TW388713B - Computer controlled hydraulic resistance device for a prosthesis and other apparatus - Google Patents

Description

V. Description of the Invention (1) [Field of the Invention] The present invention is extremely suitable for use with a prosthesis or a compensator worn by a knee amputation surgeon, and also has other uses. Generally, this type of prosthetic limb includes an artificial joint of a seat for connecting with the user's residual limb, a knee bracket rigidly connected to the seat, and a downwardly extending from the bracket and a horizontal axis and The bracket is connected to the skeleton. A dragon and artificial feet are used to connect to the base of the skeleton. A control unit is used to lock the joints to prevent the skeleton from being buckled due to the walking force. It is also used for walking. In the best implementation, release the joint to make it free to swing when it is suspended. In this sense, control the joint so that the person undergoing amputation can be removed in a normal and natural posture. The characteristics of this posture are almost the same as those of a normal person. Walk at speed. [Background of the invention] * Native or natural joints move with the action of muscles, = force, and provide variable rigidity and resistance. However, the volume and weight of the muscles required for the function of the muscles are completely on the limbs. It is almost impossible to replicate this kind of muscle contraction. A study of prosthetic limbs is mainly focused on the pattern of 'shovel' which can be used by you, through the rigidity of rotation or resistance to free rotation). The transition, 纟, and lock mode (the standing posture of the lock 疋 and the time (that is, when the prosthetic foot is on the ground, υ 'was born in the step r?) Is a swinging posture that occurs when walking (that is, the foot of the foot = The research in recent years has been on the control of artificial joints (such as improving the stance and posture on page 5 D: \ 2D-C0DE \ 87113488.ptd V. Description of the invention (2) * ϋ The wearer is on the lower stairs, downhill, "sit There is a better control of the progress of the main & α foot ^. If an artificial joint is considered with a hinge, then the moon and the moon should have two separate actions. When flexing, the joint is rotated by y 彳The upper part of the hinge is closer to the lower part, and when stretched, the legs are straightened. Keep the upper and lower parts away; in order to make the movement of the artificial joint resemble a native, independent and variable control of the rotational resistance in any direction, it is necessary, while the resistance to rotation in the swing attitude is mechanically damped = In the common prosthetics, hydraulic dampers can be used in a wide range of walking speeds to maintain smooth motion response. Standing attitude control needs to have Higher bending resistance or complete resistance to rotation bending is usually achieved by a mechanical weight brake lock mechanism, a multi-center: brake link system, or a position brake hydraulic damper; However, the mechanical lock brake mechanism is difficult to maintain and adjust, and it will make the wearer's pace unnatural. The multi-center position brake mechanism requires more thoughtful operation, which is difficult to use in some cases, while the hydraulic damper is Can make the pace natural 'but also requires more practice and mental operation. US Patent Nos. 5,405,409 and 5,443,52 of the inventor disclose a linear hydraulic damper for controlling Upper limb prosthetic, this hydraulic damper has independent adjustable and variable impedance for folding and extending during walking swing posture. Due to the turbulent flow of hydraulic fluid in swing posture, this damper can For a wide range of walking speed, the control damper has a single damping rate when standing, and can be manually adjusted to suit the needs of different wearers. When the knee joint is fully extended, the damper is considered a non-posture. Page 6 Γ D: \ 2D-C0DE \ 87113488. Ptd 5. Explanation of the invention (3) State impedance mode. For some wear and tear, the initial f ® ^ I f braking position at this position ^ knife requires additional U cutting training 'Get the biggest moon & of this damper. Recently, electronic technology has also been applied to prostheses to make it easier to 'for example' US Patent No. 5, G62 8 56, 5 383 939 steps y 5 movements 7 = 5 to reveal two systems, which is insignificant The processing controller adjusts the impedance of the pressure or hydraulic cylinder to make it more capable than today's standard rotation control capabilities. -Knee joints with a larger pace speed range_ Further improvement of the prosthetic limb can be focused on the mechanism. In the initial standing posture, when the knee joint is extended with the body's leg straight, a small amount of knees is allowed The joints flex, but prevent further twists and turns. This institutional improvement was proposed by Si egmar and others. It is found in the Journal of Correction and Justice, No. 1 of Winter, 1997, 1 81. 24 pages of "Design principles, ergonomic data, and clinical trials of a polycentric joint that provides knee-knee stance bending control: a preliminary report"; the other author is Pavik

Popvic) et al., Appeared in "Optimized Control of Knee Prostheses with Two Degrees of Self-Reliance" in "Journal of Ergonomics", No. 28, 1995, No. 1, pp. 9-98. A prosthetic wearer needs more knee flexion resistance when going down the stairs than when sitting on a chair. Therefore, a control mechanism capable of automatically adjusting knee flexion resistance is needed, and this control mechanism should also provide a The swing impedance over a wide range of step speeds should be adjusted automatically so that the wearer does not need to consider the movements of his prosthetics when walking. Page 7 D: \ 2D-C0DE \ 87113488. Ptd V. Description of the Invention (4) The same computer-controlled hydraulic damping system applied to amputees can also be used for mechanical arms, braking systems, and sports equipment. These applications are only used in _ There are differences in the size of the brake with the largest impedance, but the same device, micro-processor control electronic circuit, and door valve technology can be used; the use of computer-controlled operating equipment can be found in US Patent Nos. 4,354676, 471145, 4, 91 9, 4. 1 8. 5, 5'2 30'672 and 5, 397, 287; however, in all such devices, it is necessary to be accurate over a wide range of temperatures and manufacturing margins. Ground to maintain its applied impedance, it also requires proper feedback control and hydraulic valves and controllers designed for lower speed operation. [Summary of the Invention] The present invention focuses on a computer-controlled closed-circuit electromechanical impedance device, one of which provides the knee joint group swing resistance of a prosthetic leg worn by an amputee below the knee joint. Other applications include rehabilitation equipment, sports equipment, braking devices, or Is the use of other types of mud blocking. In the paddle-like or wing-like form of the present invention and through an electric control, the computer-controlled variable pressure difference of the hydraulic fluid door is used in the anti-device, and the shaft valve and spool action of this device can be used to eliminate a preferred embodiment. In this device, when the rotating wing rotates, the rotor or brake valve and one side flow of the self-rotating wing are also reversed, and the same is generated on both sides of the rotating wing. The linear valve is a configuration that makes the spool remove fluid imbalanced brakes to take a proportional control flow to the other side of the electric control valve to a variable pressure impedance and replace it. The coil movement does not affect one of the forces that can be turned, the hydraulic fluid, and when the reverse flow flows back to the original side, the force difference is poor, which may cause the balance line of the resistance of the invention to affect the spool.

V. Description of the invention (5) The valve = shaft is also balanced by grinding force to eliminate any possible fluid locking phenomenon. The configuration is that when providing quantitative power, the spool is operated to generate an almost quantitative force; the valve control system includes a high frequency I: can; ^ line, 丨 force, and the proportional control system is used to reduce as much as possible :: The same rate of knowledge (usually occurs on the pulse width adjustment control). _ The valve control system in the device is a microprocessor closed-loop adaptive control. 辕: The micro-processor will read the pressure difference of the brake or g, the rotor position, and the additional at 1㈣ interval (100Hz). Force and pressure difference errors. This microprocessor calculates rotor position, rotor speed, and rotor_azimuth at 10ms intervals (100Hz). Based on the obtained data, the microprocessor can calculate the impedance (pressure difference), An automatic impedance device can be generated by this method. When the difference between the actual and required pressure is too large, the microprocessor can change the valve to compensate for this huge error. If the difference between the actual and required pressure is very small, , The microprocessor can change the valve slightly to compensate for this small error; by the pressure feedback of the closed circuit control, the control system can compensate the mechanical error, the impedance of the door coil, the viscosity difference of the flow vessel, the temperature consumption, and The constants in the formula are adjusted according to the differences in the operating environment of the control system. When the device of the present invention is applied to a knee joint control unit of a person with a lower limb, this control unit detects five important points in a standard step stroke and can be divided into two main areas in the step stroke .: Standing Posture and swing posture, the standing posture is the period when the prosthetic limb touches the ground, and the posture g is the period when the prosthetic limb is off the ground; the first main detection position is at the initial heel contact point of the standing posture. On the ground, page 9 D: \ 2D-C0DE \ 87113488. Ptd 5. Explanation of the invention (6) The prosthetic limb should have a certain degree of stability at this point to support the wearer transferred from the other foot firmly. weight. In this state, it can provide the maximum resistance to support the wearer's deformed state 2 is the most ideal state (allowing the prosthetic limb to flex slightly). In theory, the prosthetic limb should be bent at 10 degrees to avoid the wearer from having the prosthetic limb fully extended The arching movement, the 10-degree deflection system in the posture is the second consideration point; in this second point, 'when the wearer's body moves forward, the prosthetic limb begins to stretch, and in the process, the prosthetic limb is completely straight; After the body advances, the third point is the starting point of the prosthetic limb bending. At this time, the wearer bends his hips to drive the prosthetic limb forward. — The fourth point is when the toes are off the ground, at this time, the prosthetic limb comes out of contact with the ground. , Also the beginning of the swing posture. In the swing posture, the knee joint control unit provides the main impedance to limit the swing speed and the angular displacement of the lower limb. In theory, the knee joint cannot be bent more than 65 degrees in the swing posture. This limitation can be introduced by— High impedance to limit the height of the heel. When the prosthetic limb sways, the knee joint control unit begins to stretch due to the momentum of the prosthetic limb. The fifth consideration is the terminal deceleration, which occurs during the last few degrees of the prosthetic limb extension. Before the middle heel touches the ground, at this time, it is necessary to use a high impedance to limit any rough slap of the knee joint when the prosthetic leg stops. In order to control the knee joint control unit, the microprocessor of the present invention reads the pressure difference of the rotary wing, the position of the knee joint, the pressure difference error, and the force of the prosthesis at the lms interval (100 0Hz). (100Hz) Calculate knee joint position, knee joint speed, knee joint direction, and read user settings (1-10) for flexing and extending, which are used for bending and extending user settings

D: \ 2D-C0DE \ 87113488. Ptd Page 10 V. Description of the invention (7) It is ίZOί and can be used from the bottom. According to the two information, the microprocessor can calculate the required塍 guan J resistance is magical, and thereby generates an automatic adjustment to close and s state m; can be greatly changed between H to adapt to the difference in the operating environment of the control system to compensate for the large error of this moment, and if it is really bad If the difference is small, the microprocessor can change the valve slightly to compensate for this small error; if the knuckle angle is extended and close to the full extension f, the 'microprocessor starts to close the valve to produce high impedance and slowly extend the prosthetic limb. When the knee angle is bent and close to the ideal heel rise, the microprocessor starts to close the valve to produce a high impedance and slow movement. The prosthetic force measurement allows the microprocessor to distinguish the heel from touching the ground, standing in the middle, Or toes off the ground, etc. 'This device creates a high knee joint impedance and slows down the movement of the wearer by the amputee who moves to the next step by his weight. The faltering is achieved by sensing the force and the pivot speed of the knee joint. If the force sensor confirms a standing state and the knee speed is too high, it is likely to indicate a faltering state. At this time, the system is Apply a high impedance 'to help the wearer restore control. If the unused time exceeds 5 seconds, the microprocessor will switch to sleep mode. At this time, all components except the knee joint are in a stopped state. Not only electricity: = Saved, and allows the control system to resume operation immediately when the knee joint angle changes; the power supplied to the control system consists of four 3.6 volt lithium ions. Page 11 D: \ 2D-C0DE \ 87113488. ptd five 'invention description (8) The battery is provided. These four batteries are combined in a replaceable kit and can be charged to recover 90% of the electricity in two hours. The battery life in the second charging room is about thirty. hour. In the preferred embodiment of the present invention, the knee joint control unit is operated by a rotary wing rotor. 'The rotor is located in a rotor case 上 on the knee joint shaft, and the knee carriage is connected to the rotary wing. When the knee joint is bent When turning the wing and rotating, the hydraulic fluid is forced out of the casing through the coil control valve. This coil control valve controls the fluid flow and pressure in turn. The fluid flow and pressure control provides the impedance available for the knee joint shaft, and flows out of the coil control valve. The fluid then flows through-the weight brake attitude valve 'when weight is applied to the prosthesis, this valve restricts the flow of fluid' This attitude valve is adjustable to allow a variety of flow rates (predetermined or according to the weight of the wearer) (Determined), the fluid leaving the attitude valve flows into a deflection cylinder, which includes a spring-loaded piston, which is compressed when the knee joint control unit is bent; the fluid on the other side of the deflection piston is Circulation to the other side of the rotating wing, thereby forming a fluid flow path; the reversal of the flow during extension is the potential energy stored by the spring biased piston, which is used for Helps stretch the prosthetic. Other features and advantages of the present invention can be clarified by the following description of the invention, the attached formula, and the scope of patent application. [Brief description of the round form] FIG. 1 is a side view of a lower limb ^ prosthesis applied to a lower limb and a lower limb, and it uses an I anti-device or a knee joint control unit of the present invention; FIG. 2 is a knee in FIG. 1 A part of the joint control unit magnifies the side view circle; the factory 3 is a front view of the knee joint control unit;

V. Description of the invention (9) Figure 4 is the rear view of the knee joint control unit; Figure 3 is the brake surface farmer J 'along line 5-5 and shows its internal components; round, showing the knee joint angle. Qin 6 series It is 视 3 along the 6-β line t part of the visual acuity sensing mechanism; = 7 is the circle of view i along the 7-7 line in Figure 2 and shows the very agricultural rotor and rotor housing; Figure 8 is a diagram 2 The section along line 8-8 is only shown, and shows the extension of the room force induction benefit. Figure 9 is a front view of the coil control valve; Figure 10 is an axial cross-sectional view of the coil control valve in Figure 9; 11A is an exploded view of the load surface of Figure 15 in Figure 8. 容. 晋 恩 六 # _ gg „IS 1 1 R Total inflammation, upper and lower 4 pressure; square induction 15; ... Figure 11 B Axial cross-sectional view. # = 2 'is a view of a capacity force sensor used in a knee joint control unit; Figure 14 is a middle view of a knee joint control unit used;' Figure 15 is the present invention Computer control S) · Park, Figure 16 is a block diagram of the Mingming device used for preparation; screenshots are used on sports equipment, robotic arms, or damping systems, and the 7 series is a Mingming device; The prosthetic block ϋΑΛ3ί: Λ view of a circle in FIG. 5 is the impedance of the rotor; a block of a hydraulic circuit of the system of the whole block of electromechanical impedance means closed

V. Description of the invention (10) Figure Ί 8 is the electronic circuit used for preparing the control valve in the impedance device. Figure 19 is the electronic circuit surface for the Hall position sensor in the impedance device. 20 is the circuit diagram of the force sensor of the knee joint control unit; Figure 21 is the angle view of the knee joint of the knee joint control unit; Figure 22 is the block of the mainstream soft fall program applied to the knee joint control unit · Fig. 23 is a block diagram of the 1-ridge interruption software program applied to the knee control-control unit; and 124A & 24B is a block diagram of the 10ms software program applied to the knee I-section control unit. [Illustration of drawing number] 1 seat 2 knee joint control unit or unit 3 Pailong 4 feet 5 skeleton 6 bracket 7 right side holding plate 8 left side holding plate 9 axis 10 roller 11 latch

V. Description of the invention (11) 1 2 Knee joint angle lever arm 13 penetrating pin 14 magnet 15 housing 16 spring 17PC board 1 8 Hall effect sensor 1 9 multi-battery pack 20 rotor 21 passing through pin 22 right rotor cover 2 3 Left rotor cover 24 oil seal 2 5 left rotor compartment. 2 6 right rotor compartment 27 bearing 2 8 lip oil seal 29, 30a, 30b, 33, 58, 59 channel 31 bending pressure sensor 3 2 coil control valve 34 extension pressure Sensor 3 5 Offset tube 36 Cavity 3 7 Upper offset cover

Page 15 D: \ 2D-CODE \ 87113488. Ptd V. Description of the invention (12) 38 stand valve tube 39 stand valve 40 inner chamber 41 annular oil seal 4 2 annular piston 43 offset spring 44 spring seat element 45 oil chamber 46 hydraulic cylinder 47 lower cover element 48 striker 50 bracket 57 return pipe 64 bottom plate 66 shaft sleeve 67 screw 68 force sensor 6 9 standing position adjustment screw 7 0 standing position valve cover 71 Belle washer 72 standing position valve washer 73 return spring 74 Elastic pad 78 adjustable nozzle

D: \ 2D-CODE \ 87113488. Ptd Page 16 V. Description of the invention (13) 82, 83 No end groove 84 holes 1 0 0 Reel 1 0 1 Coil 102 Wire 1 0 3 Epoxy resin 1 0 4 Flux cardioid 105 cup shell 1 0 6 adjusting screw 1 07 0 ring 1 0 8 spool 109 return spring 11 0 spool seat 111 tubular box 112 box plug 113, 117 inlet 114, 1 16 outlet 11 5 spool chamber 115, 21, 1 22 0 ring 200 microprocessor 201 timing generator 2 0 2 system module 2 0 3 power circuit 204 position sensing circuit

D: \ 2D-CODE \ 87113488. Ptd Page 17 V. Description of the invention (14) 206 Hydraulic internal pressure sensor circuit 2 0 7 valve control circuit 2 0 8 force sensor 2 0 9 accessory program 2 1 0 coil control valve 211 Hydraulic paddle starter 2 1 2 High-side hydraulic sensor 2 1 3 Low-side hydraulic sensor 214 Coupler 215 Operating device 216 Position sensor 21 8 Battery 21 9 Restart circuit 220, 221 Weight sensor 2 22 Circuit 224 Digital Switch or button 226 position sensor 2 2 8 magnet 2 2 9 buffer module 230 operational amplifier 2 3 1 reference point 2 32 force sensor 236 reflector 2 3 7 insulated printed circuit board

D: \ 2D-CODE \ 87113488.ptd Page 18 V. Description of the invention (15) 238 Reference pad 239 Elastomer 240 Receiving board 2 41 Outer cup 243 Digital voltmeter 248 Curve 249 Heel contact position 2 5 0 Full load position 251 Toe off position 252 Toe off position 2 5 3 Ground contact position Please refer to Figure 1, the standard lower limb prosthetic system used by lower limb amputees includes a stump socket as the interface between the amputee and the prosthetic limb 1, A knee joint control unit or unit that provides knee rotation and impedance to assist walking 2. A Pailong 3 and a sole 4 are erected. Among them, components 1, 3 and 4 are traditional components and can be purchased on the market. The description of the knee joint control unit or unit 2 is based on Figures 2 to Η, and it also includes a skeleton combination 5 and an inverted U-shaped knee bracket that is fixed to the socket 1 ^ This knee bracket 6 includes a right side The retaining plate 7 and a left-side retaining plate 8 are slid on the rotor shaft 9 (Fig. 5). The two ends of the rotor shaft 9 are ... ^ The parallel flat wire is fixed to the bracket 6, and the shaft 9 and the knee bracket 6 can be added to each other to screw it. , The left holding plate 8 also has an outer cam surface (granary 6), collected 5 rotates, the knee angle sensing mechanism. To brake one

V. Explanation of the invention (16) A figure 6 shows a knee joint angle sensing mechanism, which includes a roller 10 provided at a top of a knee joint angle lever arm 12 and a knee joint angle lever arm 12 The middle section is pivotally connected with a penetration pin 13 pressed on the general body 15 and a magnet 14 is stuck to the lower end of the knee angle lever arm 12. When the knee bracket 6 rotates relative to the casing 15 and the skeleton 5, The roller 10 rolls along the cam surface on the left holding plate 8. A spring 16 causes the knee joint angle lever arm ^ to pivot on the through pin 13, and in turn changes the distance between the magnet 14 and the Hall effect sensor 18. Among them, the Hall effect sensor 18 is set on a pc board combination 17 ', and when this distance is changed, the output of the Hall effect sensor 18 will change accordingly to indicate that the skeleton 5 and the case 15 are opposite to the bracket The exact knee angle of the frame 6 'and the power supply is powered by a multi-battery pack 9 to the pC board 7. Figure 5 shows the internal components of the knee joint control unit or unit 2. The hydraulic fluid is the working fluid that provides the knee joint control impedance. The impedance is through the rotor shaft 9 (Figure 7) and a wing rotor 20 (Figures 5, 7, and 5). And 13A-130 are provided to the knee bracket 6. This wing rotor 20 is connected to the rotor shaft 9 through two through pins 21, and the rotor compartment is connected by a right rotor cover 22 (FIG. 7) and a left rotor cover. 23, two endless Teflon oil seals 24 can seal the rotor 20 between the two rotor covers 22 and 23 'thereby creating two separate rotor compartments 25 and 26 (Figure 5); as shown in Figure 7' The rotor shaft 9 is supported by 27 roller bearings, and is used to support the weight of the amputee when the side thrust is supported by a flat iron furon. These gaskets are located on the two rotor covers 22 and 23 and Bracket 6 side or between the feet; rotor shaft 9 is sealed with a spring-biased lip oil seal 28 provided adjacent to the drawing bearing 27 to prevent leakage of hydraulic fluid. When the knee joint is bent, the 'rotor 20 is attached to the knee support The frame 6 and the rotor shaft 9 rotate,

D: \ 2D-CODE \ 87113488. Ptd Page 20 V. Description of the invention (17) By this, the hydraulic fluid in the rotor compartment 26 (Figure 5) is forced to flow out and flow through a rotor cover 22 and 23 and the shell The braking channel 29 between the bodies 15 The hydraulic fluid is pressed into the channels 30a and 30b by the channel 29, and the channel 30 is connected to a bending pressure sensor 31 sealed by an o-ring and a holding ring, and the channel 3013 Then, the fluid is introduced into a valve cavity, in which the channels 303 and 3013 and the valve cavity $ are formed in the housing 15. After flowing out of the channel 30b, the hydraulic fluid flows again. —The coil control valve 32. It is used to electrically control the flow and grinding force of hydraulic fluid in the rotor chambers 25 and 6, and the hydraulic fluid flowing out of the coil control valve 32 flows into the fluid passage 33 (Fig. 8). -The channel 33 extends to an extension pressure sensor 34 (Figures 5 and 8), which is sealed in the housing 15 with a -0 ring and a retaining ring, and the channel 33 is also connected to a bias tube 35 (Figure 4), and the hydraulic fluid flows through the offset tube 35, and goes forward: the cavity 36 (Figure 5) formed in the-upper offset cover 37; the hydraulic fluid then passes through the standing valve tube 38 and a The tubular stance valve element 39 enters an inner chamber 40, and the fluid flowing into the inner chamber 40 presses an annular oil seal "and an adjacent ^ = plug 42 'This annular piston 42 can be moved upwards, so as to shrink one The biasing spring 43 fixed to the spring seat element 44 on the biasing cover 37. The biasing spring ^ is in the oil chamber 45 formed by the hydraulic cylinder 46. The hydraulic cylinder M is fixed on the lower cover element. 47. It is used to support the striker 48 which moves axially. ~: The ring bracket 50 is used to form the inner chamber 40 and form a base so that the ring 38 and the ring piston 42 are positioned on the standing valve tube 38. The standing position valve tube f presses the upper end of the 44-wheel pinch of the human meal seat element. The offset cylinder linkage is controlled by the -series 0 ring (Figure 5), and the hydraulic fluid is forced out of the machine.

D: \ 21KODE \ 87113488.ptd% 21 I V. Description of the invention (18) Oil chamber 45 to match the ring element "3V with the upper offset cover; 4P upward movement, flow; flow through the spring seat channels 58 and 59 , The most f = port, and then through a return pipe 57 (Figure 4) and the channel 58 system, make 流 flow people to grab 25 to form a flow boat loop; the rotor into the impedance shell 15 '❿-arc The shape channel 59 is provided;-the spring is self-contained between 15 impedance housings and sealed with a suitable 0-ring, and the * I release valve (not shown) can be installed in the upper offset cover 37 to J _ down, the extremely high pressure hydraulic flow from the offset tube 35, directly in the middle, and in the extension operation, because the rotor 20 presses out the fluid on the first floor of the left rotor and returns to the system, so The direction of fluid flow is reversed. In this 2 shape, the bias spring 43 acts as an auxiliary angle & that conveys the fluid under the annular piston 42 to the right rotor chamber 26, thereby ensuring the full extension of the prosthesis. In this stage, the weight of the amputee is first transmitted to the bottom plate 64 of the sole το2 through the knee joint, and then transmitted to Pailong 3 and the sole of the foot 64. The bottom plate 64 is a tubular sleeve 66 and screws 67 It is supported by a force sensor "and an elastic pad 74. The deformation of the elastic pad 74 can make the bottom plate 64 and a standing posture adjustment screw 69 slightly move in the vertical direction. It can also be an equivalent spring, Bayes (Belleville) washer or corrugated washer. This stance adjustment screw 69 controls the above-mentioned striker 48 to push the stance valve cover 70 to drive the stance valve 39 upward into the stance valve tube 38, thereby closing the diameter of the stance valve 39. To the openings, when these openings are closed, the knee joint control unit 2 can restrict any crossbow movement. With the adjustment of the stance adjustment screw 69, the radial opening in the stance valve 39 can be used to limit the closing of the opening when standing, thereby allowing a control in the bending direction. The leakage allows the amputee to change the stance; A stance ring

D: \ 2D-C0DE \ 87113488. Ptd Page 22 V. Description of the invention (19) The effect of the Belleville washer on the standing position valve cover 70 axial opening), in the posture, the extension system is not affected. In the standing position, the pressure fluid 'j' compressed the Belleville washer 71 to uncover the standing position cover;; ==: the standing position loop 72 is raised;% when the standing position wants to change, The hydraulic pressure will force the stance washer 72 to cover the dome in the stance valve cover 70: prevent == stop 2 end cover 70; when the load on the bottom plate moves, the stance valve 39 will be in the stance valve tube 38 "Reset spring", open position (Figure 5), so that the fluid continues to flow in the inner chamber 40. Figure 14 shows a block diagram of the hydraulic system 'by clockwise; the rotor 20 of the moving casing, the right rotor compartment The hydraulic fluid in 26 passes through an outlet, a coil control valve 32, which is electrically controlled and can be changed at any time; the flow path area of the flow path is reduced by reducing the flow path area of the coil control valve 32, and the fluid = The flow is reduced, but the back pressure is increased, which is regarded as the rotational resistance on the rotor shaft 9; then, the fluid flows out of the coil control valve 32 and then flows to a distance away from the stance valve 39. When When an external force is applied, the stance valve 39 is activated; the one parallel to the stance valve 39 is the stance valve gasket 72, which is used to prevent the stance valve gasket 72 from starting when the stance valve is activated and flows counterclockwise. Rotor 20 rotates the liquid vessel generated by clockwise rotation; Moreover, an adjustable nozzle 78 'is provided in parallel with the stance valve 39, which is used when the stance valve 39 is activated and is allowed to rotate clockwise. A small control flow of hydraulic fluid leaves the stance valve 39 via the radial port to drive or brake the piston 42. The piston 42 separates the hydraulic cylinder 46 into an inner chamber 40 and an oil chamber 45; when the liquid enters the inner chamber 40, The piston 42 compresses the spring 43 and forces the oil in the oil chamber 45

D: \ 2D-CODE \ 87113488. Ptd Page 23 V. Description of the invention (20) When the second body leaves the hydraulic cylinder 46, the fluid returns to the left rotor compartment 25 to rotate the subclockwise clockwise 20, and when When the rotor 20 and the shaft 9 rotate clockwise, the spring 43 and the piston 42 press the hydraulic fluid, flow out of the inner chamber 40 through the stance valve 39, return to the coil control valve 32, and then enter the right rotor compartment 26. The counterclockwise rotation of the rotor 20 and the shaft 9 is generated. * Figures 13A to 13C show the rotor 20 and its structure. The rotor 20 has two endless grooves 82 and 83 to accommodate the endless oil seal 24. The selected oil seal 24 is an extruded car-cut Teflon. Surface oil seals can also be replaced by molded elastic lip oil seals. 'Each oil seal 24 is seamless and covers the entire periphery of the rotor 20. This one-seal application has the dual advantages of cleaning and sealing, and can be used as a The lip-shaped oil seal 28 (Figure 7) on the shaft 9 adjacent to the 6 feet of the bracket is sealed before to reduce possible leakage. The two holes 84 (Figures 13A and 13B) are located in the middle of the rotor 20 to Provided for passing through the pin 21, this passing pin 21 is used to fix the rotor 20 to the shaft 9. Figure 9 shows the appearance of the coil control valve 32, while Figure 丨 shows its cross-sectional view; a spool 100 is wound by a coil 101 in a radial step pattern (圊 9) 'The number of turns is determined by the Depending on the required electromagnetic characteristics required to operate the valve, the wire 102 is also connected to the coil 101, and epoxy resin 丨 03 is used as a buffer protection. A flux core 104 is used to penetrate the central part of the spool 100. A metal cup-shaped shell 105 is used to hold the spool 100, the coil ιοί and the flux heart shape 104, and then fixed to the center of the flux heart shape 104 with an adjustment screw 106, and An O-ring 107 is sealed. A valve element or valve spool 108 is seated on the top of the return spring 109, and a tubular spool seat 110 is placed on the flux core 104 and positioned with a tubular box 111

D: \ 2D-CODE \ 87113488.ptd Page 24 V. Description of the invention (21) Camp m0 limits the axial travel of the bobbin 108 and presses it into a £ 111 into a £ 112, and a tubular £ 111 screw. In the cup-shaped shell ι05, magnetic = (such as low carbon steel) is used on the flux heart m, cup-shaped shell, adjustment = 106 and spool 108, and these metal components are fully annealed to 退火Performance, non-magnetic materials (such as 3 00 series stainless steel) are applied to the spool base 110, box plug 112 and tubular box 丨 丨 丨. When there is no power in the coil 101, the coil control valve 32 is normally opened, and when power is applied, the coil 101 generates a magnetic flux to drive the spool 108 to further enter the flux core 104, In order to resist the increasing force of the reset bomb 109, the special shape of the flux core 104 and the bobbin, and the elastic ratio of the reset spring 109 can make the bobbin motion proportional to the applied power, which can be converted into a proportional fluid control; when When the hydraulic fluid enters the channel 30b from the cabin 29, the fluid is turned into the opening 114 formed by the tube £ 111 and the plug U2; if the coil 101 is in a full load state, the bobbin 108 will open the opening 11 3, 11 7, 11, 4 and 11 6 are closed, and the flow path will be interrupted at this time; if the coil 101 is partially loaded or unloaded, the fluid will enter the spool chamber 115, flow through the periphery of the spool 108, and then pass through The opening 114 and the channel 34 into the offset tube 35 ", the inlet pair 113 and 117, and the outlet pair 114 and 116 are on the same level, and the openings in each pair are arranged at 180 degrees apart, and the two pairs of openings 90 ° relative to each other; coil control valve 32 has two inlets 丨 3 and 117 and two outlets 114 and H6, and the number of entrances and exits can also be adjusted as needed / and the operation of inlets 113 and 117 and outlets 114 and 116 can be one-way or two-way operation 'line The configuration of the shaft 108 in the shaft chamber 115 can be used to balance any tendency

V. Explanation of the invention (22) Close or open the flow force of the spool, and the center of the spool 108 has a through-hole axial bore or hole to avoid hydraulic locking; the optimal magnetic flux with the spring ratio and the flow force The advantage of the best use of spools is that it can greatly reduce the power required to operate the valve, and the leakage between the outlet and the inlet is controlled by the O-ring 120 provided on the tubular box 11 1, and the hydraulic fluid leaks outside. It is controlled by the 0-rings 121 and 122. Although the coil control valve 32 is optimally proportional, it can also be controlled by pulse width adjustment. As mentioned above, the computer-controlled hydraulic impedance device of the present invention can be used in a variety of applications, such as the knee joint control device used for the aforementioned lower limb amputee locks, the use of advanced sports equipment for brain control impedance, and the use of robotic arms or damping ; When the complete use of the aforementioned electronic knee control technology is disclosed, the use of other devices is also obvious. FIG. 15 shows a system-wide control diagram that can be used in all the aforementioned fields of application; this system is controlled by a conventional microprocessor 200, which includes RAM memory, program memory, timer, Intermittent controller, multi-station, and I / O control circuits, which use-external clock composed of device 001; for testability and connection with other devices-non Sequence of synchronization, and-use-including-synchronization and 202. The system module of the real-time vision module port-Gan a, microprocessor 200 is a closed loop method that performs its sensing and control programs. 'Position and speed, ==,-The pressure system sensed, the application of its impedance is the impedance of j 'and the fluid used is guaranteed by a hydraulic starting device 211 (may be-

If the rotor 20 is rotated or a linear moving piston in a hydraulic cylinder), the impedance is applied by a coil control valve 210 (such as the coil control = valve 32) to limit the flow in the closed flow system. Flow to reach & this coil control valve 210 is operated by the microprocessor 200 and its control circuit 207, and the mechanical impedance is applied to a using device 215 through a coupler 214, where The application device 215 may be a knee joint of a prosthetic arm, a piece of sports equipment, or a robotic arm platform requiring movement or speed control. The position of the device used is monitored by a sensor 216, which can be a voltmeter, a proximity sensor, or a linear Hall-effect sensor (such as the above-inductor 18). 'The output of the position sensor It is a signal adjusted by the circuit 204 and the analog position signal output by the circuit 20 4 is converted to 8 by a microprocessor A / D converter or an external A /] device connected to the main program. -1 6-bit digital signal. This position signal is sampled at a fixed frequency. The position difference between two time intervals divided by the time interval is the device's moving speed. It can also be used to determine the main program or the direction of movement. . In order to generate a predetermined impedance on the device that has good consistency and has nothing to do with manufacturing margin, fluid viscosity, and / or temperature changes, the present invention uses closed-loop control and senses the rotation or linear hydraulic starting device Internal fluid pressure 2 1 2 and 2 1 3 of 211; In a closed-circuit hydraulic system, when the control valve is operated to restrict fluid flow, the hydraulic starting device 211 will generate a high side on the opposite side of the rotating propeller or piston Pressure and a low side pressure, and when the flow direction is reversed, this high and low side pressure is also reversed. The internal pressures 212 and 213 sensed are adjusted to an acceptable analog signal by a circuit 2 06, The adjusted hydraulic analog signal is then processed by the microprocessor 200 or an external

D: \ 2D ~ CODE \ 87113488. Ptd Page 27 V. Description of the invention (24) Connect A / D converter and convert to available 8_16-bit digital signal; in the above-mentioned application, in different positions of the main program The program state logic divergence control, and the use of variable calculations in the auxiliary program 2 09, are achieved by an additional use of analogue force sensors 2 0 8 and / or digital switches or buttons 224, which are used in a sports equipment or In the use of a robotic arm, the auxiliary sensing can be a user keyboard and / or a remote control, and in the use of knee joints to control prosthetics, the auxiliary sensing function can use two weight sensors and two 16 positions Turn the selector switch. Figures 16 and 17 are block diagrams showing the application of the control system of the present invention to prosthetic devices 动-moving equipment, and robotic arms. The device of the present invention can also be used for a computerized damping device (such as a truck body to avoid In the vibrator); the high-resolution microprocessor control provided by the sensor, hydraulic starter and control valve of the present invention can be used as rehabilitation equipment, and the load can be fine-tuned; from the minimum of 0.1 Pounds, up to 500 pounds in weight; and the 'auxiliary input' function can notify the main program, limit or & low patient load when the person is struggling with exercise; Figure 16 is very similar to the full invention block diagram in Figure 15 It also shows the application of the present invention to sports equipment, robotic arms, or computer damping devices. This application shows-microprocessor 200, restart circuit 219, valve control circuit 207, and-coil control valve 21, Position sensor 226 and i circuit 204, hydraulic internal pressure sensor circuit m, and power supply circuit. Figure 17 discloses the electronic knee control microprocessor 2000 used by the prosthetic limbs. Wherein the system to perform its use of program, the use of a microprocessor-based controller such as the use of

V. Description of the invention (25) Motorola MC68HC 91 2B 32 16-bit embedded signal chip processor, the soft system implemented on the microprocessor 2000 is borrowed in a proportional manner. The valve control circuit 207 is proportional to the control coil control valve 2 10 and 32, and the impedance of the prosthetic knee joint during walking is instructed. In most applications, a pulse width adjustment technology can also be applied to such control, proportional control The valve responds to the knee movement of the patient, restricts the hydraulic flow in the closed circuit system, and the rotary hydraulic paddle starter 211 and the knee joint 215 are connected by a coupler 214. The calculation using software first uses the obtained knee joint position, direction, and How much control current is needed for the speed control coil control valve 2 10 or 32, and the actual impedance error-the difference is determined in a closed loop manner. The process is to first adjust the high and low side hydraulic pressures 212 and 213 that are sensed, and adjust it through the circuit 206. After that, it is converted into a digital value by the microprocessor 200 according to the instruction level. The internal circuit of the microprocessor senses the high and low side hydraulic pressure on the opposite side of the rotor 200, and the pressure is changed at a rate of 1,000 times per second. The use of the voltage level of the control winding numbers of the updating, the main program in the system control loop is executed at a rate per thousand and followed. The knee joint position sensor 216 includes a Honeywell linear Hall effect sensor 18. It is used to measure the change of the magnetic field relative to the sensor. The movement of 14 is referred to the sensor 18 or 216. , And proportional to the knee angle of the prosthetic limb, the output of the sensor 216 is adjusted, deflected and adjusted by the induction circuit 204, and the microprocessor 200 converts this analog signal of 0-5 volts into a The 8-bit digital signal is sampled from the position sensor at a rate of 1,000 times per second using the program ', and the direction of the knee joint is determined at the same rate and the rough ^' the precise speed is 100 per morning Second, control rate sampling, and prosthetic use depending on the patient (such as size, weight, and pace characteristics)

ί If ΐTurn the ridge 16 position and adjust the digital switch 224, set f »„, other auxiliary circuits used for program state control are-heavy] = devices 22〇 and 221, which are adjusted by circuit 206, these Heavy weight and heavy weight ::: Located at the bottom of the prosthetic limb (Figure 5 and Figure 12A), used to measure the force distribution of the 2 sensations of walking (off the ground, flat pedal, and heel), these closed-loop adaptive control In terms of operation, its control is based on the position of the knee joint, speed: resistance 2 and the characteristics of the previous action to control the response to instantaneous terrain changes. The knee prosthetic system is worn on the body. A total of 14.4 volts is supplied by a clock ion rechargeable battery 218, and the voltage is shunted to 7.2 volts to two circuits to supply as system logic 'and 14.4 volts to the proportional control coil drive circuit The voltage of 14.4 volts is used for monitoring the low storage capacity of circuit 22 2. The operation of circuit 2 22 is to separate the battery voltage by 0-5 volts and provide it to the microprocessor 2000 for its A / D conversion. Reader; the microprocessor and the connected logic circuit need 5 volts Special voltage operation, and this 5 volt voltage is adjusted by the 7.2 volt shunt voltage through the power circuit 2 0 3 (including a traditional low-loss three-pin rectifier integrated circuit); the lithium-ion battery requires two hours to charge, It then switched to a trickle charge mode (achieved with a LM3420-1 6.8 integrated circuit manufactured by National Semiconductor). Figure 18 shows the circuit 20 7 used for the coil control valve 21 0 or 32. This proportional coil control valve is the highest Only 1 watt of power is needed, and the coil is driven by a constant current of 0 to 83 microamperes. The resolution of this current is one of 255, or each step using an 8-bit digital voltmeter 243. . 325 microamperes,

D: \ 2D-C0DE \ 87113488. Ptd Page 30 V. Description of Invention (27) This AD8400AR10 is an integrated circuit produced by Analog Devices. The microprocessor 200 is used as a device at a rate of 1,000 times per second. The information is updated, and the reference voltage of the digital voltmeter is a logic supply of 5 volts; when the current is adjusted to 256 levels, the output of the scan will increase from 0 to 4.9 volts. The voltage signal is operated by the amplifier Η , Transistor and five resistors, R2, R3, R4 and R5 are converted into a constant driving current; the output of the digital voltmeter is introduced as the differential input of the operational amplifier (0169 times), and sent to the resistor R1, In R2, R3, and R4, the PN transistor Q1 is used as a current amplifier in the release follow mode, and the two-pole system is used as a circuit, which is used to follow the reverse EMF effect of the coil control valve coil. As a component of the low frequency filter f, this filter has an electromagnetic coil to reduce the two bandwidth signals in the circuit. C1 is used as a high-frequency power supply bypass. When the voltage from the digital terminal increases, the circuit is under voltage. The current in the coil is 50% of the 10 ohm induction resistance ruler: the output voltage caused by the thunder drop, until the induction microampere # 去 Media @ & Until the specified voltage is reached, so if 0 to 83 =: = is required, the input of ° to 4.9 volts is a necessary temperature effect: the impedance error and electrical S t that affect the manufacturing of dynamic compensation coils: 1 9丄 For linear Hall-effect position sensor 2 1 6 or 1 8 set to ^ left 丨 hold the induction circuit 20 4 to adjust, the magnet 228 or 14 is used to make the lever 12 = 8 cam surface is pivoted On the lever arm 12 that is in contact, approach or distance! The angle of the joint is proportional; when the magnet 14 '', Honeywell 1 SS94A1B senses

D: \ 2D-CODE \ 87113488. Ptd Page 31 V. Description of the invention (28) The device 216 or 18 changes its voltage output according to the south or north pole magnetic field, and the induction system outputs a 25 volt voltage according to the magnetic field strength and polarity. Here, In an application, when the magnetic pole is reduced to the distance from the sensor to the contact, it outputs 10 volts, and when it is far away from the inductor, it outputs 0. 5 volts. The minimum distance when the extension is zero degrees is 〇. 丨 〇 Inch (this = 1 special) Pro? In Figure 19, the module 229 buffer and low frequency = The filter is at a corner frequency of 100Hz and 1 to 2.5 volts. The high-frequency signal of the Hall position signal two is filtered out. The second stage is to operate the amplifier 23 to increase the signal strength. 3. 3 times, and remove the offset of j volts from the reference point 231 to produce an output intensity of 0 to _ 5 volts. The output of such ratios depends on the processor 20. Digital output used by the main program. Instead, the micro sensor 2232 shows the power sensor 232 or 68 and the related circuit diagram. As shown in FIG. 17, the weight sensor circuit 206 is used for the closed-loop control of the coil proportional control valve 21 or 32, and the weight sensors mo and 221 (Figure 12A) and the weight sensor circuit 206 are used in the program state. In terms of control, except that the final magnifications of U4, R3, and R4 are different in 囷 20, the design of the second circuit is the same. 'This is an improved version of the capacitive sensor; Figures 12A and b show the actual use in knee joint control. The weight sensors 22 and 221 are used, and the enhanced force sensor 232 in FIG. 12D is composed of two double-sided printed circuit boards and an elastic separator; when a force for squeezing the two circuit boards is applied, the elastomer side The above signal is directly proportional to the signal on the other side, so when the power increases, the intensity of the reference signal 'transferred to the second circuit board is enhanced by the valley device between the two circuit boards.' The size is a function of the density of an elastic body and the gain of the detection circuit. Before completely compressing the two circuit boards to one D: \ 2D-C0DE \ 87113488. Ptd page 32 V. Explanation of the invention (29) Tough, what it can exert The greater, however, if the elastomer's just too large, it will reduce the dynamic range of the sensor, and the use of each elastomer may choose a deadline device (Durometer). In Figure 20, the application of the sensor uses a microprocessor 200 to generate a 100kHz square wave reference signal 'This signal is buffered by the operating amplifier ui, while the release side of the reinforced capacitor sensor is constructed in a pair On the printed circuit board, a conductive reflector 236 is on the outside and a conductive reference pad 238 is on the other side. The insulated printed circuit board 237 is made of glass epoxy resin, and the 100kHz reference signal is across the elastomer. 239 and the receiving board 240 located on another circuit board _ and protected by another protection board 236 to avoid interference from external signals. The received 100 kHz signal is proportional to the compression force of the circuit board and is determined by The resistor R1 is generated, and this signal is then buffered by the operational amplifier U2, which is then converted by a RMS converter circuit (including D1, R2, C1, and the operational amplifier U3) into a proportional direct current (DC) intensity. The operational amplifiers U4, R3, and R4 are coded as signals up to 5 volts. The microprocessor 200 then converts such analog signals into a usable digital signal with a built-in A / D converter. In the application of knee joint control (Figure 17), there are two configurations of sensor technology: hydraulic sensor 208 and weight sensor 208, and Figure 11 A and B show the closed-loop control of proportional positioning applied to the coil control valve. One of the hydraulic sensors 206, 31, or 34. The oil ports 30a and 3 Ob in the casing 15 are in communication with the pressure of the rotor chambers 25 and 26 located on both sides of the hydraulic propeller rotor 20. The internal pressure changes. The end cap 243 (Figures 11A and B) and the valve 242 are transmitted to each sensor 20 6. The valve pressure will be referred to the printed circuit board 237 (

D: \ 2D-C0DE \ 87113488. Ptd

5. Description of the invention (30) The reference plate 240 and the reflector 236 are pressed on the elastic body 239. This signal is connected to the receiving plate 238 and the protective plate 236 on another circuit board 237. This group The cup 24 i is covered by a sensor and has related circuits operating as described above. Please refer to FIGS. 12A-D. The weight sensor 208 or 68 used for knee joint control is composed of two “× 2” double-sided printed circuit boards 237 separated by a layer of elastomer 239. Capacitor plates 220 and 221 are Each is 0.5, and 125, and the two reference plates 238 and the receiving plate 240 are used to generate a weight distribution sensor. The system software can confirm that the force distribution is sensed forward, middle, or backward. The operation of foot-pointing off the ground, stepping flatly, or touching the ground with the heel is to facilitate program state control. The operation of this combination and its related circuits is also as described above. In the application of knee joint control (Figure 17), the system soft system is written in a combined language and uses the Motorola MC68HC912B32 microprocessor 200. This microprocessor 200 includes a 16-bit CPU, a truncation controller, and an 8-channel 8-bit A / D converter, 1kB of RAM, 32kB of flash EPROM program memory '75 6BEEPR0M, a real-time timer interceptor, six timer counters,-monitoring circuit, and a communication with other systems Communication device combination | (such as an RS-232 serial peripheral, a synchronous serial peripheral, a BDLC synchronous serial peripheral, and a real-time background module interface) ^ Software applications for knee joint control include universal use for robotic arms and For the subroutines of sports equipment, refer to the general block diagram in Figure 15. The microprocessor 2000 outputs to a valve control circuit 207 to operate a proportional coil control valve 21〇 (or valve 32) ', the coil control valve 21〇 Impedance is alternately applied in a manner of restricting the fluid starter 211 (such as the rotor 20), and the two pressure sensors 212 and 213 (such as the induction |

1MB D: \ 2D-C0DE \ 87113488. Ptd

The devices 31 and 34) are read by the microprocessor 200 for circuit control, and maintain a correct force for the device connected to the starter, regardless of its manufacturing margin, temperature change and fluid viscosity. What is the hysteresis, and the pressure sensor is used to measure the pressure difference across the starter, and the application device 215 that receives resistance includes a position sensor 216 (such as sensor 18), which allows the system software to shut down external The control loop is used to determine the position, speed, acceleration, and direction of motion of the device. In most examples, the system software also uses auxiliary analog circuits 208 and switch inputs 224, 'state control. Kawasaki see the previous discussion of the knee joint control software in 囷 17. The system software executed on the microprocessor 200 outputs the 8-bit control threshold required for the valve control circuit 207. The digital voltage is used. Three 1/0 pins on the microprocessor, the synchronization sequence required by the software low-level driver to synthesize the 10-bit interface. This interface sends the required 0 to 4.9 volt input drive wheels to a constant current. The valve controls the amplifier, and the liquid pressure sensors 212 and 213 (such as sensors 31 and 34) are analog and adjusted by a hydraulic sensor circuit 208. The signal is proportional to 0-5 volts after detection. A microprocessor 2000 uses an A / D fluid sensor low-level driver to read. All fluid pressures or devices use -plane z reference square wave signals. This reference signal == built-in count of the processor. The signal generated by the timer is activated by a software restart program. This signal is buffered by hardware and sent to the sensor. The feedback of the external control loop is obtained by the linear Hall effect position sensor 216 (also like the sensor 18) attached to the movable knee joint housing 15. The analogue output of the Hall effect sensor 18 is not Linear, partially linearized knot

D: \ 2D-CODE \ 87113488.ptd Page 35 V. Description of the invention (32) The fruit is composed of the cam surface on the holding plate 8 (Figure 6). Most of the position interpretation is performed by the software checklist driver. Completed, it can convert the original position data into the actual knee joint angle also calculated by angle or diameter, and the original position data is adjusted by the position sensing circuit 204, and its circuit data is adjusted by the microprocessor 200. A / D position driven software program reads. The present invention uses two types of auxiliary programs to determine the state control function. One is an analog type and the other is a digital type. The analog program status sensors 22 and 221 form two weight sensors attached to the bottom of the knee joint control frame 5. 68. Sensors 220 and 221 sense the weight of amputees applied to the toes, soles, or heels, and are controlled by the auxiliary main software program. These two sensors 220 and 221 also use 100kHz reference signals, while analog signals The detection and measurement results are read by the A / D soft palate driver of the microprocessor 200. The size, weight, age, and muscle strength of different amputees are different. The stretch settings are adjusted during the stage. These settings are adjusted by the wearer during the knee control adaptation period. The main secondary miniature printed circuit board includes two 16-position reduction rotary digital sixty carry switches, and the first position is used. For bending and dressing adjustment, the other six positions are used for special operating modes (such as those adjusted for athletes or the elderly), and the two 4-bit auxiliary switch 224 is directly The microprocessor uses the switch software mediator turn-in program and the I / O input pins and its internal burst resistor to read its signal. The input signal is usually regarded as a digital high unless it is grounded by a switch. TTL level signal. Because the knee control system is driven by a battery ’, an additional low-level driver is needed; the battery pack 21 8 (also like the battery pack 19) is powered by a power circuit 2 03

D: \ 2D-C0DE \ 87113488.ptd Page 36 V. Description of the invention (33) 'One-divided voltage is 5 volts, 702 volts, and 144 volts. The status of the battery is monitored by the microprocessor 2. 〇〇 The 'analog 0-5 volt filter level determined by adjusting the battery sensing signal 222 is read by the microprocessor 200 through a low-level soft-ship A / D battery driver program. If the program finds that the battery can only last 30 minutes For the lowest safety operation, two safety software programs will be activated to cause the vibration circuit 2 2 6 to generate a shutdown alarm to the user. The knee joint control communicates with the outside world through the microprocessor's internal communication port and interface hardware. The circuit 202 performs' asynchronous (SCI) and synchronous (SPI) serial data ports for special clinical data acquisition and control, and the background mode (BDM) port is used for manufacturing processes ... and factories in the software development stage The test interface is used, and the main program of the 32kB flash memory is planned through the BDM port.圊 22 shows the main line software subroutine for knee joint control; when the microprocessor 200 is activated, the vertical processor will first execute the RESET subroutine. This process starts the programmable data port and its surroundings, as required analogy and digital Level (such as two weight sensors and two fluid pressure sensors need 100kHz reference signal for normal operation), the drive level of this proportional control valve is set to 0 first, until it is modified by the application program; when the system is initially set After completion, a system built-in program is executed to check whether the knee control electronic circuit works according to the factory specifications. If it is not, the Teng oscillator will start and warn the user by turning on, / 2, and off working seconds. The system has found an error or cannot be used safely. After the error is eliminated, the system can start to operate normally. In normal operation, the system control and mode determination are performed by the system at two times: 1,000 times per second and 1,000 times per second. The load program was reached. Main thread check for low battery status and external communication when the system is down

V. Description of the invention (34) When the passive adjustment is not performed and the closed loop is used in a timely manner without interruption, the main thread checks the low battery status of the first level. The safety operation status available after 30 minutes remaining, and the safety operation status available after the remaining 10 minutes. The two low battery conditions will inform the user in a vibrating way: warn for 30 minutes remaining safe operation status by 1 second shock and 10 second stop, warn by 1 second shock 1 second stop and 丨 0 minute remaining full female operation State ', and in normal use, the bell ion battery pack will last 22-30 hours after a single charge. Usually, the user can charge the knee prosthesis every night. When at work, the user can also Hours of charging, restore the battery pack to 90%. -Figure 23 shows a microsecond software truncation program for the knee control unit. This program captures the raw sensor data and updates it to the valve control at a rate of 1,000 times per second. This raw sensor The device data is read by the reading A / D channel. These 8-bit values are then converted by low-level software drivers (using comparison tables and numerical calculations) into actual measured fluid pressures (si). Weight distribution (pounds), & knee angle (degrees); and the valve control system is a closed loop method, which calculates a new rate of the electronic circuit of the control coil at a rate of 1000 times per second. Control level, another calculation is composed of the difference between a force and a sensed hydraulic pressure. The difference is used for the best borrowing. BIT_ #Matches the instantaneous impedance with minimum error or delay), the obtained drive = cascade driver software program converts the data to the required 10 bits ^ f (J a * # ^ and write it into the digital voltmeter, this software The program also uses IS 2: the use of the value of the yuan as a bit-by-bit calculation ° 2 4B, the knee joint control unit has a 10 microsecond truncation range. Page 38 D: \ 2D-CODE \ 87113488. Ptd V. Description of the invention (35) This formula is for most calculations and programs. The master of control ::::: Executed at a rate of 100 times per second. The software application requires data such as knee position, speed, direction, extension and other flex settings, as well as forward and backward volume distribution. The position data is the heaviest value among them. In order to obtain the position data smoothly and accurately, you can store the interrupted position sampling data in an array. These sequential sampling data are averaged by the time weighting window, Obtain the knee position for calculation and the short-term knee-off | 卩 speed is obtained from the newly calculated position data minus the previous position data, and then divided by the time interval of i 0 microseconds. ~ New position is also used The position before 50 microseconds is subtracted, and then divided by the time interval of 50 microseconds to obtain a longer-term knee velocity. The short-term knee velocity P is used to calculate the knee direction. Speed is used to calculate The impedance of the knee joint. The impedance applied to the knee joint is calculated based on a mathematical transfer function of non-electro-hydraulic knee joint control (confirmed by a large number of engineering features). A set of tables and formulas are used to calculate the required impedance ( (Using the instantaneous knee joint position, speed, direction, extension, and flexion switch settings indicated by PS I) 'When the normal swing state calculation is completed, the normal state impedance is stored in RAM and reserved for later use. Program continues Decide if there are additional operating modes waiting to be executed. The first decision path is the terminal deceleration (TD). When the knee of the prosthesis approaches full extension, the system software will apply an additional high impedance at less than 10 degrees. In order to stop the overextension of the knee joint; the same 'another program is used to slow the bending motion of the prosthetic knee joint. This function is called bending deceleration (FD). The secondary program is used to avoid excessive knee flexion. FD program Will be sounding

V. Explanation of the invention (36) ----- When the curve exceeds 65 degrees, increase the impedance proportionally and stop the control of the knee joint completely; other auxiliary modes include when with staggering ..., in the lower step mode, two ships The weight distribution of 220 and 221, and the determination of the knee joint angle, extend the control of the decaying pirate drawing bucket of the mechanical part. "^ Electricity is controlled in the extended position mode. If you need to straighten, the controller will apply an impedance to The control of the knee joint lasts for a period of time and gradually decays to zero. The Λ-mode tries to protect the patient from falling, and the condition is detected by the knee speed, angle, and weight distribution. When the impedance software is completed, the force is required. The level is stored in a variable of RAM. The software will calculate the optimal valve control level according to the knee joint speed, direction, hydraulic characteristics, and valve characteristics. This control level is written into a RAM address. Medium and for the i microsecond interruption program mentioned above. The summary of the pace of the knee control application is shown in Figure 21, where the knee angle at the time of the pace is represented by the curve 248. The dynamic state is performed when the knee joint is controlled to be off the ground (knee joint is bent or extended). The swing state starts from the toe off position 252 and ends at the heel just touching position 253. The electronic control is performed at a knee angle greater than At zero, they are all open (unless a stationary state is detected after 5 seconds of operation); the standing position includes a heel-to-ground position 249, a full-load position 25, and a toe that is almost off the ground but has not left the ground. Off-ground position 251. The above is a detailed description of the present invention using the preferred embodiments, rather than limiting the scope of the present invention, and those skilled in the art will be able to understand, appropriate and slight changes and adjustments will still be made. The gist of the present invention does not depart from the spirit and scope of the present invention.

D: \ 2D-CODE \ 87113488.ptd Page 40 V. Description of Invention (37) In summary, the specificity of the implementation of the present invention has already met the requirements for invention patents stipulated in the Patent Law. Benefit from scrutiny and grant a patent for prayer.

Page 41 D: \ 2D-C0DE \ 87113488.ptd

Claims (1)

6. Patent application group I A device for generating a controllable variable impedance to a device, the device includes a first element and a second element, wherein the first element is movable relative to the second element, The device includes: a braking unit including a hydraulic brake, the brake is used to connect the first element to the second element, and it further comprises a housing for receiving a movable impedance applying element, The impedance applying element is arranged in the housing to separate a first compartment and a second compartment; a hydraulic fluid in the first compartment and the second compartment; and a connection provided to the first compartment and to the first compartment The dispatch order for the hydraulic passage in the second compartment is; ,, a coil control valve is used to control the flow of the hydraulic fluid in the passage; one is used to independently sense the first compartment and the second grab. The hydraulic fluid pressure is the house force sensing unit; and a computer control system is used to adjust the data measured by the UL element according to the pressure sensing to activate the coil control to precisely control the flow of the hydraulic fluid and the flow. Via the line Wide control, and flows into the first and the second grab grab 'the means for compensating almost the hydraulic fluid viscosity change degrees. 2 · ☆ Device for generating a controlled 1 variable impedance to a device as described in item 1 of the scope of patent application, where X includes a position sensor for sensing the position of the first component relative to the second component It is connected to the control system in parallel to apply a predetermined impedance profile to the device. 3 · As described in item 1 of the patent scope, a device for generating variable impedance control to a device of jade ’also includes an offset unit, which is used to flow through D: \ 2D-C0DE \ 87113488.ptd Page 42 The flow direction is transferred from the first series to the hydraulic fluid second compartment of the Heng coil control network. V-4. The device for generating a controllable variable impedance as described in item 丨 of the patent application scope It also includes a connection unit, which is used to connect the second limb to the stump of a limb carrier, and is used to connect the second component to an artificial foot, 5. The device for generating a variable-equipment control device described therein further includes, when the amputee walks, sensing the forces applied to the toes and heels of the artificial foot, respectively. 6. · The device for generating a variable impedance control to a device as described in item 1 of the scope of the patent application, wherein the drag application element further includes a rotating shaft and a flexible sealing element, a The movable shaft supports a paddle-shaped rotor in the shell, and the flexible sealing element extends around the rotor and is combined with the shell. "7. Generated as described in No. 1 of the scope of the application specialty. Device for controlling variable impedance to a device, wherein the coil control valve described in the above item includes a metal valve element and a coil, the metal valve element is supported for use in a metal heart-shaped element with an annular shoulder, Xingyi moved toward it, and the coil was wound around the heart-shaped element, and had a ring-shaped stepped configuration for cooperating with the shoulder. 0 8. Generate a variable control as described in the first scope of the patent application. Impedance to a device, wherein the pressure sensing unit further includes a capacitive sensor and a set of insulated reflector plates. The capacitive sensor is connected to the D: \ 2D-C0DE \ 87113488.ptd Page 43 VI. Patent application scope control system and includes a set of metal conductive plates, which are separated by a micro-elastic layer made of a non-metal material, and the reflection The device board is connected to the conductive board. 9. A device for generating a controlled variable impedance to a prosthetic limb, said prosthetic limb, comprising a first element and a second element, wherein said first element is selectively connected to said second element, said device comprising There are: · A braking unit including a turn-to-actuate hydraulic brake, the brake is used to> the first element is connected to the second element, and it further includes a housing for n? The impedance-applying paddle-shaped rotor is connected in the casing to separate a first compartment and a second compartment; < a hydraulic fluid in the first compartment and the second compartment;! The channel unit of the hydraulic passage between the first cabin and the second cabin; 'Two coil control valves are used to control the flow of the hydraulic fluid in the passage; ~ One is used to independently sense the two sides of the paddle rotor The pressure sensing unit of the grinding force of the liquid tank of the first cabin and the first grab; and-the computer control system 'is based on the data measured by the pressure sensing unit: used to activate the line ® control Valve, wide control of the flow of the hydraulic fluid, the flow System via the line rings of the control valve, the first compartment and the outlet enter the second Shu, compartment, and means for compensating the viscosity of the hydraulic fluid change degrees. ~ 1 0. The device described in item 9 of the scope of patent application for controlling the variable impedance to a prosthetic device, which also includes a position sensor-used to sense this, the first, the components relative to the The angular position of the second element is even connected to the control D: \ 2D-C0DE \ 87113488. Ptd Page 44 A control system is used to apply a predetermined impedance profile to the prosthetic limb. 11. The device for generating a controllable variable impedance to a device as described in item 9 of the scope of the patent application, which further includes a deflection unit for directing the flow direction of the hydraulic fluid flowing through the coil control valve. From the first cabin to the second cabin. " 12. The device for generating a variable impedance control to a prosthetic leg as described in item 9 of the scope of the patent application, which further includes a connection unit for connecting the first element to the amputated leg. And the second limb is connected to an artificial foot. 13. As described in item 12 of the scope of the patent application, the owner controls a variable impedance to a prosthetic device, wherein the control system further includes, when the amputee walks, separately sensing and applying to The Power of the Toe and Heel of the Artificial Lin Palm "14. The device for generating a variable impedance control to a prosthetic limb as described in item 13 of the scope of the patent application, wherein the pressure sensing unit further includes a connection To the control system's capacitive sensor and a set of electrically insulated reflector plates, the capacitive sensor is connected to the control system and includes a set of metal conductive plates; the set of metal conductive plates is made of a non-metallic material The elastic layer is separated by 4 layers, and the reflector plate is connected to the conductive plate. 1 As described in item 9 of the scope of patent application, a device for controlling variable pain resistance to a bee is described in the above. The rotor is further provided with at least one non-breaking trench surrounding the ballast rotor, and at least one endless flexible sealing element, the removable sealing element extending in the groove and being combined with the casing. 1 6. Generate a controlled variable reactance as described in item 1 of the scope of patent application D: \ 2D-C0DE \ 87113488.ptd Page 45 VI. Applicable device on a device, wherein the pressure sensing unit further includes a capacitive sensor connected to the control system, and r group of electrical insulation , A reflector plate, and a 'flexible valve'; the capacitive sensor is connected to the control system and includes a set of metal conductive plates separated by a micro-elastic layer made of a non-metallic material, The reflective JI plate is connected to the conductive plate, and the flexible valve is disposed between the capacitive sensor and the first compartment. D: \ 2D-C0DE \ 87113488. Ptd Page 46