201238575 25 機械小腿部 26 機械踝關節部 27 機械足板部 的化學式： 五、本案右有化學式時，請揭示最能顯示發明特徵 六、發明說明： 【發明所屬之技術領域】 本創作乃關於一種下肢輔助裝置，更精確的說，錄 用者下半身雜，可協助使用者下肢運動之外骨路機械^置。邊 【先前技術】 广礙疾病中，以退化性膝關節炎為例，其臨 =、，、步行、坐站等困難，影響生活;;功=發 聊支撐期變長等問題。治療方式主要有復健 為膝部和腳部，效之療法’施療點可 會ί較明顯ίϊΠϊί動作之成效，在具挑戰性的環境中才 護膝並未如由坐至站、蹲姿取物等情形，然而一般 情大角度屈曲後之伸展動作，進行伸展力矩辅助功能。 201238575201238575 25 Mechanical calf 26 Mechanical ankle joint 27 Chemical formula of mechanical foot plate: 5. When there is a chemical formula on the right, please reveal the characteristics of the invention. VI. Description of the invention: [Technical field of invention] This creation is about A lower limb assisting device, more precisely, the lower part of the occupant of the occupant can assist the user to set the bone path mechanically outside the lower limb movement. [Previous technique] In the case of degenerative knee arthritis, the problem of degenerative knee arthritis is that it is difficult to affect life, such as walking, walking, sitting, etc.; The main treatment methods are rehabilitation for the knees and the feet. The treatment of the treatments can be more effective than the effect of the action. In a challenging environment, the knee protection is not as good as sitting and standing. In other cases, however, the stretching action after the large angle of flexion is generally performed, and the stretching torque assisting function is performed. 201238575
Barr 等人(八.£3&订，反丄816呂61，】.乂.0&11(^，(：丄.]^0&〜6丫111，八· Tomasko, I· Sable，S.J. 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，” 尸/奶如/ JTierapj；，v〇i. 72, no. 5, 1992, pp. 344-354)提 及一類可儲存能量之義足設計，可於使用者步行之足跟觸地期至 站立晚期將能量儲存於一變形元件中，並於足尖離地前釋放能量 輔助腿部擺盪’可增進患者之平路行走、跑步或跳躍之能力，然 而此類設計主要由足板中之被動撓性元件儲存能量，並未牽涉膝 關節之能量吸收與釋放之設計。Barr et al. (8. £3 & order, 丄 丄 吕 61 61, 】. 乂.0&11(^,(:丄.]^0&~6丫111, 八·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," corpse/milk as / JTierapj;, v〇i. 72, no. 5, 1992, pp. 344-354) refers to a type of prosthetic design that can store energy, allowing the energy to be stored in a deformed element during the walking of the user from the touchdown to the late standing, and before the toe is off the ground. The release of energy to assist the swing of the legs can improve the patient's ability to walk, run or jump on the road. However, this design mainly stores energy from the passive flexible components in the foot plate, and does not involve the energy absorption and release of the knee joint. .
Farb6r 等人(B. S_ Farber，J. S. Jacobson, “An above-Jcnee prosthesis with a system of energy recovery: a technical note，，，⑽r如/ 彳Farb6r et al. (B. S_ Farber, J. S. Jacobson, "An above-Jcnee prosthesis with a system of energy recovery: a technical note,,, (10)r as / 彳
Rehabilitation Research and Development, vol. 32, no. 4, 1995, pp. 337-348)提出一種膝上截義肢設計，内有能量恢復系統，可將站立 初期之能量吸收，並防止衝擊進入承筒部位，然而其並未牽涉膝 關節之能量吸收與釋放之設計。 美國專利20020013544號提出一種四連桿膝關節支架，其實際運 ，軌跡接近人體膝關節’然亦並未提供任何_膝關節與屈 曲之動六。 、國公開專利第搬4_娜號提出—射變機械阻抗人工腿， j予可改變’彈*餘可在無貞斜改賴崎低步行時之切 3求’再者’本創作可供應動力，動力可自人工肌肉提供，亦 統ί供，而其設計中動力單墙出力時之有效力臂 具肘即效應，無法依據膝關節屈角自動調整適當力臂。 J國$專〒艇號提出一種磁流變致動義肢膝關 ri二申展輔助兀件、兩段式肢限制機構，但並未提供膝 能。ρ β力矩’亦未涉及不同膝關節屈角時之有效力臂調變功 201238575 美國公開專利第·趣細j；號提出一種結合致 肢關節’含有—電磁馬達可提供“輪d 簧”可&制之可變阻尼疋件可齡能量及調變祕n = 雜之電子電力控制手段方能運作。 “〜、而要複 美國公開專利第2QQ7〇〇27555號提出一插雷日^在,墓1 感測器之錢，選擇液壓紅内—流路提供 土； ==之阻抗，設計固定者 力且可節省能量耗用率，然其主要為提供運ϊ 號提出一種具有彈簧、可變阻尼及. 宁夕(坪/ 生致動15之人工踝足系統，含有一 笼 ί足跟將:=:，連接槪;可二霞 彈弓狀ίϊί 2將巧部並未與地面保持貼合時之料儲入- 足部 場^受電力纽及控制手段方能運作，使其使用 第趣·號提出一種步行及跑步用之外骨骨各 腿盆元件’可穿戴於使用者之腰部，-外骨路 助推動外骨“if 動致動器，可於步行時輔 ，可控制阻尼器位於膝關節，一彈箐元件 =ίί足部，可儲存及釋放能量，然其需要複雜：L李 統及控制手段方能運作，使其使麟合受限。要複雜之電力系 201238575 作長度下，可達成耗用極低能源及幾近零出力之效果，可獨立產 生屈曲及伸展類肌腱、串列彈性、可變關節位置、可變勁度之效 ，，然其需要複雜之電力系統及控制手段方能運作，使其使用場 合受限。 J國公開專利第2D.Q-即.U4271·•號提出一種義肢膝關節之控制系 '可依據使用者及其速度自動調節其控制策略，改變膝關節在 及擺盪期之阻抗，而訓練過程中並不薰輸入患者之資料， :讯态可抵抗某種程度之干擾，然其需要複雜之電力系統及控制 手奴方能運作，使其使用場合受限。 專利第麵麵涵號提出—種義肢嬌具之關節設計， ^有至夕兩關節區段相互樞接，一樞狀活塞連接於可傳遞力矩之 =二1塞位於一流體腔内，活塞前後兩腔相互導通，在關節角度 關二ί有不，導通程度’因此本創作基本上為一種與角位移相 ρ交阻尼設計，然而本創作並未涉及提供助展力矩之設計。 開，第麵麵_•.號提出—_肢踝足組合，具有一 g 午足板於其上進行阻尼旋轉，利用一連續液壓阻尼 朗者步行巾改變阻尼魏，且在縣與背屈過程中之 付相關、’ 一控制電路利用感測器之結果改變阻尼特 秋：ain/p或雙活塞阻尼器實施例，且可設定不同足跟高度， 統未涉及助展力矩輸出之功能，且需要複雜之電 力系統及&制手段方能運作，使級料合受限。 Μ，1·號提出—種步行輔助裝置，可透過負· 部連桿組之力傳遞至制者之雜，其巾， 第-關節*第上Ϊΐ，,第二下連#連接腳部，第三中_節連接 二之ί擔’驅動單凡位於第三關節之上端，故整腿之 〜；·二關節上方；驅動單元具有一電磁馬達及減速機，然 201238575 其運作時需制到複雜之電力與控制系統，使料合受限。 ί:=ί::9!306554號提出-種步行輔助裝置，包含-髖 單元腰部、—動力產生單元、扭力傳遞 部，可穿ίΓΐίΓ部、扭力傳遞單元之快速拆裝 2G1_’號提出—種步行輔助控制系統，包含 作用賴測手段可_座位施予^者之，= 使得測得之力始終維持於—預先決定之下 I Λ、、…需要用到複雜之電力與控制系統使用場合受限。 β ^ ，、有P尼器之早$疋轉軸膝關節，一維處理3| 控制器可根據測得之訊號選擇液壓缸内之流體通道， ，以k供針，當時膝關節屈角之適當阻尼係數，再者，此 可轉換過程中不需減少其負載，藉此，本膝關節 ===省能的步態’以因應各種障礙路況、步速， 重量更輕，然其需要複雜之電力系統及控制 乎奴方忐運作，使其使用場合受限。 2麵GU398!號提出—種步行輔助祕，具有-使 芽早兀、一對鞋具容納使用者之腳、一對腳連桿捍 ，支7元而第二桿部連接鞋具、—對致動器 幸 然其需要__之電力與控制祕，使用場///相對運動 jmώ-mi}〇ύ^ ’類似生物肢麵節對稱肌群交互侧，在固 作長度下，可賴_極減源及幾近零出力之效果 生屈曲及伸展類肌腱.、串列彈性、可_節位置、可變勁卢之$ 201238575 ί受ί其需要複雜之電力緖及控财段方能運作，使其使用場 =;=骨=，部，然其需要=二 美國專利523G697號提出-種膝關節支架，適 ΐΞ=ϊ=Χ，義腿，分為上 在外力移除後可釋放部分所儲存之能 量及腿長'，然喊絲針轉_之概妨城支 ’在兩銷 但亦並未提做補轉额供賴者酿方便用， .懸吊組 並且具 之 之屈展進行輔助 =止軸向旋轉之設計，_其並未針對膝關節 具 果國專利第的P1沾2…號提出一種且 有-可移社足跟部、1雜；：==存釋放手段之義足、 單元連接雛與釋能單元，πϊ存裝置由可動足跟驅動，一控制 能量，铁而豆主要牽爷足却° 7所儲存之能量在腳尖離地期釋放 計，而並未連桿卡摯與儲釋能設 201238575 •美國專利第的iQiQl…號提出一種速度及病患適應義肢膝關節，可 依據使用者及其速度自動調節其控制策略，改變膝關節在站立期 及擺盪期之阻抗’而訓練過程中並不需輸入患者之資料，控制器 可抵抗某種程度之干擾，然其僅提供阻尼力但不提供助展力矩， 且需要複雜之電力系統及控制手段方能運作。 美國專利第0.7·的號提出一種電子控制義肢膝關節，為一種磁 流變液型式之變力矩義肢膝關節，利用多個具有内孔之薄片狀轉 盤内含磁流變液體產生剪力，在剪力模式下，流體内幾無壓力改 變，且在低轉速下可實現極低至極高扭力，可省略減速系統之配 置，其中一實施例更可將其中部分轉盤相互貼合產生摩擦阻力， 構^一種黏滯與摩擦阻力共存之控制系統，然其僅提供阻尼力但 不提供助展力矩，且需要複雜之電力系統及控制手段方能運作。 美國+利第71对.Q7!…號提出一種義肢膝關節中裝載流體之系統與 方法，利用真空充填技術將磁流變液充填至細小孔洞内，可有效 且快速裝填，並可均勻填充於膝關節内，使得操作過程平順，缺 而本文並未牽涉膝關節儲釋能元件之設計。… 美國專利第7271QQ1.號提出一種速度及病患適應義肢膝關節，可 依據使用者及其速度自動調節其控制策略，改變膝關節在站立期 及擺盪期之阻抗’而訓練過程中並不需輸入患者之資料，控制器 可抵抗某種程度之干擾，然其需要複雜之電力系統及控制手段方 能運作，使其使用場合受限。 ' 美國專利第厕.1M._號提出-種控制義肢膝關節内壓力之系統與 =法，利用可控制壓力之氣體填充或薄膜變形之方式，控制膝^- 節内之壓力並減輕其出力，然而其並未牽涉膝關節助展力矩供 元件之設計。 美國專利第775辦J .號提出-種義肢膝關節之控制系統，可依據 使用者及其速度自動調節其控制策略，改變膝關節在站立期及擺 盪期之阻抗’而訓練過程中並不需輸入患者之資料，控制器可抵 201238575 抗某種程度之干擾’然其需要複雜之電力系統及控制手段方能 作，使其使用場合受限。 f司提出一種G2 Extreme功能性膝關節支 線所構成之溝槽，針對導銷進行執跡控制， 然並未獒供任何輔助伸展與屈曲之動力。 【發明内容】 種1"_助裳置’可供使用者穿戴於下半身部位， 輔助其，膝或·節進行職職，具有以下特點： 1. : :之作為能量儲存與釋放單元’不需供應電力即可輔 2. 助〜、者各關郎屈展過程所需之全部或部分力矩； 性傳動元件’在穿戴者各關節屈展過程中 3. 機;i.軍且符合不同屈角所需之力矩’可免除剛性連桿 ，構運作過財’在特定肢所生之力矩不足現象； 力係數或其氣壓可調，穿戴者可依據不同之病 ^或功此性作動需求或療程上之需要，改變不同之力，矩輔助比 4. 力起始位置可調’穿戴者可依據不同之病期或 5. 出二對庫關：程上之需要’調整該氣液壓單元之位移與 出力對應關係’藉此設疋或改變開始出力時之關節屈曲角度； ίίίϊϊΐί元傳遞作動時所需之力或力矩，將氣液壓單元 正常動範圍之位置，例如大腿外側或背> ί^ί，’、膝關節、或編㈣處之各部件所 ^該動部位之額外慣性，患者穿戴本創 氏υΐί大出身體周邊之長度、空間、體積將可大 物之困^亦可減少各部件在運作時之額外慣性力；單礙 氣液[單7L中可設置可變阻尼功能，可依據地面反力傳遞至關 6. 201238575 節之衝擊力矩，手動或自動調整關節旋轉阻抗，降低地面反力 施予輔具系統之衝擊，藉以減少對於患者軀體之衝擊。 【實施方式】 叫參見圖1 ’為本創作穿戴於人體之一配置實施例，其中人體 .將本創作(2)穿戴於下半身，關助人魏行走行、上下階梯、上 道、蹲碟起立等動作’本創作(2)至少包含一組機械大腿部 ’’且機械膝關gji部(24)、及一組機械小腿部(25);可選擇性 包含一組機械骨盆部(21)及一組機械髖關節部(22);可選擇性包含 一組機械踝關節部(26)及一組機械足板部(27)。 本創作之一結構配置實施例如圖2所示，其中至少包含一組機械大 腿部(23)、一組機械膝關節部(24)、及一組機械小腿部(25);可選 擇性包含一組機械骨盆部(21)及一組機械髖關節部(22);可選擇性 包含一組機械踝關節部(26)及一組機械足板部(27)。 圖3為本創作機械骨盆部細部結構之一實施例，其中骨盆部束缚件 (211)可圍繞並將機械骨盆部(21)大體上固定於人體顯示於圖d 之腹腰臀部位，其圍繞方式可為橫斷人體(1)之腰腹部、或繞過人 體之臀部及鼠蹊部；該骨盆部束缚件(211)固定於一骨盆寬度固定 件(212c)上’該骨盆寬度固定件(212c)與骨盆寬度第一調整件(212旬 及骨盆寬度第二調整件(212 b)相互滑接且可以螺絲或綁附裝置予 以固定’藉此可調整及設定機械骨盆部(21)之有效寬度，藉以符合 不同牙戴者之月盆寬度，5亥骨盆寬度第一調整件(2i2a)與一骨盆深 度調整件(213)相互連接，該骨盆深度調整件(213)與一髖關節高度 調整件(214)相互滑接且可以螺絲或綁附裝置予以固定，藉此可調 整及设定該髖關節高度調整件(214)之所在深度位置(在人體矢狀 面與水平面交線上之座標位置），藉以符合不同穿戴者之骨盆深 度；該髖關節高度調整件(214)上有滑槽或複數螺孔設計，可供機 械髖關節部(22)(顯示於圖4)調整及設定其高度位置。 201238575 圖4為本創作機械大腿部細部結構之一實施例，其中髖關節高度調 整件(214)貼附於人體(1)踝關節之「近端肢段(在此為骨盆部位)」， 大腿第一調整件(231)貼附於人體(1)踝關節之「遠端肢段(在此為大 腿部位)」’機械髖關節部(22)為一至少具有一第一自由度之關節， 該第一自由度可供該大腿第一調整件(231)依機械髖關節部(22)進 行伸展與屈曲運動，該屈展運動之軸線大致與人體(丨)該關節該屈 展運動之軸線重合；該機械髖關節部(22)若具有一第二自由度，則 該第二自由度可供該大腿第一調整件(231)依機械髖關節部(22)進 行内收與外展運動；該機械髖關節部(22)若具有一第三自由度，則 該第三自由度可供該大腿第一調整件(231)依機械髖關節部g2)進 行内旋與外旋運動；該大腿第一調整件(231)與大腿第二調整件 (232) 相互滑接且可以螺絲或綁附裝置予以固定其相對位置，達成 調整及設定該機械大腿部(23)有效長度之功能，藉以符合不同穿戴 者之大腿長度；該大腿第一調整件(231)設有一儲釋能元件第一端 (233) ’該儲釋能元件第一端(233)與儲釋能元件第二端(234)相互滑 接且β玄儲釋元件第一端(234)相對於儲釋能元件第一端(2%)運 動時具彈箐姐尼或兼具之效果，例如—氣齡、液壓缸氣 液壓缸；該儲釋能元件第二端(234)具有一儲能-撓性件點 (235) ’可供一第一撓性傳動件(237)(見於圖5)固接於1上；夢此， 端(234)運動時，可帶動儲能·撓性件連接點_(235) 及(第-換性傳動件(237)運動；再者，大腿第二調整件 』 擇性的設置-娜能元將軌(236)，供 儲能-雜件連接點⑽附著固接，藉以拘束該儲釋 (234) 之運動執跡為—大體上平行於機 、糾進儲釋能元件第二端⑽)義^=駄 § 11 201238575 :調整件(23 υ相對於機贿關節部(22)而言，距離身， 臟部位較遠，故在後文中亦稱為髖關節之「遠端桿件」離身體心 ，.5為本創作機械小腿部細部結構之一實施例，其中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 energy from the early stages of standing and prevents impact from entering the barrel However, it does not involve the design of energy absorption and release of the knee joint. U.S. Patent No. 2,012,513, 144 discloses a four-link knee joint that is actually transported and trajected close to the human knee joint. However, it does not provide any movement of the knee joint and flexion. , the national public patent moved 4_Na proposed - the mechanical impedance of the mechanical impedance of the artificial leg, j can be changed 'bomb* can be changed in the innocent obliquely Lai Qi low walk when the cut 3 seeking 'furrow' this creation can be supplied Power and power can be supplied from artificial muscles, and the effective force of the single wall when the power is applied is elbow-effect. It is impossible to automatically adjust the appropriate arm according to the knee flexion angle. The J country, the special boat, proposed a magnetorheological actuating prosthetic knee joint, and the two-legged limb restraint mechanism, but did not provide knee energy. ρ β moment ' does not involve the effective force of the different knee joint angles. 201238575 US Published Patent No. j; No. proposed a combination of limb-related joints containing - electromagnetic motor can provide "wheel d spring" & variable damper element age energy and modulation secret n = miscellaneous electronic power control means can operate. "~, but to re-examine the US public patent No. 2QQ7〇〇27555 proposed a plug of Lei Day ^ in, the tomb 1 sensor money, choose hydraulic red inside - flow path to provide soil; == impedance, design fixed force And it can save energy consumption rate, but it mainly provides a kind of spring, variable damping and Ning Xi (Ping / Sheng actuating 15 artificial foot system), which contains a cage and will be:= :, 槪 槪; 二 霞 弹 状 ϊ ϊ 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 A walking and running outer bone bone leg member 'can be worn on the user's waist, the outer bone road helps push the outer bone "if the actuator, can be assisted on foot, can control the damper in the knee joint, a bomb箐 component = ί 足 foot, can store and release energy, but it needs to be complicated: L Li system and control means can operate, making it limited. The complex power system 201238575 length can be used to achieve consumption Very low energy and almost zero output, can produce buckling and extension independently Tendon-like tendon, tandem elasticity, variable joint position, variable stiffness, but it requires complex power systems and control methods to operate, limiting its use. J Country Open Patent 2D.Q- That is, U4271·•# proposes a control system for the prosthetic knee joint, which can automatically adjust its control strategy according to the user and its speed, change the impedance of the knee joint during the swing period, and the data of the patient is not extracted during the training. The state of the signal can resist some degree of interference, but it requires a complicated power system and control hand slaves to operate, which limits its use. The patent nickname is proposed - the joint design of the prosthetic limb, ^ There are two joint sections that are connected to each other, and a pivotal piston is connected to the transferable torque = two plugs are located in a fluid chamber, and the front and rear chambers of the piston are electrically connected to each other, and the joint angle is closed, and the degree of conduction is This creation is basically a damped design with angular displacement. However, this creation does not involve the design of the assisting torque. Open, the first face _•. No. _ limbs and foot combination, with a g midday Board in it Damping the rotation, using a continuous hydraulic damping Langer walker to change the damping Wei, and in the county and dorsiflexion process, 'a control circuit uses the result of the sensor to change the damping special autumn: ain / p or double Piston damper embodiments, and can set different heel heights, do not involve the function of the assist torque output, and require complex power systems and & means to operate, so that the level of material is limited. Μ,1· No. proposed a walking assist device that can transmit the force to the maker through the force of the negative link group, the towel, the first joint * the upper jaw, the second lower joint # connected the foot, the third middle _ The connection is the second one. The driver is located at the upper end of the third joint, so the whole leg is ~; · above the two joints; the drive unit has an electromagnetic motor and a reducer, but 201238575 needs to be manufactured with complex power and The control system limits the material. ί:=ί::9!306554 proposed a kind of walking aid, including - hip unit waist, - power generation unit, torque transmission part, wearable 、 Γ 、, torque transmission unit quick disassembly 2G1_' The pedestrian assisted control system, including the means of action, can be used for the seat, and the force is always maintained at the time of the decision. I Λ, ... need to use complex power and control system. limit. β ^ , with the P device early $ 疋 axis knee joint, one-dimensional treatment 3 | controller can select the fluid channel in the hydraulic cylinder according to the measured signal, k for the needle, then the knee joint angle is appropriate Damping coefficient, in addition, there is no need to reduce the load during this conversion process, whereby the knee joint === energy-saving gait 'to meet various obstacles, speed, lighter weight, but it needs to be complicated The power system and the control of the slaves operate, making their use limited. 2 face GU398! No. proposed - a kind of walking aid secret, with - make the bud early, a pair of shoes to accommodate the user's foot, a pair of foot links 捍, support 7 yuan and the second pole is connected to the shoe, - right The actuator is fortunate that it needs __ power and control secrets, the use of field / / / relative motion jm ώ - mi} 〇ύ ^ 'similar to the biological limb joint symmetry muscle group interaction side, under the fixed length, can rely _ Extremely reduced source and near-zero output effect, buckling and stretching tendon., tandem elasticity, can be _ section position, variable Jin Lu's $201238575 ίAccording to the need for complex power and control section to operate To make it use field =; = bone =, part, but it needs = two US patent 523G697 proposed - a knee joint bracket, suitable = ϊ = Χ, prosthetic leg, divided into upper part can be released after removal of external force The stored energy and leg length ', then shouting the needle to turn _ the general city of the branch' in the two sales, but did not mention the amount of replenishment for the convenience of the brewer, the suspension group and its flexion Designed to assist = stop the axial rotation, _ which does not propose a type of P1 dip 2... for the knee joint with the patent of the country, and has a removable foot heel, 1 miscellaneous ;:==The means of release means, the unit connection and the release unit, the π-storage device is driven by the movable heel, one controls the energy, the iron and the beans mainly hold the foot but the energy stored in the foot is off the ground. The release meter, without the linkage and storage and release energy 201238575 • The US patent iQiQl... 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, changing the knee The resistance of the joint during standing and swinging period does not require input of patient data during training. The controller can resist some degree of interference, but it only provides damping force but does not provide assisting torque, and requires complex power. The system and controls can only operate. U.S. Patent No. 0.7. proposes an electronically controlled prosthetic knee joint, which is a magnetorheological fluid type variable moment prosthetic knee joint that utilizes a plurality of scalloped turntables having internal bores to generate shear forces in a magnetorheological fluid. In the shear mode, there is no pressure change in the fluid, and very low to very high torque can be achieved at low speed. The configuration of the deceleration system can be omitted. In one embodiment, some of the turntables can be fitted to each other to generate frictional resistance. ^ A control system in which viscous and frictional resistance coexist, but it only provides damping force but does not provide a motive torque, and requires complicated power systems and control methods to operate. The United States + Lee 71st pair. Q7!... proposed a system and method for loading fluid in the knee of the prosthetic limb, filling the magnetorheological fluid into the small hole by vacuum filling technology, which can be efficiently and quickly filled, and uniformly filled in In the knee joint, the operation process is smooth, and the design of the knee joint storage and release element is not involved in this paper. ... US Patent No. 7271QQ1. 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 standing and swinging periods, while the training process does not need By inputting the patient's data, the controller is resistant to some degree of interference, but it requires complex power systems and controls to operate, limiting its use. 'US Patent No. 1M._ proposed a system for controlling the pressure in the knee joint of the prosthetic joint, and using the method of controlling the gas filling or film deformation of the pressure to control the pressure in the knee joint and reduce the output. However, it does not involve the design of the knee-assisted torque supply element. U.S. Patent No. 775, J., 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 standing and swinging periods. Entering the patient's data, the controller can resist 201238575 to some degree of interference', but it requires complex power systems and control methods to make it limited. The division proposed a groove made of the G2 Extreme functional knee spur, which was used to control the guide pin, but did not provide any power to assist the extension and flexion. [Summary of the Invention] The 1"_助裳置' can be worn by the user in the lower body part, assisting him, knee or section to carry out the professional duties, has the following characteristics: 1. : : as the energy storage and release unit 'no need The power supply can be supplemented by 2. The auxiliary gears are all or part of the torque required for the flexion process; the sexual transmission components are in the process of flexing the wearer's joints. 3. The machine meets different flexion angles. The required torque 'can eliminate the rigid connecting rod, and the structure operates too rich'. The torque of the specific limb is insufficient. The force coefficient or its air pressure is adjustable, and the wearer can act according to different diseases or the action or treatment. On the need, change the different forces, the moment assist ratio is 4. The force start position is adjustable 'The wearer can according to the different disease period or 5. The two pairs of the library off: the need of the process 'Adjust the displacement of the gas hydraulic unit Correspondence with the output force 'by setting or changing the joint flexion angle when starting the output force; ίίίίί元 transmits the force or moment required for the action, and the position of the normal hydraulic range of the gas hydraulic unit, such as the outer thigh or the back > ί^ ί,', knee joint Or the additional inertia of the moving parts of the parts in (4), the length, space, and volume of the surrounding parts of the body worn by the patient will be able to be trapped in large objects and also reduce the extra inertia of each part during operation. Force; single obstacle gas and liquid [single 7L can be set with variable damping function, which can be transmitted to the impact torque of section 6.38538575 according to the ground reaction force, manually or automatically adjust the joint rotation resistance, reduce the ground reaction force to apply the auxiliary system The impact, in order to reduce the impact on the patient's body. [Embodiment] Referring to Figure 1 is a configuration example of wearing a human body for the creation of the human body. The human body. The original creation (2) is worn on the lower body, and the helper Wei walks, the upper and lower steps, the upper road, the smashing disc, etc. Action 'This creation (2) contains at least one set of mechanical thighs'' and a mechanical knee off gji (24), and a set of mechanical calves (25); optionally a set of mechanical pelvis (21) And a set of mechanical hip joints (22); optionally comprising a set of mechanical ankle joints (26) and a set of mechanical footplate portions (27). One structural configuration of the present invention is shown in Figure 2, which includes at least one set of mechanical thighs (23), a set of mechanical knee joints (24), and a set of mechanical lower leg portions (25); A set of mechanical pelvis (21) and a set of mechanical hip joints (22); optionally comprising a set of mechanical ankle joints (26) and a set of mechanical footplates (27). 3 is an embodiment of a detailed structure of a mechanical pelvis portion, wherein the pelvic restraint member (211) can surround and substantially fix the mechanical pelvis portion (21) to the human body and is displayed on the abdomen waist and hips of FIG. The method may be to traverse the waist and abdomen of the human body (1), or to bypass the buttocks and the groin portion of the human body; the pelvic restraint member (211) is fixed on a pelvis width fixing member (212c) 'the pelvis width fixing member (212c) Adjusting and setting the effective width of the mechanical pelvis (21) with the first adjustment of the pelvis width (the 212 and the second adjustment of the pelvic width (212 b) are mutually slidable and can be fixed by screws or attachment means' In order to meet the width of the moon bowl of different wearers, the 5th pelvic width first adjustment member (2i2a) is connected to a pelvis depth adjustment member (213), and the pelvic depth adjustment member (213) and a hip joint height adjustment member are connected to each other. (214) sliding each other and being fixed by screws or attachment means, thereby adjusting and setting the depth position of the hip joint height adjusting member (214) (coordinate position on the intersection line between the sagittal plane and the horizontal plane of the human body) To match the pelvis of different wearers Depth; the hip height adjustment member (214) has a chute or a plurality of screw holes for adjusting and setting the height position of the mechanical hip joint (22) (shown in Figure 4). 201238575 Figure 4 is a creation machine An embodiment of the thigh detail structure, wherein the hip joint height adjusting member (214) is attached to the "proximal limb segment (here, the pelvic region)" of the ankle joint of the human body, and the thigh first adjusting member (231) Attached to the human body (1) the "distal limb (here the thigh)" mechanical hip joint (22) is a joint having at least a first degree of freedom, the first degree of freedom can be The thigh first adjusting member (231) performs a stretching and flexing motion according to the mechanical hip joint portion (22), and the axis of the flexing motion substantially coincides with an axis of the flexing motion of the joint of the human body; the mechanical hip joint If the portion (22) has a second degree of freedom, the second degree of freedom is provided for the thigh first adjustment member (231) to perform an adduction and an abduction movement according to the mechanical hip joint portion (22); the mechanical hip joint portion (22) if there is a third degree of freedom, the third degree of freedom is available for the thigh first adjustment member (231) according to the mechanical hip Section g2) performs internal rotation and external rotation movement; the thigh first adjustment member (231) and the thigh second adjustment member (232) are slidably coupled to each other and can be fixed by screw or attachment means to achieve adjustment and setting The function of the effective length of the mechanical thigh (23) is to conform to the length of the thigh of different wearers; the first adjustment member (231) of the thigh is provided with a first end of the storage element (233) 'The storage element One end (233) and the second end (234) of the stored energy element slide to each other and the first end (234) of the β-thoracic storage element moves relative to the first end (2%) of the stored energy element. Ni or both effects, such as - gas age, hydraulic cylinder hydraulic cylinder; the second end (234) of the stored energy element has an energy storage - flexure point (235) 'for a first flexible transmission The piece (237) (see Fig. 5) is fixed to 1; in this case, when the end (234) moves, it can drive the energy storage and flexure connection point _(235) and (the first-variable transmission member (237) Movement; in addition, the second adjustment of the thigh 』 Selective setting - Na Neng Yuan rail (236), for the energy storage - miscellaneous parts connection point (10) attached to fix the movement of the reserve (234) - substantially parallel to the machine, correcting the second end of the energy storage element (10)) ^=駄§ 11 201238575: adjustment piece (23 υ relative to the brix joint (22), far from the body, dirty parts Therefore, in the following, it is also referred to as the "distal rod" of the hip joint from the body center, which is an embodiment of the detail structure of the creel of the creation machine, wherein
附於人體⑴膝關節之近端肢段(在此為大腿部位)了= 於人體⑴膝關節之遠端肢段(在此為小G y、=(25)沿機械膝，部㈣進行屈曲與伸展運動， 關節該屈展運動之轴線重合;該小Ϊ第Attached to the human body (1) the proximal limb of the knee joint (here the thigh area) = in the human body (1) the distal limb of the knee joint (here, the small G y, = (25) along the mechanical knee, the part (four) for flexion Coinciding with the stretching motion, the axis of the joint flexing movement;
性傳動件㈣可選自以下機械元件:鍊條、金屬广金J 。分子材料繩索、附套管之繩索等可傳輸力之機H ，、第二端連接至儲能·撓性件連接點(235)(見於圖 ’ 腿部(25)沿機械膝關節部(24)進行屈曲與伸展^ 第—變半徑曲面(2511)上、或自該ϊ—ίΐ 面上之任：f至小腿第一調整件_旋轉中心機械膝 之距離，^第-變半徑曲面(2511)之—較佳實施例為 部(25)沿機械膝關節部⑼進行至完全伸展狀態時，該半腿 且進行至最屈曲狀態時，該半徑較長；該小腿第一調整^ 腿第二調整件(252)相互滑接且可以螺絲或綁附裝置予以ϋ 對位置’達成調整及設定該機械小腿部(25)之有效&人 不同穿戴者之小腿長度。 又精以付& 若該第一撓性傳動件(237)為一含有套管之鋼索，則i套 端可固接於大腿第二輕件(232)上，#管朗端之鋼 於小腿第-調整件(251)上，該套管之第二柄固接於儲釋能元J 第一端(233) ’套管該同端之鋼索端可固接於儲釋能元 (234)或儲能-挽性件連接點(235)上。 本圖中之大腿第二調整件(232)相對於機械膝關節部(24)而言，距 身體心臟部位較近，故在後文中亦稱為膝關節之「近端桿件； % 12 201238575 (23¾盥g件第一連接端(2512)，而儲能·撓性件連接點 ί、^Ϊ=^(234Χ級圖4)之相雜置可透過螺 第一調聲#Γ2^η§卜1 °又疋，撓性傳動件第二連接端(2512)位於小腿 调整奴·麵*ίΪ對位置，亦可透過獅、滑塊等設計進行 ====== 時，本創作(2)開始提供辅助屈展力矩之功能。 角又 圖7顯示本創作機械小腿部㈣時之—實施例，其中，小腿第一調 整件(251)及小腿第二調整件(252)繞機械膝關節部㈣進行屈曲運 動時，該第-撓性傳動件(237)將沿第—變半徑曲面(2511)進行貼合 運，’在膝關節屈角較小時，第一撓性傳動件(237)貼合至一第: 半徑(251 la) ’故此時膝關節張力繞機械膝關節部(24)旋轉中心點之 有，半控較小，提供較小之力臂及較小之扭力；當膝關節屈角稍 大％，第一撓性傳動件(237)貼合至一第二半徑(251 lb)，故此時膝 關節張力繞機械膝關節部(24)旋轉中心點之有效半徑稍大，提供稍 大之力臂及稍大之扭力；當膝關節屈角極大時，第一撓性傳^件 (237)貼合至一第二半徑(25lic)，故此時膝關節張力繞機械膝關節 部(24)巧轉中心點之有效半徑極大；，提供極大之力臂及極大之扭 力；該第一變半徑曲面(2 511)輪廓線起始點至終止點間之任一點至 該機械膝關節部(24)中心軸之距離，可設計為：在該關節進行屈展 過程中，若該第一撓性傳動件(237)固定於該小腿第一調整件(251) 上特定位置，造成該第一撓性傳動件(237)之一部分所連成之一切 線與中心軸間之力臂減小時，該距離則為增大之設計；亦可設計 13 201238575 :场’該距_為減小之設計；該第—變半徑曲 、上之t線段(大致為本圖中由第-半徑(2511a)至第三半徑 i綠c 滑崎段)在矢狀面上之投影輪廓線，大致為一圓滑 、曲綠。 乍機械足板部細部結構之一實施例，其中小腿第二調 之近端肢段(在此為小腿部位），踩 躁關節第三調整件(263)、或機械足板部 體躁關節之遠端肢段(在此為足板部位)；小腿第二 ίίϊϋΖ，第一調整件(261)在深度及高度方向分別相 =互滑叙可以螺_綁_置予以固定其相^ 機^關節部(26)寬度位置之功能；踩關節第二調整 姆位置，達成可調整“= 能;躁關節第三調整件(263)與歧 ΪΪίίΐ互滑接且可以螺絲或鄉附裝置予以固定其相 相胁晉調正及奴該機械踝’部(26)對機械足板部(27) 的=關節第-調~節第三調整 其)或踩關節第一調整件(261)與踝關節第 一5周正件(26¾或踝關卽第三調整件⑽)為搞接，且可供 =(27)沿機械踝關節部(Μ)進行疏屈與背屈運動，該屈^之 軸線大致與人體⑴該關節該屈展運動之轴線重合。 運動 其中足板第-調整件(271)連接-後足板部(272)，該 連Ιίί足板部(275)為—彈性元件;板 狀橡膝片狀?^、或金屬線狀彈簧，該底足板部(275)與一中足 201238575 板部(273)相互連接’該中足板部(273)又與一底足板部(275)(可為該 同一底足板部(275)或另一該底足板部(275))連接，該底足板部(275) 再與前足板部(274)連接；上述之中足板部(273)可選擇性的省略 之，另’具有至少一束缚件(圖中未顯示），可用於綁附人體⑴之足 板。 本圖中之小腿第二調整件(252)或踝關節第一調整件(261)，相對於 機械踝關節部(26)而言，距離身體心臟部位較近，故在後文中亦稱 為踝關節之「近端桿件」；而踝關節第三調整件(263)、足板第一 调整件(271)、或後足板部(272)，相對於機械踝關節部(26)而言， 距離身體心臟部位較遠，故在後文中亦稱為踩關節之「遠端桿件」。 圖9為本創作大小腿束缚件之一實施例，其中大腿第一束缚件 (238a)及大腿第二束缚件(238b)分別固接於機械大腿部(23)，該大 腿第一束缚件(238a)較接近機械骨盆部(21)，而大腿第二束缚件 (238b)較接近機械膝關節部(24)，當骨盆部束縛件(211)(見於圖3) 未被省略時，該大腿第一束缚件(238a)可選擇性的省略之；有一小 巧束缚件(253)固接於機械小腿部(25);該小腿束縛件(253)及大腿 第二束缚件(238b)可選擇性的使用其中至少一者束缚於人體q)。 圖10所，為本創作髖踝關節之變半徑曲面設計一實施例，表該機 械髖關節部(22)可選擇性的設有輔助機械大腿部(23)進行伸展或屈 ，運動之扭力；該機械踝關節部卩6)可選擇性的設有輔助機械足板 部(27)進行疏屈或背屈運動之扭力。在機械髖關節部(22)之辅助扭 力方面，可於大腿第一調整件(231)上設置一第二變半徑曲面， (2311)，而該第二撓性傳動件(215)在大腿第一調整件(231)進行屈 動時，該第二撓性傳動件(215)將沿第二變丰徑曲面(2311)貼 合’s亥第二撓性傳動件(215)之張力可提供該機械髖關節部(22) 一伸 展^向之輔助扭力’該第二撓性傳動件(215)之張力，可由設置於髖 =節高度調整件(214)旁側之儲釋能元件(未顯示)提供，該第二變半 把曲面(2311)之設計方法與儲釋能元件牽引第二撓性傳動件(215) 之運作原理，與圖7之說明所示者同理，在此並不贅述；若將第二 15 201238575 變半徑曲面(2311)及第二撓性傳動件(215)設置於大腿第—調整件 (231)之對侧’即可提供該機械體關節部(22)—屈曲方向之辅助扭 力；同理’在機械踝關節部(26)之輔助扭力方面，可於踩關節第三 調整件(263)上設置一第三變半徑曲面p631)’而該第三撓性傳動件 (254)在機械足板部(27)進行背屈運動時，該第三撓性傳動件(254) 將沿第三變半徑曲面(2631)貼合，該第三撓性傳動件(254)之張力可 提供該機械踝關節部(26)—跛·屈方向之輔助扭力，該第三換性傳動 件(254)之張力’可由設置於小腿第二調整件(252)旁侧之儲釋能元 件(未顯示)提供，該第三變半徑曲面(2631)之設計方法與儲釋能元 件牽引第三撓性傳動件(254)之運作原理，與圖7之說明所示者同 理，在此並不贅述；若將第三變半徑曲面(2631)及第三撓性傳動件 (254)設置於踝關節第三調整件(263)之對側，即可提供該機械踝關 節部(26)—背屈方向之辅助扭力。 圖11顯示本創作之儲釋能元件設置於人體背側之一實施例，可將 位於腿部附近之儲釋能單元移除，達成腿部空間更為精簡之設計 要求；其中該骨盆寬度第二調整件(212b)或骨盆寬度固定件(212c) 上設有一背架(216) ’該背架(216)上設有一儲釋能元件組(217)，該 儲=能元件組(217)中之儲釋能元件數暈可為一個或複數個；例如 數量為一個時，可將提供左右機械小腿部(25)屈展所需扭力之兩第 一撓性傳動件(237)，共同連接至該唯一儲釋能元件上；例如數量 為二個時’可將提供左右機械大腿部(23)屈展所需扭力之兩第二撓 ^傳動件(215)，分別連接至該兩儲釋能元件上；例如數量為六個 %，可分別將提供左右機械大腿部(23)、左右機械小腿部(25)、左. 右機械足板部(27)屈展所需扭力之第二撓性傳動件(2丨5)、第一撓性 ，動件(237)、第三撓性傳動件(254)，分別連接至該六個儲釋能元 件上，實際設計時可混合上述多製接策略運狀。再者，若該第 傳動件(215)、.第一挽性傳動件(237)、《第三撓性傳動件 山曰)為附套管之撓性傳動元件時，該套管之兩端可分顧接於近 端才干件上及該儲釋能元件之輸出端，此時該儲釋能元件組(217)可 16 201238575 ^ 餅細者自料叙料或提袋 元13-彈性元件、或-阻尼元件、或-彈簧 整或自機itr之彈性係數，可提供使用者手動調 動調整或自_&機ί阻尼元件之阻尼絲，可提供使用者手 【圖式簡單說明】 圖1本創作穿戴於人體之一配置實施例 圖2本創作之一結構配置實施例 圖3本創作機械骨盆部細部結構之一實施例 圖4本創作機械大腿部細部結構之一實施例 圖5本創作機械小腿部細部結構之一實施例 圖6本創作機械小腿部一實施例之一側視圖 圖7本創作機械小腿部屈曲時之一實施例 圖8本創作機械足板部細部結構之一實施例 圖9本創作大小腿束缚件之一實施例 圖10本創作體踝關節之變半徑曲面設計〆實施例 圖11本創作之儲釋能元件設置於人體背側之一實施例 【主要元件符號說明】 17 201238575 1 人體 2 本創作 21 機械骨盆部 211 骨盆部束缚件 212a 骨盆寬度第一調整件 212b 骨盆寬度第二調整件 212c 骨盆寬度固定件 213 骨盆深度調整件 214 髖關節高度調整件 215 第二撓性傳動件 216 背架 217 儲釋能元件組 22 機械髖關節部 23 機械大腿部 231 大腿第一調整件 2311 第二變半徑曲面 232 大腿第二調整件 233 儲釋能元件第一端 234 儲釋能元件第二端 235 儲能-撓性件連接點 236 儲釋能元件導軌 237 第一撓性傳動件 201238575 238 大腿束缚件 238a 大腿第一束缚件 238b 大腿第二束缚件 24 機械膝關節部 25 機械小腿部 251 小腿第一調整件 2511 第一變半徑曲面 2511a 第一半徑 2511b 第二半徑 2511c 第三半徑 2512 撓性傳動件第二連接端 252 小腿第二調整件 253 小腿束缚件 254 第三撓性傳動件 26 機械踝關節部 261 踝關節第一調整件 262 踝關節第二調整件 263 踩關節第三調整件 2631 第三變半徑曲面 27 機械足板部 271 足板第一調整件 272 後足板部 19 1 201238575 273 274 275 中足板部 前足板部 底足板部The transmission member (4) can be selected from the following mechanical components: chain, metal Guangjin J. A molecular material rope, a casing-attached rope, etc., can transmit a force H, and a second end is connected to the energy storage and flexure connection point (235) (see the figure 'legs (25) along the mechanical knee joint (24) ) Performing buckling and stretching ^ on the first-variable radius surface (2511), or from the ϊ-ίΐ surface: f to the calf first adjustment member _ rotation center mechanical knee distance, ^ first-variable radius surface (2511 The preferred embodiment is that when the portion (25) is moved along the mechanical knee joint (9) to the fully extended state, the radius is longer when the half leg is in the most flexed state; the calf is first adjusted to the second leg The adjusting members (252) are slidably connected to each other and can be screwed or attached to the device. The position is adjusted to the setting and the effective setting of the mechanical calf portion (25) is different from that of the wearer's calf length. If the first flexible transmission member (237) is a cable containing a sleeve, the sleeve end of the sleeve can be fixed to the second light member (232) of the thigh, and the steel of the tube end is adjusted to the calf first-adjustment member ( 251), the second handle of the sleeve is fixed to the first end of the storage energy element J (233) 'The cable end of the same end of the sleeve can be fixed to the stored energy element (234) The energy storage-traction member is connected to the point (235). The second adjustment member (232) of the thigh in the figure is closer to the heart of the body than the mechanical knee joint (24), so it is also referred to in the following. It is the "proximal rod of the knee joint; % 12 201238575 (233⁄4盥g first connection end (2512), and the storage and flexure connection point ί, ^Ϊ=^ (234Χ level Figure 4) The first sound can be transmitted through the first sound of the snail #Γ2^η§1 1 疋, the second connecting end of the flexible transmission (2512) is located at the position of the calf adjustment slave face, and can also be designed through lions, sliders, etc. When the ====== is performed, the creation (2) begins to provide the function of assisting the flexion moment. The angle is also shown in Fig. 7 as an example of the creation of the lower leg (four) of the machine, wherein the first adjustment of the lower leg (251) And when the second adjustment member (252) of the calf is flexed around the mechanical knee joint (4), the first flexible transmission member (237) will be attached along the first variable radius surface (2511), 'in the knee joint When the flexion angle is small, the first flexible transmission member (237) is attached to a first radius: (251 la). Therefore, the knee joint tension is rotated around the center point of the mechanical knee joint portion (24), and the half control is small. , For smaller arms and less torque; when the knee flexion angle is slightly larger, the first flexible transmission member (237) fits to a second radius (251 lb), so the knee joint tension around the mechanical knee The effective radius of the rotation center point of the joint portion (24) is slightly larger, providing a slightly larger force arm and a slightly larger torque; when the knee joint has a large flexion angle, the first flexible transmission member (237) is attached to a second Radius (25 lic), so the effective radius of the knee joint tension around the mechanical knee joint (24) is extremely large; providing a great force arm and great torque; the first variable radius surface (2 511) contour The distance from the starting point to the end point to the central axis of the mechanical knee joint (24) can be designed to be fixed during the flexion of the joint if the first flexible transmission member (237) is fixed When the leg is adjusted to a specific position on the first adjusting member (251), the distance between the line connecting the center of the first flexible transmission member (237) and the central axis is reduced, and the distance is increased. Can also be designed 13 201238575: the field 'this distance _ is the reduced design; the first - variable radius curve, the upper t line segment (roughly This figure by the first - radius (2511A) to third radius slider i green Kawasaki paragraph c) in the sagittal plane of the projection contour, a substantially smooth, curved green. An embodiment of the detailed structure of the mechanical foot plate portion, wherein the proximal leg portion of the second leg of the lower leg (here, the calf portion), the third adjustment member of the ankle joint (263), or the ankle joint of the mechanical foot plate portion The distal limb (here, the foot plate); the second leg of the lower leg, the first adjustment member (261) in the depth and height directions respectively = mutual slipping can be screwed _ tied _ set to fix its phase ^ machine ^ joint The function of the width position of the part (26); the second adjustment of the position of the joint on the joint to achieve the adjustable "= energy; the third adjustment piece (263) of the ankle joint and the ΪΪ ΪΪ ίίΐ are mutually slidable and can be fixed by screws or the device The threat of the right and the slave is the mechanical 踝 'part (26) on the mechanical foot plate (27) = joint first - adjustment ~ section third adjustment) or the first joint adjustment (261) and ankle joint A 5 week positive piece (263⁄4 or 踝关卽3rd adjustment piece (10)) is engaged, and is available for = (27) along the mechanical ankle joint (Μ) for ablation and dorsiflexion, the axis of the flexion is roughly The human body (1) coincides with the axis of the flexion movement of the joint. The movement of the foot plate first-adjustment member (271) is connected to the rear foot plate portion (272), and the Ιίί foot plate portion (2 75) is an elastic member; a plate-shaped rubber knee-shaped sheet, or a metal wire spring, the bottom foot portion (275) and a midfoot 201238575 plate portion (273) are interconnected 'the middle foot plate portion (273 And a bottom foot plate portion (275) (which may be the same foot plate portion (275) or another bottom foot plate portion (275)), the bottom foot plate portion (275) and the front foot plate portion (274) connection; the above-mentioned middle foot plate portion (273) may be selectively omitted, and the other 'having at least one binding member (not shown), which can be used to attach the foot plate of the human body (1). The second adjustment member (252) or the ankle joint first adjustment member (261) is closer to the heart of the body than the mechanical ankle joint portion (26), and is hereinafter referred to as the "proximal end of the ankle joint". The third member (263) of the ankle joint, the first adjustment member (271) of the foot plate, or the rear foot plate portion (272), relative to the mechanical ankle joint portion (26), is away from the body part of the body It is farther away, so it is also referred to as the "distal rod" of the joint. Figure 9 is an embodiment of the creative size leg restraint, wherein the thigh first binding member (238a) and the thigh second binding member (238b) are respectively fixed to the mechanical thigh portion (23), the thigh first binding member (238a) is closer to the mechanical pelvis (21), and the thigh second binding member (238b) is closer to the mechanical knee joint (24), when the pelvic restraint (211) (see Figure 3) is not omitted, The thigh first binding member (238a) can be selectively omitted; a small binding member (253) is fixed to the mechanical lower leg portion (25); the lower leg binding member (253) and the thigh second binding member (238b) can be Selective use of at least one of them is bound to the human body q). Figure 10 is an embodiment of the design of the radiused surface of the acetabular joint of the present invention. The mechanical hip joint (22) is selectively provided with an auxiliary mechanical thigh (23) for stretching or flexing, and the torsion of the movement. The mechanical ankle joint portion 6) is selectively provided with an auxiliary mechanical foot plate portion (27) for torsion of the sulcus or dorsiflexion movement. In the auxiliary torque of the mechanical hip joint (22), a second variable radius curved surface (2311) may be disposed on the thigh first adjusting member (231), and the second flexible transmission member (215) is in the thigh When the adjusting member (231) is flexed, the second flexible transmission member (215) will be attached to the second variable diameter curved surface (2311) to fit the tension of the second flexible transmission member (215). The mechanical hip joint (22) is extended to assist the torque. The tension of the second flexible transmission member (215) can be stored by the energy storage element disposed on the side of the hip=section height adjustment member (214) (not shown). Providing that the second half of the design method of the curved surface (2311) and the operation principle of the second flexible transmission member (215) are similar to those shown in the description of FIG. Describing; if the second 15 201238575 variable radius surface (2311) and the second flexible transmission member (215) are disposed on the opposite side of the thigh first adjusting member (231), the mechanical joint portion (22) can be provided - The auxiliary torque of the buckling direction; the same reason 'in the auxiliary torsion of the mechanical ankle joint (26), a third variable radius can be set on the third adjustment member (263) of the stepping joint The curved surface p631)' and the third flexible transmission member (254) will be affixed along the third variable radius surface (2631) when the mechanical foot plate portion (27) performs the dorsiflexion movement. The tension of the third flexible transmission member (254) can provide the auxiliary torsion force of the mechanical ankle joint portion (26), and the tension of the third transposition transmission member (254) can be set on the lower leg. The storage element (not shown) on the side of the second adjustment member (252) is provided, the design method of the third variable radius surface (2631) and the operation principle of the storage element to pull the third flexible transmission member (254) It is the same as that shown in the description of FIG. 7, and is not described here; if the third variable radius surface (2631) and the third flexible transmission member (254) are disposed on the third adjustment member (263) of the ankle joint On the opposite side, the mechanical ankle joint (26) can be provided as an auxiliary torsion in the dorsiflexion direction. Figure 11 shows an embodiment of the present invention that the storage element is disposed on the back side of the human body, and the storage and release unit located near the leg can be removed to achieve a more compact design of the leg space; wherein the pelvic width is The second adjusting member (212b) or the pelvis width fixing member (212c) is provided with a back frame (216). The back frame (216) is provided with a storage and release component group (217), and the storage energy component group (217) The number of halos of the energy storage element may be one or plural; for example, when the number is one, two first flexible transmission members (237) that provide the required torque for flexing the left and right mechanical calves (25) may be used together. Connected to the single storage element; for example, when the number is two, two second transmission members (215) that provide the required torque for flexing the left and right mechanical thighs (23) are respectively connected to the two The storage and release energy component; for example, the number is six%, which can respectively provide the left and right mechanical thighs (23), the left and right mechanical calfs (25), and the left and right mechanical footboards (27) to flex the required torque. The second flexible transmission member (2丨5), the first flexible member, the movable member (237), and the third flexible transmission member (254) are respectively connected to the six storage and release On the energy component, the above multi-tuning strategy can be mixed in the actual design. Furthermore, if the first transmission member (215), the first traction transmission member (237), and the "third flexible transmission member hawthorn" are flexible transmission elements with a sleeve, both ends of the sleeve It can be connected to the proximal end of the component and the output end of the stored energy component. At this time, the stored energy component group (217) can be 16 201238575 ^ cake fine self-feeding material or bag element 13 - elastic element , or - the damping element, or - the spring constant or the self-operating itr elastic coefficient, can provide the user manually adjust the adjustment or the damping wire from the _& machine damper element, can provide the user's hand [schematic description] 1The present invention is one embodiment of the configuration of the human body. FIG. 2 is a structural configuration example of the present invention. FIG. 3 is an embodiment of the detailed structure of the artificial mechanical pelvis. FIG. One embodiment of the detailing structure of the lap portion of the authoring machine Fig. 6 is a side view of an embodiment of the creator of the writing machine. Fig. 7 is an embodiment of the flexing of the lower leg of the writing machine. Fig. 8 details of the mechanical foot plate portion of the creating machine One embodiment of the structure FIG. 9 is an embodiment of the creative size leg binding member. FIG. Example of variable radius surface design of the ankle joint Figure 11 Example of the storage and release element of the present invention is set on the back side of the human body [Description of main components] 17 201238575 1 Human body 2 Creation 21 Mechanical pelvis 211 Pelvic part Binding member 212a pelvic width first adjusting member 212b pelvic width second adjusting member 212c pelvic width fixing member 213 pelvic depth adjusting member 214 hip joint height adjusting member 215 second flexible transmission member 216 back frame 217 storage and release element group 22 mechanical Hip joint 23 mechanical thigh 231 thigh first adjustment member 2311 second variable radius curved surface 232 thigh second adjustment member 233 storage and release element first end 234 storage and release element second end 235 energy storage - flexure connection Point 236 Energy Storage Element Guide Rail 237 First Flexure Transmission Member 201238575 238 Thigh Tie Member 238a Thigh First Tie 238b Thigh Second Tie 24 Mechanical Knee Joint 25 Mechanical Lower Leg 251 Lower Leg First Adjustment 2511 First Variable radius surface 2511a first radius 2511b second radius 2511c third radius 2512 flexible transmission second connection end 252 lower leg second adjustment member 253 Leg restraint 254 Third flexible transmission member 26 Mechanical ankle joint portion 261 Ankle joint first adjustment member 262 Ankle joint second adjustment member 263 Thrust joint third adjustment member 2631 Third variable radius curved surface 27 Mechanical foot plate portion 271 Foot plate First adjustment member 272 rear foot plate portion 19 1 201238575 273 274 275 middle foot plate front foot plate bottom foot plate portion