the gait sensing module comprises a first angle measuring device and a second angle measuring device mounted on the healthy side leg, and the control module further comprises: a third angle of the affected side foot; The measuring device, the first angle measuring device and the second two measuring device are respectively used for measuring the bending angle of a hip joint and a knee joint of the healthy side foot. The first measurement result is stored in the gait data storage ^; the third angle measuring device is used to measure the bending angle of the one hip joint of the affected side foot, and the measurement is performed in the instant and the gait data storage device _ section and the angle of the knee joint °, the comparison of the gait coordination corresponding knee angle, gait controller: according to the first - angle measuring device, the second angle measuring device and the third measuring device The measurement results control the knee bending angle of the prosthetic mechanism. Preferably, the gait sensing module further includes at least one first pressure sensing component and at least one second pressure sensing component connected to the gait data storage, the first pressure sensing component and the second pressure sensing The components are respectively used to sense the foot pressing pressure of the healthy side foot and the affected side foot, and the gait controller further analyzes the sensing result of the first pressure sensing element and the second pressure sensing element to determine whether it is in the standing period or The state of swinging. Preferably, the control module further includes a timer coupled to the gait data storage device and the 201206404 gait controller for calculating the sensing results of the first pressure sensing component and the second pressure sensing component. The time from the kick to the landing of the foot and the affected foot. The utility model has the advantages that the angle information between the hip joint of the contralateral limb of the amputation patient and the hip joint of the knee joint and the affected side foot is used to compensate the knee joint angle of the affected side foot, so that the patient can feel when walking with the affected side foot. It is like the perception of the healthy side when walking, in order to achieve the purpose of collaborative control. [Embodiment] The detailed description of the preferred embodiments of the present invention will be apparent and Referring to FIG. 1 , a preferred embodiment of a prosthetic sensory compensation system 1 is used in a patient with a single-leg residual limb, which includes a patient mounted on a healthy side. The gait sensing group of the foot (normal foot), the prosthetic mechanism mounted on one of the patient's affected side feet (the amputated foot), and the control module prosthetic sensing compensation system disposed in a waist pack 4 The gait sensing module 1 senses the angle of the hip joint and the knee joint of the patient's healthy side in the standing phase and the swing phase, so that the control mode Group 3 can use the hip joint angle of the patient's affected side to compare with the above angle data to control the knee joint angle of the prosthetic mechanism 2 to compensate the patient's ability to sense the side of the foot to achieve the purpose of collaborative control. Referring to FIG. 2 and FIG. 7 , the gait sensing module 丨 includes a first angle measuring device 1 附近 installed near the joint joint of the patient's healthy side, and is installed at [S] 5 201206404 a second angle measuring device 2 near the knee joint of the side foot, at least one first pressure sensing element #4g disposed on the sole of the patient's foot, and a second pressure feeling disposed on the patient's affected side Measured #50. The control group 3 includes a third angle measuring device 30, a gait data storage unit 31, a one-step state controller 32, and a timer 33 which are mounted near the __ body joint of the patient's affected side foot. Referring to FIG. 3, the first angle measuring device 1 is used to measure the angle of the hip joint of the patient's healthy side foot and obtain a first hip joint angle ^; the second angle is measured by the H 20 _ measuring patient The bending angle of the knee joint of the healthy side foot, and the angle of the - knee joint angle is obtained; the third angle measuring device 3 is used to measure the bending angle of the hip joint of the patient's affected side foot, and obtains - the second hip joint Angle α '. Specifically, the first angle measuring device 10, the first angle measuring device 20, and the third angle measuring device 3 of the embodiment are respectively used to fix the three sides to the hip joint of the patient's healthy side foot. It is also possible to use a fastening method such as a strap or a sticker on the knee joint and the hip joint of the affected side foot, and is not limited to this embodiment. In addition, in the embodiment, the structures of the first angle measuring device 丨〇, the second angle measuring device 20 and the second angle measuring device 30 are the same. Referring to FIG. 3 and FIG. 4, the second angle measuring device is used. 2, which includes an upper fixed plate set 21, a lower fixed plate set 22, a cover 23 and an angle measuring element 24. The upper fixing plate group 21 is fixed to the thigh of the patient, and its extending direction is parallel to the extending direction of the thigh; the lower fixing plate group 22 is fixed to the lower leg of the patient, and the extending direction thereof is parallel to the extending direction of the lower leg, and the upper fixing plate The group 21 and the lower fixing plate group 22 are respectively connected to opposite sides of the cover body 23 201206404 by a connecting member (screw) 25; the angle measuring component 24 of the embodiment is a variable resistor (variable reSiStor) 24' and is fixed to In the cover body 23, when the patient moves the healthy side leg, the mutual movement between the thigh and the lower leg causes the angle between the upper fixed plate group Μ and the lower fixed plate group 22 to change, thereby driving the variable resistor to rotate and changing its resistance value. Thus, under a certain current, the voltage across the variable resistor 24 can correspond to the angle between the domain and the lower leg, and thus the first knee joint is cold. Mai reading
不頁抛例之第一壓力感測元件 40係設置於患者健側腳的鞋塾中，第二壓力感測元件利 設置於義肢機構2底部，且第一壓力感測元件4〇及第二壓 力感測元件50的數量皆為二’並分別位於患者健側腳及患 側腳的腳跟與腳掌位置，用以感測健側腳及患側腳的腳底 屢力，以得知患者的腳步動作，例如：若位於腳跟位置的 第[力感測元件40無感測到任何腳底壓力，但位於腳掌 位置的第-壓力感測元件40則有感測到腳底壓力，則表示 患者的健側腳目前為顛腳動作；或是，若二個第一壓力感 測元件40皆感測到腳底壓力且超過一預設值，則表示患者 欲使用患側腳行走。 多閱圓1、圖2及圖6’本實施例之義肢機構2包括一 固^座201、—支撐架2〇2、_電動虹撕及一腳座2〇4， 口疋座201用以供患者患側腳的大腿固定；支擇架加連 接於固定座2〇1與腳座2〇4之間；電動缸2〇3裝設於支揮 1二2 I其受控制模組3控制而伸縮，以模擬健侧腳之 膝關郎的行為；腳座204用以支撑整體義肢機構2,且本實 201206404 施例之第二Μ力感測元件5G係設置於該腳座綱底部。特 別說明的是，本義肢機構2除了利用電動虹2〇3的伸縮來 模擬膝關節的行為外，也可透 也j以透過其他任何具有線性位移 工制的致動器（actuator)來完成，並^本實施例為限。 參閱圖1及@ 7,在本實施财，控制模組3係設置於 腰包4中，可便於患者繫在其腰部上，當然也可以設置在 患者的健側腳或患側腳上，或是整合於步態感測模組】或 是裝設於義肢機構2上，並不以本實施例為限。步態資料 儲存器用以儲存第—角度量測器iQ及第二角度量測器 2〇刀別所置測出的第一體關節角度〇、第一膝關節角度 石，以及二個第一壓力感測元件4〇與二個第二壓力感測元 件50所感測出的腳底壓力（以上通稱步態資訊），在本實施 例中：第-角度量測器10、第二角度量測器2〇、該等第一 壓力感測元件40及第二壓力感測元件50皆係以無線的方 式將其產生的結果傳送至步態資料儲存器31中儲存。 步態控制器32耦接於步態資料儲存器31，用以利用第 髖關節角度α ’與步態資料儲存器3丨中所儲存的第一髖關 *角又01及第膝關節角度召進行比對，以計算出義肢機 構的彎曲角度’也就是患者患側腳的膝關節（義肢）角度，如 圖2所不的第二膝關節角度召，，步態控制器32再根據該第 膝關節角度/3，控制電動缸進行伸縮，使得患側腳之膝關 節的彎曲角度可「對應」於健側腳之膝關節的彎曲角度， 讓患者在利用義肢機構踩踏時，其感知能力如同使用健側 腳踩踏一般，不會有明顯的落差感。特別說明的是，在此 201206404 所指的「對應」係指患側腳之膝關節的彎曲角度等於或近 似健側腳之膝關節的彎曲角度0 、〆 計時器耦接於步態資料儲存器31及步態控制器 32 ,用以計算健側腳或患側腳從起腳到落地的時間，即串 者跨-步的時間，並將所計算的時間儲存於步Μ料^ 器31中。然*，計時器33係根據第一壓力感測元件40及 第,壓力感測元件50所感測的腳底壓力’判斷患者腳起腳 及落地的時間點，即開始計時及結束計時的時間點，其詳 細的動作如下段說明β 在本實施例巾’ m㈣存器31切存最近一次健 側腳行走-步的步態資訊’以供下一步患側腳行走時的控 制依據。當患者準備踏出健側腳時，即表示健側腳準備進 入擺盪期，此時位於健側腳腳跟的第一壓力感測元件仙會 先感測不到腳底壓力’此時步態控制器32則可得知患者準 備使用健側腳行走，而當二個第巧力感測元件都感測 不到腳底壓力時，即健側腳已離地（即健側腳進入擺盪期）， 步態控制器32會控制計時器33開始計時，且在患者健側 腳為擺盪期的期間，第-角度量測器1〇及第二肖度量測哭 2〇»會持續量測出各個時間點的第—體關節角度^及第 關節角度並配合各個時間點依序儲存於步態資料儲存 器31 ;當二個第一壓力感測元件4〇又再度感測到健側腳的 腳底壓力％，則表示健侧腳已落地（即健側腳進入站立期）， 步態控制器32會控制計時器33停止計時，如此健側腳行 走一步的所有髖關節及膝關節的角度（步態資訊）即可建構完 201206404 成0 當患者改換成用患側腳行走時，若二個第二壓力感測 元件50都感測不到腳底壓力，則表示患者的患側腳已離地（ 即患側腳進人擺i期），則步態控制器32會控制計時器W 開始計時。且在患者使用患側腳跨步的同時，第三角产量 測器會量測出患者體關節的彎曲角度，即第二體關：角 度α，’此時步態控制器32會利用當時第二競關節角度α’ 即時比對儲存於步態資料儲存器31中上一步健側腳的髖關 節（第一競關節角度α)與膝關節（第—膝關節角度点）的角度 資訊，並且配合計時器33 #時的時間點計算出對應的患側 腳膝關節角度(第二膝關節角度約，並根據第二膝關節角 度石’控制義肢機構2的電動缸2〇3進行伸縮，使得義肢機 構2可以模擬患者健侧腳膝關節的動作，讓患者在利用患 側聊行走時，其感知能力可以如同使用健侧腳-般，不因 為裝上義肢而❹】有落差感，以達協同控制的目的。 特別說明的是，步㈣料儲存器31中會預先儲存一組 第-髖關節角度〇;及第一膝關節角度々的資訊，若當患者 開始利用患側腳行走時（即患側腳先跨出），即表示沒有前 :步健側腳的步態資訊，則步態控制器32會根據該預先儲 子的第1關節角度α及第-膝關節角度沒來計算第二膝 =角度/3’ ’以避免發生剛開始沒有健側腳的步態資訊而 "致義肢機構2不動作的問題。然而’若患者持續地向前 仃走’則步態資料儲存器31會同步更新及儲存每—次健側 聊為擺盈期間的步態資訊，以供患側腳進行即時比對並控 10 201206404 制義肢機# 2之用。此外’步態感測模組！所量測的健側 腳步悲貢訊除了量測髖關節與膝關節的角度外，還可以量 測大腿與小腿之間的相對位置等㈣參數，並不以本實施 例為限。 綜上所述，本發明義肢感知補償系統1〇〇，藉由步態資 料儲存器31儲存健側腳的步態資訊（即健側腳體關節與膝關 7的角度^訊）’使得步態控制器32可以利用患侧腳的體關 即與步態資料儲存g 31 +的步態資訊進行比對，並透過比 對結果控制義肢機構2的電動缸2〇3進行伸縮，使得患者 患側腳的膝關節角度可與其健側腳膝關節角度相同，以補 償患者患侧腳的感知能力’以達協同控制之功效。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明内容所作之簡單的等效變化與修飾皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是說明本發明義肢感知補償系統之較佳實施例， 其中患者的健側腳在前，患側腳在後； 圖2是說明本發明義肢感知補償系統之較佳實施例， 其中患者的患側腳在前，健側腳在後； 圖3是說明第一角度量測器及第二角度量測器設置於 健側腳的髖關節及膝關節的示意圖； 圖4是說明本實施例之第二角度量測器的細部構件； 圖5是說明二個第-壓力感測元件位於鞋墊中的位置 201206404 及二個第二壓力感測元件位於義肢機構底部的位置； 圖6是說明本實施例之義肢機構的細部構件；及 圖7是說明感測模組、義肢機構及控制模組中各個電 路之間的連接關係。The first pressure sensing element 40 is not disposed in the last of the patient's healthy side, the second pressure sensing element is disposed at the bottom of the prosthetic mechanism 2, and the first pressure sensing element 4 and the second The number of the pressure sensing elements 50 is two' and is located at the heel and the sole of the patient's healthy side and the affected side, respectively, for sensing the foot and the foot of the affected side to learn the foot movement of the patient. For example, if the first force sensing element 40 at the heel position does not sense any sole pressure, but the first pressure sensing element 40 at the sole position senses the sole pressure, it indicates that the patient's healthy side is present. If the two first pressure sensing elements 40 sense the sole pressure and exceed a predetermined value, it means that the patient wants to use the affected foot to walk. Multi-circle 1, FIG. 2 and FIG. 6' The prosthetic mechanism 2 of the present embodiment includes a fixed base 201, a support frame 2〇2, an electric rainbow tearing and a foot seat 2〇4, and the socket 201 is used for The thigh is fixed for the patient's side leg; the support frame is connected between the fixed seat 2〇1 and the foot seat 2〇4; the electric cylinder 2〇3 is installed on the support 1 2 2 I controlled by the control module 3 The telescopic function is used to simulate the behavior of the knees of the healthy side of the foot; the foot 204 is used to support the whole prosthetic mechanism 2, and the second force sensing element 5G of the present embodiment of the 201206404 embodiment is disposed at the bottom of the foot. In particular, the prosthetic limb mechanism 2 can be used to simulate the behavior of the knee joint by utilizing the expansion and contraction of the electric rainbow 2〇3, and can also be performed by any other actuator having a linear displacement mechanism. And this embodiment is limited. Referring to FIG. 1 and @7, in the implementation, the control module 3 is disposed in the waist pack 4, which can facilitate the patient to be attached to the waist, and can also be placed on the patient's healthy or affected side, or integrated. The gait sensing module is installed on the prosthetic mechanism 2, and is not limited to this embodiment. The gait data storage device stores the first body joint angle 〇, the first knee joint angle 置, and the first first pressure sensation measured by the first angle measuring device iQ and the second angle measuring device 2 The sole pressure measured by the measuring element 4〇 and the two second pressure sensing elements 50 (hereinafter referred to as gait information), in the present embodiment: the first-angle measuring device 10 and the second angle measuring device 2〇 The first pressure sensing element 40 and the second pressure sensing element 50 transmit the generated result to the gait data storage 31 in a wireless manner. The gait controller 32 is coupled to the gait data storage 31 for utilizing the first hip joint angle α' and the first hip joint angle stored in the gait data storage device 3, and the knee joint angle Performing an alignment to calculate the bending angle of the prosthetic mechanism', that is, the knee joint (prosthetic limb) angle of the patient's affected side foot, as shown in FIG. 2, the second knee joint angle is called, and the gait controller 32 according to the first knee Joint angle /3, control the electric cylinder to expand and contract, so that the bending angle of the knee joint of the affected side foot can "correspond" to the bending angle of the knee joint of the healthy side foot, so that when the patient steps on the prosthetic limb, the sensing ability is like using the health The side feet are generally stepped on, and there is no obvious drop. In particular, the term "corresponding" as used in this 201206404 means that the bending angle of the knee joint of the affected side foot is equal to or approximately the bending angle of the knee joint of the healthy side foot, and the chirp timer is coupled to the gait data storage device 31. And the gait controller 32 is configured to calculate the time from the kicker to the landing of the health side or the affected side foot, that is, the time of the stride, and store the calculated time in the step 31. However, the timer 33 determines the time point at which the patient's foot starts and falls based on the first pressure sensing element 40 and the sole pressure sensed by the pressure sensing element 50, that is, the time point at which the timing starts and ends. The detailed operation is as follows. In the present embodiment, the towel 'm(four) memory 31 stores the gait information of the last foot-foot walking-step for the next control of the foot. When the patient is ready to step out of the healthy side foot, it means that the healthy side foot is ready to enter the swinging period, and the first pressure sensing element located on the heel of the healthy side foot will first not sense the sole pressure first. 32, it can be known that the patient is ready to walk with the healthy side foot, and when the two tactile force sensing elements are not able to sense the sole pressure, that is, the healthy side foot has left the ground (ie, the healthy side foot enters the swinging period), step The state controller 32 controls the timer 33 to start timing, and during the swing period of the patient's healthy side, the first-angle measuring device 1 and the second metric measuring crying will continuously measure the time. The first body joint angle ^ and the joint joint angle are sequentially stored in the gait data storage 31 in conjunction with the respective time points; when the two first pressure sensing elements 4 再 again sense the sole pressure of the healthy side foot %, it means that the healthy side foot has landed (that is, the healthy side foot enters the standing period), and the gait controller 32 controls the timer 33 to stop timing, so that all the hip joints and knee joints of one step of the healthy side foot step (gait) Information) can be constructed 201206404 into 0 when the patient is replaced with When the affected side foot is walking, if the two second pressure sensing elements 50 do not sense the sole pressure, it means that the patient's affected side foot has left the ground (ie, the affected side foot enters the person's pendulum stage), then the gait controller 32 will Control timer W starts timing. And while the patient uses the affected foot to step, the third angle yield measuring device will measure the bending angle of the patient's body joint, that is, the second body close: angle α, 'At this time, the gait controller 32 will use the second competition at that time. The joint angle α' instantaneously compares the angle information of the hip joint (the first joint joint angle α) and the knee joint (the knee joint angle point) stored in the upper step of the gait data storage 31, and cooperates with the timing. At the time point of the device 33#, the corresponding angle of the knee joint of the affected side is calculated (the second knee joint angle is about, and the electric cylinder 2〇3 of the prosthetic mechanism 2 is controlled according to the second knee joint angle stone to expand and contract, so that the prosthetic mechanism 2 It can simulate the movement of the patient's healthy side of the foot and knee joint, so that when the patient walks on the affected side, the sensory ability can be as good as using the healthy side foot, not because of the prosthetic limb, and there is a sense of falling sense for the purpose of synergistic control. Specifically, the step (four) material storage device 31 pre-stores a set of first-hip joint angle 〇; and the information of the first knee joint angle ,, if the patient starts to use the affected side foot to walk (ie, the affected side is first Out, that is, there is no gait information of the front: step foot, the gait controller 32 will calculate the second knee = angle according to the first joint angle α and the first knee angle of the pre-store 3' 'to avoid the problem of gait information that does not have a healthy side at the beginning and " the prosthetic limb 2 does not move. However, 'If the patient continues to move forward', the gait data storage 31 will be updated simultaneously. Store each gait chat as the gait information during the pendulum period for the immediate comparison and control of the affected side foot. In addition, the 'gait sensing module! In addition to measuring the angle between the hip joint and the knee joint, the lateral footstep sorrow can also measure the relative position between the thigh and the lower leg, etc. (4) parameters, which are not limited to the embodiment. In summary, the prosthesis of the present invention The sensation compensation system 1 储存, the gait data storage device 31 stores the gait information of the health side foot (ie, the angle of the foot joint and the knee joint 7), so that the gait controller 32 can utilize the affected side The body of the foot is compared with the gait information of the gait data storage g 31 + And, through the comparison result, the electric cylinder 2〇3 of the prosthetic mechanism 2 is controlled to expand and contract, so that the knee joint angle of the patient's side foot can be the same as the angle of the knee joint of the healthy side to compensate the patient's ability to sense the side of the foot. The effect of the synergistic control is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple scope of the patent application scope and the description of the invention. The effect changes and modifications are still within the scope of the present patent. [Simplified illustration of the drawings] Fig. 1 is a view showing a preferred embodiment of the prosthetic sensing compensation system of the present invention, wherein the patient's healthy side is in front and the affected side is behind 2 is a preferred embodiment of the prosthetic sensing compensation system of the present invention, wherein the patient's affected side foot is in front and the healthy side foot is in the back; FIG. 3 is a view showing that the first angle measuring device and the second angle measuring device are disposed on Schematic diagram of the hip joint and the knee joint of the contralateral foot; FIG. 4 is a detailed view of the second angle measuring device of the embodiment; FIG. 5 is a view showing that the two first pressure sensing elements are located in the insole The position of the 201206404 and the two second pressure sensing elements are located at the bottom of the prosthetic mechanism; FIG. 6 is a detailed description of the components of the prosthetic mechanism of the embodiment; and FIG. 7 is a view of the sensing module, the prosthetic mechanism and the control module The connection relationship between the various circuits.
12 201206404 【主要元件符號說明】 100… •…義肢感知補償系 50… •…第二壓力感測 統 件 1 ....... •…步態感測模組 2…… •…義肢機構 10…… •…第一角度量測器 201… •…固定座 20…… …·第二角度量測器 202… •…支撐架 21…… 上固疋板組 203… •…電動缸 22…… •…下固定板組 204… •…腳座 23…… …·蓋體 3 ....... •…控制模組 24…… …角度量測元件 31…… …·步態資料儲存器 30…… …*第__角度虽測器 32…… •…步態控制器 40…… …第一壓力感測元 33…… ό十日T裔 件 4 ....... •…腰包 [S] 1312 201206404 [Explanation of main component symbols] 100... •... Prosthetic sensory compensation system 50... •...Second pressure sensing system 1 ....... •... Gait sensing module 2... •... Prosthetic mechanism 10... •...first angle measuring device 201... •...fixing seat 20...the second angle measuring device 202...the support frame 21...the upper solid plate group 203...the electric cylinder 22... ... •... lower fixed plate set 204... •... foot seat 23... ...· cover body 3.................. control module 24... angle measuring element 31... ... gait data storage The device 30 ... ... * the first __ angle detector 32 ... ... ... gait controller 40 ... ... the first pressure sensing element 33 ... ό ten days T-piece 4 ....... ...waist pack [S] 13