TW201231038A - The lower extremity assistant apparatus and method - Google Patents

Abstract

This invention relates to The lower extremity assistant apparatus and method that can be equipped in a above-knee prosthesis. It includes a socket, a knee section, a foot section and a shank section, providing a variable damping characteristics during different gait patterns, such as shock absorption and propelling assistance.

Description

201231038 12 Main piston rod 11 Main piston 2 Shock absorber unit Upper tube 21 Fixing tube 3 Damping stator 4 Top cover 41 Bottom cover 5 Ground reaction force 61 Bottom air chamber 62 Lower oil chamber 63 Oil chamber 64 Top chamber 65 Oil and gas separation membrane Lu When there are chemical formulas on the right side of the case, please reveal the chemical formula that best shows the characteristics of the invention: Six' invention description: [Technical field of rhyme 1 Ming] This creation is about a lower limb auxiliary device and method, more precisely, an equipment In the user's knee amputation prosthetic limb, the system can assist the user to perform shock absorption and provide a boosting effect. 'f 【Prior Art】 For the patient who wears the knee amputation prosthesis, the shock absorption function of the original Mr. object 201231038 is reduced, and the person who takes the weapon is the high-test component, which is installed in the mechanical component, and the appropriate shock absorber system is A feasible method to reduce the impact of the user's ground reaction force on the body during walking. The traditional prosthetic limb has - fixed, the spring and - the damping of the fixed coefficient, in the impact "H ^ produces extreme reaction force, the wearer's body will suffer severe impact, and when the load is relieved, there is very weak anti-side force 'wearer The body will continue to oscillate. '

Dietzen et al. (C. J. Dietzen, J. Harshberger, and R. D_ Pidikiti, "Suction sock suspension for above-knee prostheses,,, Journal Prof Prosthetics and Orthotics, vol. 3, no. 2, 1991, pp · 90-93) proposes a shock absorbing pad for the leg of the residual limb of the leg, which provides a shock-absorbing function, a durable suspension effect, and eliminates the need for shock absorption of the body bandage, however, due to its limited space, The suspension effect is limited.

Barr et al. (AE Barr, KL Siegel, JV Danoff, CL McGawey 111, A. Tomasko, I. Sable, SJ Stanhope, "Biomechanical comparison of the energy-storing capabilities of SACH and Carbon Copy 11 prosthetic feet during the stance phase of Gait in a person with below-knee amputation,5, Physical Therapy, vol. 72, no. 5, 1992, pp. 344-354) proposes a leg design that can store energy 'can be touched by the user's foot The energy is stored in a deforming element from the ground level to the late standing stage, and the energy is released before the toe is off the ground to assist the leg swing, which can improve the patient's ability to walk, run or jump on the road. However, this design does not involve ground reaction. How to respond to the impact of the force when input at different speeds.

Farber et al. (B. S. Farber, J. S. Jacobson, "An above-knee prosthesis with a system of energy recovery: a technical note,"

Journal of Rehabilitation Research and Development, vol. 32, no. 4, 1995, pp. 337-348) proposes a knee-splitting prosthetic design with an energy recovery system that absorbs the energy of the initial standing and prevents the impact from entering the bearing Cylinder 201231038 How to input the power at different speeds due to the ground reaction force, the power of the line needs to be changed again to reduce the step and size of the repair system. For the sake of different speeds, & force input Provides different damping coefficients. ΓΓ==0:-3:2 No.2 proposed - a kind of magnetorheological actuating prosthetic knee speed and size of the force wheel, how to provide different damping Section, which contains an electromagnetic horse "^ = the elastic damper element and the controllable variable damper element can store energy and modulate the intensity of the ...,, and the noisy control means can operate, making its use conditions limited ί国ίίΐ利白第7555 proposed - a kind of computer controlled prosthetic knee ί ϊ 度 'through the hydraulic damping cylinder, for the processor and sensor, = in the sensor, number, select the hydraulic inside - flow The road provides the appropriate knee clearance: impedance, the impedance of each flow channel in the remainder is pre-designed fixed = ^ line can provide more than (4) gait, and can save energy consumption, but its complicated means can operate, U.S. Patent No. 20070043449 proposes an artificial ankle foot system with spring, nylon and tandem elastic actuators, comprising a leaf spring foot member, forming a heel and toe end, a Sexual ankle joint, connection and foot = can be mixed along the sputum, - electromagnetic motor The energy stored in the foot-spring and the ground is stored in the slingshot spring system, in order to provide thrust in the human body, a belt member prevents the rotation angle of the foot from being too large, and a controllable damper can be locked. The ankle angle or the absorption of mechanical energy, the controller can detect that the user 201231038 includes a flat road, a slope or a ladder, but it requires complex power, and the control hand & can operate to make the (four) joint restricted. ίίΐΓϋί2^123997 proposed - a kind of walking and running outside - outer 乂 Β 3 = 3 - _f basin components, can be worn on the user's waist,

Adjust the length of the rod, the body has - passive ^ yuan movement 5 movement two gland to promote the outer bone to reduce the human body, - can control the damper bit knee - spring element is located on the tread, and the foot, can store and release energy 曰 1 ^ It requires complex power systems and control methods to operate, so that it can be used to make use of the anti-actuator actuators, which are similar to the use of symmetrical muscle groups in biological limb joints. , ^ Under the fixed operating length, it can achieve the effect of using very low energy and almost zero output, which can independently produce flexion and extension type tendon, tandem elasticity, variable joint position, and variable stiffness effect. Complex power green and control methods are required to operate, limiting their use. F-A Patent No. 20080114272 proposes a control system for the prosthetic knee joint, which can automatically adjust its control strategy according to the user and its speed, and change the impedance of the knee joint during the standing period and the swing period, and the training process does not need When the patient turns into the patient's material, the controller can resist some degree of interference, but it requires complex power systems and control methods to operate, limiting its use. US Patent No. 20080255670 proposes a joint design of a prosthetic orthosis having at least two joint sections pivotally connected to each other, a pivotal piston connected to a transferable torque, the piston being located in a fluid chamber, and the front and rear chambers of the piston being electrically connected to each other. There are different degrees of conduction at different joint angles, so this creation is basically a variable damping design related to angular displacement. However, this creation does not teach how to achieve angular velocity related damper design. U.S. Patent No. 2,080,300,692 proposes a prosthetic foot and foot combination with 201231038. The stepping aid allows the foot plate to be damped and rotated thereon, and a continuous liquid ridge damper can be used to change the damping coefficient during walking of the user. In the process of flexion and back, the damping setting in the process is not thin, - the circuit surname of the sensor, the variable damping characteristic, the single-piston or double-piston damper embodiment, and the different heel heights It requires complex power and (4) means of operation to limit its use. =^开专利第20100138000纽出- Kind of prosthetic limb Laijie bionic step j good control method, provide - single rotating shaft knee joint with damper, one-dimensional controller and m control H can be made by signal selection hydraulic cylinder The inner fluid channel' provides an appropriate damping coefficient for the joint flexion. Furthermore, the knee joint does not need to reduce its load during the standing to swing phase transition, thereby providing the knee joint with a safe and natural supply. The gait of the energy, 3 should be various obstacles, the speed of the road, and the structure is simple, the price is low, the weight is more, the ..., and the second need complicated power system and control means to operate, so that the use of 1 is limited. U.S. Patent No. 2,241,242 proposes an artificial, knot design using an anti-actuator, similar to the use of symmetrical muscle groups in biological limb joints, and a very low energy consumption at a fixed operating length. And the effect of almost zero output, can independently produce flexion and extension type tendon, tandem elasticity, variable joint position ^, variable stiffness effect, but it requires complex power system and control can operate, make it use The occasion is limited. U.S. Patent No. 4,652,266 discloses a molded prosthetic foot having an energy storage ridge having a plurality of internal links and having a storage and release system at the adjacent end of the connecting rod, however, it is not directed to different speeds and sizes. Incoming time' provides the function of different damping coefficients. ' Lithus 5219365 proposes a kind of prosthetic foot structure, including a body-formed slab structure, the forefoot and heel are connected by an ankle joint, the arch can load weight, and can be closer to the natural alignment state when walking, and thereby Configuration flexibility and suction technology 201231038 = "same = ^, with the same speed and size of the force input material meaning ^ use the complex inside and outside the degree of freedom, increase the progress can choose to provide the 躁 旋 然而 其 其 其 其 其 其 其"^^^^^step_55 energy consumption, different speeds and sizes"

The energy storage of the piece is removed in the external force ====, the element = the spring, and the leg length, but it does not have the needle; = degree:;:: When the force is input, the ship with different damping wires is provided. = No.::2ϊΓί; The design of the acoustic and axial rotation of the prosthetic limb of the elastic energy storage unit is not designed to provide different damping coefficients for different speeds X and % of force. ί国 ij^^i582 proposed - a kind of energy storage release means of the two-control solution ===== pairs of degrees and two data, the impedance, and the patient does not need to enter the patient ^ ^ Γ ί ί ^ 201231038 U.S. Patent No. 6,764,520 proposes a kind of electronically controlled knee-type magnetorheological fluid type variable moment prosthetic knee joint, which utilizes multiple, thin-plated turntables containing magnetorheological fluid to generate shear force, and there is little in the shearing force mold. The pressure changes, and at low speeds, it can be achieved very low to the 'torque machine omitting the configuration of the deceleration system'. The towel-embodiment can also be used to fit the towel parts together to produce frictional resistance 'composition-species and friction resistance system' However, its complex power system control means can be used = limited use. U.S. Patent No. 6,805,771 proposes an energy foot for the growth of the forefoot, including an ankle joint connected to the foot, a leg joint, and a section below the 'section of the arch', the first curve segment, i牛, and Niu Diyi The curve segment connects the foot to the heel, but this creation does not have a step and any damping change strategy and design during walking. ^Guo Di Mu Noodle proposes an energy storage meaning with enhanced augmentation function = has an easy-to-replace ankle joint component, and is detachably connected to the front foot disc. These components are composed of a plurality of layers of polyester material f, which has an enhanced county Function: It does not provide different damping coefficient functions when inputting force for different speeds and sizes. Patent No. 717263G of the Japanese Patent No. 717263G proposes a cam structure that includes a spring that extends from the connecting portion to the original toe end, and can release energy when subjected to force, a cam and the cantilever spring, on foot In the process, the compression of the cantilever spring can be increased, and the potential energy of the cantilever spring towel can be further changed. However, it does not have the function of providing different damping coefficients when the needle is the same speed and the small force is applied. Special Spear J No. 7198〇71 proposes a method for loading fluid in the prosthetic knee joint. The method of filling the magnetorheological fluid into small holes by vacuum filling technique and filling it quickly, and uniformly filling the knee joint. Make it work.壬〗, 'However, this article does not involve the design of the performance adjustment of the suspension system. 201231038 ^National Patent No. 7279009 proposes a speed and patient adaptation to the prosthetic knee joint, which can automatically adjust its control strategy according to the user and its speed, and change the impedance of the knee joint during the standing period and the swinging period, and the training process is not The patient's data needs to be entered, and the controller can resist some degree of interference, but it requires complex power systems and controls to operate, limiting its use.

U.S. Patent No. 7,455,696 proposes a dynamic seal design for a prosthetic knee joint, which can seal a magnetorheological fluid in a chamber, which is composed of a pre-tensioned ribbon spring combined with a coil-shaped partition block, separating the distance from the particles in the magnetorheological fluid. The size is equivalent, allowing the particles to flow without accumulating on the sealing element. However, this paper does not involve the design of the performance adjustment of the suspension system. U.S. Patent No. 7,691,154, which is a system and method for controlling the pressure in the knee joint of a prosthetic limb, can control the pressure in the knee joint of the (4) filling or film deformation, and reduce the output, but it is not aimed at different speeds and sizes. The function of providing different damping coefficients when applying force input. A control system for the prosthetic knee joint can adjust its control strategy, change the knee joint in the material, the controller can resist some degree of interference, but it needs the system and control means to operate, making it limited in use. . '," [Summary] This work proposes a lower limb auxiliary device and method. In the system, the shock absorber and the assist ship are provided for the thinner. The main damping factor is 1. The damping coefficient can be adjusted according to the magnitude or speed of the ground reaction force; The adjustment process of the damping residual is self-contained and does not require manual operation. 3. The damping coefficient breaking process is mechanical operation, and does not require any power system to enter 201231038; 4. It can be compressed at the prosthetic speed or high speed back. During the bombing, the damping coefficient is automatically reduced to reduce the impact force of the user's body or to increase the propulsive force of the auxiliary user; 5. It can be automatically activated during the lower speed compression of the prosthetic limb or during the lower speed rebound. Increase the damping coefficient to stabilize the continuous oscillation of the user's body, or to reduce the propulsive force of the auxiliary user, or to improve the effectiveness of the user's own muscle strength; • 6. At the very low speed compression of the prosthetic limb, Or during the very low speed rebound, the automatic locking damping system 'improves the overall rigidity of the prosthesis, avoids unexpected swings at specific times, or uses When propelling with its own muscle strength, it travels with the effectiveness of the extreme south. [Embodiment] The present invention discloses a lower limb assisting device and method that can automatically adjust the damping coefficient according to the load condition, and the present invention is worn on the human body, such as the map. Show that the human body (A) is a knee amputation patient with a large leg stump (eight gossip), which is intertwined with the present creation (B). This creation (B) includes a prosthetic leg (B1), a prosthetic limb Knee joint (B2), a prosthetic leg (B3), a shock absorber upper tube (2), a shock absorber unit lower tube (1), a prosthetic ankle joint (B4), and a prosthetic foot plate (B5 One of the structures and force diagrams of the calf part of the creation is shown in Figure 2, in which the prosthetic knee joint (B2) and the prosthetic ankle joint (B4) contain a shock absorber unit (2) and a shock absorber unit. The lower tube (丨), the lower tube (1) of the shock absorbing unit contains the main piston (11) and the two are fixedly linked to each other, and the lower tube (丨) of the shock absorbing unit is sleeved - the shock absorber unit upper tube (2), The upper tube (2) of the shock absorbing unit has a top end cover (4) closing the end and a bottom end cover (41) at the other end to close the end. The bottom end cover (with a through hole for the main piston rod (10) to pass through and solidify with the fixing tube (9) in the 201231038 tube (i), the other end of the fixing tube (21) and the damping gas ( ▲Vacuum, adjust the middle (62==2=^^ Contains oil, the top gas surface reaction force (5) is transmitted to the prosthetic ankle joint (4), which can push the main piston (11) to squeeze the oil (3) Each flow channel flows to the upper oil chamber (63). L and Ni static = T is a damped stator - a - in the embodiment, the hybrid stator (3) body has at least two through holes respectively for accommodating the compression side The compression side valve member includes a compression side damping mover (311) which is urged by the elastic force and stays on the side of the damping stator (3), which is another One end is blocked by the thrust (313), and the thrust (313) is fixed to the other side of the damping stator (3). On the other hand, the configuration of the rebound side valve element is similar to that of the compression side valve element, only configured The opposite direction is not described here. The compression side damping mover (311) has the same structure as the rebound side damping mover (321). Here, only the compression side damping mover (311) is taken as an example, see FIG. 4 for one of the damping mover structures. An embodiment wherein the configuration of the compression side damper (311) includes a fourth flow port (3114) through which high pressure fluid for the lower oil chamber (62) flows into the mover and via at least one set of first flow ports (3111) flowing radially outward of the compression side damper (311) (in order to increase the flow rate, at least one set of second flow ports (3112) may be added. 'The second flow port (3112) The length, the position and the width may correspond to the first flow port (3111) in a predetermined relationship, and the fluid flows through the at least one set of third flow ports (3113) toward the elastic member (312) in FIG. 'And through the hole in the thrust (313), flows into the low pressure side of the upper oil chamber (63). The flow ports of the compression side damping mover (311) are sized such that when the damping mover moves to a predetermined position, the flow rate of the high and low pressure side fluids, the size of the flow ports, the constant of the spring, The size of the through hole on the preloading and thrusting (313) is in a predetermined correspondence relationship. In the case of the ground force exerted by the prosthetic foot on the very low speed (below the first value), it is 201231038. If the user is stationary or resists the body with his own muscle strength, the ground reaction force ( 5) It will be transmitted to the main piston (η) via the prosthetic foot plate (B5) and the prosthetic ankle joint (B4j), and the oil in the lower oil chamber (62) will flow to the upper oil chamber via the damping stator (3). (63), since the force is the compression direction for shock absorption, the rebound side valve will be blocked by the hole wall and locked, and there is no contribution to the compression private sequence, so in the compression program Ignore the action of the rebound side valve element; please refer to Figure 5 'The ground reaction force is pushed to the left (not shown), causing the main piston (11) to move to the left, so that the fluid pressure in the lower oil chamber (62) increases, however, When the hydraulic force is used to compress the total force on the side damping mover (311) against the thrust of the elastic member (312), the compression side damping mover (3H) does not move, and the fluid hardly moves from the lower oil chamber (62). Flow to the upper oil chamber (63), or only a small number of fluids are caused by errors in the machining of the components. The gap flows to the upper oil chamber (63) 'This achieves the automatic locking effect of the creation, at which time the user's muscle strength can be transmitted to the ground with great efficiency, and only a very small part is absorbed by the creation. If there is a slight speed (above the first value) when the ground reaction force (5) is compressed, for example, when the user touches the ground with his own muscle force to move the body forward, as shown in FIG. 6, the pressure in the lower oil chamber (62) acts on The force on the compression side damping mover (311) has overcome the elastic force of the partial elastic member (312), so the compression side damping mover (311) starts to move to the left, and at this time, the first-class port (3111) has at least a part. The holes of the damper stator (3)^h are mutually conductive, so that the fluid can flow to the low pressure side oil chamber (63) through the third flow port (3丨13) to complete the pressure relief action, so that the cost can be created at this time. The low-speed ground reaction force has a slightly larger damping effect, so the user's muscle strength can be effectively transmitted to the ground. If there is a high-speed (second value) ground reaction force (5) for compression, as shown in Figure 7. The pressure in the lower oil chamber (62) acts on the compression side to dampen the mover (311). The elastic force of most of the elastic members (312) is taken, so the compression side damping mover (311) moves to the left and the middle medium w. At this time, most of the first flow port (3111) is electrically connected to the holes on the damping stator (3) ( And if there is a second flow port (3112), the second flow port 12 201231038 (3112) will have at least a portion of the hole in the damping stator (7), which can increase the effective flow port area. It can flow through the third flow port (31 13) to the low pressure side oil chamber (63) to complete the faster pressure relief action, so at this time, the low damping effect of the high speed ground reaction force input can be achieved. Therefore, if too large external reaction force is input to the user's body at this time, a great part of the energy will be absorbed by the creation, and the impact on the user will be reduced. The above description of Figures 5 to 7 has fully demonstrated that the creation is at very low speed, low speed,

And the action of various ground reaction forces such as idle speed can be achieved: 1. When the ground reaction force (5) is lower than the first value, the effect is achieved; 2. The ground reaction force (5) When the speed is higher than the first value, the effect of automatic unlocking is achieved; μ 3. When the speed of the ground reaction force (5) is higher than the first value and is the second value, the effect of continuously adjusting the damping coefficient is achieved; All of the above damping modulation procedures do not require an external energy supply for automatic operation. L The ground reaction force (5) has the opposite direction of force, that is, the ground reverse (64, after the end of the action of 2, the elastic unit inside the creation (for example, the top air chamber process) exerts a tensile force on the creation, The back is blocked by the wall of the hole, so the formula is the same as the operation mode of the n element of the bribe side. The direction is opposite, so it is not described here. The aperture on the thrust, the second bomb of the elastic, the size of the pre-strict __ valve, the first-flow port on the mover (3111), the second flow port (3113), and the fourth flow port (3114) Each ruler 201231038 Γ弹 is different or different 'to achieve a symmetrical or asymmetrical compression, the damping force is small, the pressure is slow, the kinetic force is faster than the Α, the pressure is over [Simplified illustration] Figure 1 This creation is worn in the human body Embodiment FIG. 2 is a schematic diagram of the structure and force diagram of the calf portion of the present invention. FIG. 3 is a combination of a damper stator. FIG. 4 is an embodiment of a damper stator. FIG. 5 is a damper stator (3) and an internal component is subjected to a very low speed. A schematic diagram of compression Figure 6 shows the damping stator (3) and the internal components are slightly compressed at a lower speed. Fig. 7 Schematic diagram of the damping stator (3) and the internal components subjected to high-speed compression [Main component symbol description] A Human body A1 thigh residual limb B Creation B1 Prosthetic barrel B2 Prosthetic knee joint B3 Right. Limb calf B4 Prosthetic Joint B5 prosthetic foot plate 1 shock absorber unit lower tube 201231038

11 main piston 12 main piston rod 2 shock absorber unit upper tube 21 fixed tube 3 damping stator 311 compression side damping mover 3111 first flow port 3112 second flow port 3113 third flow port 3114 fourth flow port 312 elastic member 313 thrust 321 Rebound side damping mover 322 Elastic part 323 Thrust 4 Top end cover 41 Bottom end cover 5 Ground reaction force 61 Bottom air chamber 62 Lower oil chamber 63 Upper oil chamber 64 Top air chamber 15 201231038 65 Oil and gas separation membrane VII. Patent application scope: A lower limb assisting device comprising: a prosthetic limb tube portion (B1) that is nested with a user's thigh residual limb; a prosthetic limb Kwan Lang (B2), one end of which is pivotally connected to the prosthetic barrel portion (Bi) A prosthetic leg (B3) 'one end is pivotally connected to the prosthetic knee joint (B2); Luyi prosthetic ankle joint (B4) and a prosthetic foot plate (B5), which are pivotally connected to each other; One end is fixed to the prosthetic leg (B3), and the other end is connected to the prosthetic joint (B4). The shock absorbing unit further includes a shock absorber unit upper tube (2), at least a part of the space therein. Filling fluid; a primary piston (11), sliding to the In the upper tube (2) of the shock unit, the first end and the second end in the upper tube (2) of the shock absorbing unit are reciprocally movable, and the second end of the main piston (11) and the upper tube (2) of the shock absorbing unit At least a portion of the space is filled with fluid; • a damping stator (3) is fixed in the upper tube (2) of the shock absorbing unit, and the second end of the upper tube (2) of the shock absorbing unit and the main piston (11) At least one compression side damping mover (311) and at least one rebound side damping mover (321) are slidably engaged in the tunnel in the damping stator (3), and are respectively damped by the two sides and the compression side The elastic member (312) and the thrust (313) contacted by the sub-311 (311) and the rebound-side damping mover (321), so that the two movers are often pushed respectively to the first end of the damping stator (3) and Two ends, and often close the two holes respectively, the damping mover has a fourth flow port (3114), located at the axial center of the mover, the damping mover has up to 16

Claims (1)

201231038 65 Oil and Gas Separation Membrane VII. Patent Application Range: 1. A lower limb assisting device, comprising: a prosthetic leg tube (B1), which is nested with the user's thigh residual limb; a prosthetic knee Kuan Lang (B2), one end It is pivotally connected with the prosthetic tube (Bi); a prosthetic leg (B3) 'one end is connected to the prosthetic knee joint (B2); Luyi prosthetic ankle joint (B4) and a prosthetic foot plate (B5) ), the two are pivotally connected to each other; a shock absorbing unit, one end of which is fixed to the prosthetic lower leg (B3), and the other end is connected to the prosthetic joint (B4), and the shock absorbing unit further includes a shock absorber unit upper tube (2) at least a part of the space is filled with a fluid; a main piston (11) is slidably connected to the upper tube (2) of the shock absorbing unit, and the first end of the tube (2) of the shock absorbing unit is Reciprocating between the second end, at least a portion of the space between the main piston (11) and the second end of the upper tube (2) of the shock absorbing unit is filled with fluid; • The damping stator (3) is fixed to the upper tube of the shock absorbing unit ( 2) between the second end of the upper tube (2) of the shock absorbing unit and the main piston (11); at least one compression side damping mover (311 And at least one rebound side damping mover (321), sliding in the tunnel in the damping stator (3), and damping the mover (311) and the rebound side damping mover by the two sides respectively (321) contacting the elastic member (312) and the thrust (313), so that the two movers are often pushed toward the first end and the second end of the damping stator (3), respectively, and the two holes are often closed respectively. The damping mover has a fourth flow port (3114) located at the axial center of the mover, the damping mover having a first flow port (311丨) to 16 201231038 v, located at an outer diameter portion of the mover And the fourth flow port (3114) is electrically connected to each other. The damping mover has at least one third flow port (mu) located at an outer diameter portion of the stator and flowing out with the first flow (3111) The fluids are mutually conductive; when the fluid pressure of the first end oil chamber of the surface rotor (3) is higher than the second end, the compression side damping mover (311) is pushed toward the second end - predetermined Moving, the fluid can flow to the second end of the damping stator (3) through the fourth flow port (3114), the first flow port (3111), and the third flow port (3113) at a first flow rate. Oil chamber · When the first 钿 / from the pressure to the first end oil chamber, the rebound side damper (21) is pushed and moved toward the first end - the movement of the cockroach, the fluid can pass The fourth flow port (bribe) on the rebound side damping mover (321), the first flow port (3 call, and the third flow port (3113) 'flow to the second stop flow to the damping stator (3) An oil chamber at one end; and the third rate and the second flow rate may be determined by at least one of the following parameters: the size of the fourth orifice (3114), the size of the first orifice (3111), and the third The size of the flow port is 3), the spring constant and the amount of the elastic member (the sin), the spring constant and the preload of the elastic member, the magnitude and direction of the ground reaction force (5); When the shock absorbing unit is in a house or rebound motion, the displacement of each damper can be related to the magnitude, direction, and speed of the pre-discriminating ground reaction force (5), and the damping can be automatically adjusted. The effect of the coefficient. 2. The lower limb assisting device according to the scope of claim 2, wherein the compression side damping mover (3U) further has a second flow port (3112) located at the outer diameter portion 201231038 of the mover, and The fourth flow port (3114) is electrically connected to each other. 3. The lower limb assisting device according to claim 2, wherein the fluid flowing out of the second flow port (3112) and the third flow port (3113) are electrically connected to each other. 4. The lower limb assisting device according to claim 1, wherein the rebound side damping mover (321) further has a second flow port (3112) located at an outer diameter portion of the mover, and The fourth flow openings (3114) are electrically connected to each other. 5. The lower limb assisting device according to claim 4, wherein the fluid flowing out of the second flow port (3112) and the third flow port (3113) are electrically connected to each other. 6. A method for assisting the lower extremities, comprising: preparing a prosthetic leg tube (B1) 'sleeved to the user's thigh stump; preparing a prosthetic knee joint (B2) 'pivoting under the prosthetic barrel (Bi) Prepare a prosthetic leg (B3) 'Pivot to the prosthetic knee joint (B2); Prepare a prosthetic ankle joint (B4) and a prosthetic foot plate (B5), which are pivotally connected to each other; Prepare a shock absorber unit, One end is fixed to the prosthetic leg (B3), and the other end is connected to the prosthetic ankle joint (B4). The shock absorbing unit further comprises: preparing a shock absorber unit upper tube (2), filling the fluid in at least a part of the space therein Preparing a main piston (11), slidingly connected to the upper tube (2) of the shock absorbing unit, reciprocating between the first end and the second end in the upper tube (2) of the shock absorbing unit, filling the fluid At least a portion of space between the main piston (11) and the second end of the upper tube (2) of the shock absorbing unit; preparing a damping stator (3) fixed in the upper tube (2) of the shock absorbing unit, between the shock absorption Between the second end of the unit upper tube (2) and the main piston (丨丨); 201231038 prepare at least - the contraction side damping mover (5)) and at least one rebound side damping mover (321) 'sliding the hole in the nipper _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The mover is often pushed to the first end of the first end of the damper (7), respectively, and the knives are closed to the two holes. The damper has a fourth muscle port (3114) located at the axial center of the mover. The damper has The first w-port (3111) is located at an outer diameter portion of the mover and is electrically connected to the fourth flow port (3114), and the damping mover has at least a third flow port handsomely located outside the stator a diameter portion, and the first flow σ (the fluid flowing out of the third flow is mutually conductive; when the fluid pressure of the first end oil chamber of the damping stator (3) is higher than the second end, the compression side damper (311) is subjected to Pushing and moving toward the second end side 'the fluid can pass through the fourth flow port _, the first flow port (3 two = port (3113)' flows to the second end oil chamber of the damping stator (3) at a first flow rate When the first know/supplied to the pressure in the first end oil chamber, the rebound side damping mover (Π) is pushed and moved in the first direction - the movement can be determined in advance, and the fluid can be damped through the rebound side The fourth flow port (3114), the first flow port (3111), and the second flow port (3113) on the mover (321) flow to the __ end of the damper stator (3) at a second flow rate The oil chamber; and the first flow rate and the second flow rate are respectively determined by at least one of the following parameters: a size of the fourth flow port (3114), a size of the first flow port (3111), and a third flow port ( 3113) Size, flexibility The spring constant and preload of the piece (312), the spring constant and preload of the elastic member (322), the magnitude and direction of the ground reaction force (5); 19 201231038 Thereby, the shock absorbing unit in the present creation is compressed Or during the rebound movement, the displacement of each damper can be related to the magnitude, direction, and speed of the pre-determined ground reaction force (5), and the effect of automatically adjusting the damping coefficient can be achieved. The lower limb assisting method according to the sixth aspect of the invention, wherein the compressed side damping mover (311) is further provided with a second flow port (3112) located at an outer diameter portion of the mover, and the same The fourth flow port (31 η) is mutually conductive. 8. The lower limb assist method according to claim 7, wherein the fluid flowing out of the second flow port (3112) and the third flow port (3113) are mutually 9. The lower limb assisting method according to claim 6, wherein the rebound side damping mover (321) is further provided with a second flow port (3112) located at an outer diameter portion of the mover. 'and is electrically connected to the fourth flow port (3114). 10. As described in claim 9 Limb support method, wherein the second flow opening (3112) of the fluid flowing out of each other may be turned on and the third flow port (3113). 20