WO2021138828A1 - Support phase control knee joint brace - Google Patents

Abstract

Disclosed is a support phase control knee joint brace (100), comprising: an insole (1); an inner side knee joint module (2) comprising a lower leg inner side connecting rod (201), a thigh inner side connecting rod (202) and a lower leg inner side connecting rod limiting block (203); an inner side joint cover plate (3) connected to the thigh inner side connecting rod (202); an outer side knee joint module (4) comprising a lower leg outer side connecting rod (401), a thigh outer side connecting rod (402) and a lower leg outer side connecting rod limiting block (403); an outer side joint cover plate (5) connected to the thigh outer side connecting rod (402); a lower leg front baffle (6), two sides of which are respectively connected to the lower leg inner side connecting rod (201) and the lower leg outer side connecting rod (401); a thigh front baffle (7) connected to the thigh inner side connecting rod (202) and the thigh outer side connecting rod (402); a sensor module (9) for detecting gait behaviors of a user; and a control module (10) for controlling the state of two spring preloaded one-way ratchet wheel assemblies (8) according to the gait behaviors of the user, wherein the outer side knee joint module (4) further comprises a spring preloaded one-way ratchet wheel assembly (8) arranged on the outer side of the outer side joint cover plate (5).

Description

Knee joint brace for supporting phase control Technical field

The invention belongs to the technical field of wearable devices, and relates to a knee joint brace, in particular to a support phase controlled knee joint brace.

Background technique

In daily life, the functional atrophy of the quadriceps muscle due to muscle degeneration and other reasons greatly reduces the patient’s muscle capacity, causing the patient to experience knee hyperextension, instability and sudden muscle weakness during walking. Change the patient’s walking state, which is likely to cause abnormal gait and tripping during walking. If the patient wants to maintain walking, he usually needs to press his thigh with his hand during the supporting phase of walking to forcefully maintain the supporting phase. Stable, the patient will have greater discomfort when walking. In order to maintain the patient's probability of falling while walking, so that the walking gait can tend to the gait of a normal person, it can usually be solved by wearing a lower limb walking brace.

The products in the prior art are mostly walking aids or bone fixators for postoperative rehabilitation. The structure mainly includes an outer frame sliding wheel walker or a passive brace. The former is an external frame structure with multiple sliding wheels, which is not bound to the human body. , The latter is bound to the human body, but the anti-fall function is realized by a support rod extending downwards, which provides support when the user has a tendency to fall. This structure is relatively simple and has a single function. The user's walking or squatting behavior causes certain obstacles and makes the user feel uncomfortable. In addition, these braces cannot detect the user's gait, and there is a lack of knee braces similar to the gait detection function in the market. Therefore, it is necessary to design a knee brace that can solve the above-mentioned problems.

Summary of the invention

The present invention is made to solve the above-mentioned problems, and aims to provide a support phase controlled knee brace.

The present invention provides a support phase controlled knee brace, which is used to provide auxiliary limit support for the knee joint. It has the characteristics of: an insole placed under the user’s foot; and a medial knee joint module, including interconnected The inner leg link and the inner thigh link, as well as the inner lower leg link stopper provided on the top surface of the inner lower leg link for limiting; the inner joint cover, one end is connected to the pawl inner thigh link, and the other end Connected to the connection between the pawl inner leg link and the pawl inner thigh link; the outer knee joint module includes the outer thigh link and the outer thigh link connected to each other and the top surface of the outer leg link for limiting Lower leg outer link limit block; outer joint cover plate, connected to the outer thigh link; lower leg front baffle, connected to the end of the inner calf link close to the foot on both sides, and the outer leg link close to the foot One end of the thigh is used to support the lower legs; the front thigh baffle is connected to the end of the inner thigh link close to the torso and the end of the outer thigh link close to the torso to support the thigh; the sensor module is used to detect the user’s Gait behavior, including the first six-axis accelerometer installed on the top of the outer thigh link, the second six-axis accelerometer installed on the lower end of the lower leg outer link, the magnetic head on the top surface of the lower leg outer link, and the second sliding Angular velocity sensor composed of the bearing coaxial and close to the magnetic ring of the magnetic head and a plurality of pressure sensors arranged on the surface of the insole and connected to the second six-axis accelerometer through wires; and a control module for controlling the spring according to the user's gait behavior The state of the pre-tensioned one-way ratchet assembly includes a main controller with manual control buttons and a first six-axis accelerometer installed on the front baffle of the thigh, a battery pack connected to the main controller through a wire, and a main controller connected to the main controller through a wire. The controller is an electromagnetic actuator connected by a wire; wherein the lateral knee joint module further includes a spring pre-tensioned unidirectional ratchet assembly arranged on the outer and inner side of the outer joint cover, and the spring pre-tensioned unidirectional ratchet assembly includes: a first sliding The bearing is arranged between the outer thigh link and the joint outer cover; the second sliding bearing is arranged between the lower leg outer link and the joint outer cover; the pawl is sleeved on the periphery of the first sliding bearing and the pawl The surface has a first outer edge protrusion at the front and a second outer edge protrusion at the rear; a ratchet, sleeved on the periphery of the second sliding bearing; a pretension spring, one end of which is fixed to the second connecting rod on the outer thigh On one protrusion, the other end is fixed on the first outer edge protrusion of the pawl, which is used to apply a first pre-tightening force to the pawl, and the direction of the first pre-tightening force is the direction of assisting the pawl to engage with the ratchet wheel ; Torsion spring, embedded in the inner ring of the ratchet, used to provide the ratchet with a second pre-tightening force opposite to the direction of the bite force; and the pawl roller, which is installed on the pawl through the roller pin, and the surface of the pawl roller is on the ratchet When the pawl engages with the ratchet wheel, it comes into contact with the tooth surface of the ratchet wheel, thereby reducing the friction between the pawl and the ratchet wheel during engagement. Both the pawl and the ratchet wheel are engaged under the action of the pre-tensioning force of the pre-tensioning spring to make the occlusal surface The generated interactive force prevents the bending torque of the knee joint, and performs unidirectional locking during the supporting phase of walking. Under the action of the actuator, the pawl overcomes the pre-tightening force received during the swing phase of the gait, thereby completing the unlocking action between the ratchet wheel and the pawl, thereby completing the bending of the knee joint.

In the support phase controlled knee brace provided by the present invention, it may have such features, and further include: wherein an anti-falling hook strap is fixed to the side of the outer thigh link near the top of the trunk section; and an anti-falling hook is connected to The top of the anti-drop hook strap is used to hang on the wearer's belt.

In the support phase controlled knee brace provided by the present invention, it may also have such a feature: wherein, the front calf baffle is provided with front calf straps for binding the calves and respectively arranged on the front side of the calf and the back side of the calf. Straps and straps behind the calves.

In the support phase controlled knee brace provided by the present invention, it may also have such a feature: wherein, the front thigh baffle is provided with a front thigh strap for binding the thigh and respectively arranged on the front side of the thigh and the back side of the thigh. Straps and straps behind the thighs.

In the support phase controlled knee brace provided by the present invention, it may also have such features: wherein the inner side of the connection between the inner leg link and the inner thigh link and the connection point between the outer calf link and the outer thigh link The inner side is fixed with a flexible pad. The flexible pad consists of a filler, an outer fabric wrapped outside the filler, and a hook connected to the outer fabric on one side, and the other side is glued to the calf front baffle. Velcro on the inner surface and the inner surface of the front thigh baffle.

In the support phase controlled knee brace provided by the present invention, it may also have such a feature: among them, the smallest included angle between the inner thigh link and the inner calf link and between the outer thigh link and the outer calf link Both are 50°, the maximum included angle is both 180°, the maximum angle of engagement between the pawl and the ratchet wheel is 130°, and every 10° is a gear.

The supporting phase controlled knee brace provided by the present invention may also have the feature: wherein the outer link of the lower leg and the ratchet are fixed by four screws.

In the support phase controlled knee brace provided by the present invention, it may also have the feature: wherein the electromagnetic actuator is an electromagnet, and the output end of the electromagnetic actuator is connected by an inelastic cable or a rigid brake link Protruding from the second outer edge of the pawl, the direction of the traction force on the pawl when the electromagnetic actuator is working is the direction that assists the pawl to disengage from the engaged state of the ratchet wheel.

The role and effect of the invention

According to the support phase control knee brace of the present invention, because the medial knee joint module has the inner calf link stopper and the outer knee joint module has the outer calf link stopper, the inner knee joint and the outer knee can be restricted. The angle of rotation of the joint; because it has a front calf baffle connected to the inner link of the lower leg and the outer lower leg, it can be used to support the lower leg; because it has a thigh front stop connected to the inner thigh link and the outer thigh link Plate, so it can be used to support the thigh; because it has a sensor module, it can detect the user's gait behavior; because it has a control module, it can control the state of the two spring-pretensioned one-way ratchet components according to the user's gait behavior ; Because the spring-preloaded unidirectional ratchet assembly has a pawl, a ratchet, a pre-tensioned spring, a torsion spring, and a pawl roller, it realizes the unidirectional locking and unlocking of the knee brace, thereby completing the bending and erection of the knee joint.

Therefore, the support phase controlled knee brace of the present invention can realize the detection of gait through the cooperation between the spring-pretensioned one-way ratchet assembly, the sensor module and the control module, and control unlocking and walking through the battery actuator. The support phase is unidirectionally locked, and can also be unlocked in the swing phase of walking, so as not to affect the user's walking.

Further, the support phase-controlled knee brace of the present invention solves the problems of abnormal gait and tripping when the patient is walking, and each part of the brace of the present embodiment fits the legs, which can prevent the user from walking. The gait is detected, allowing the joints to be stretched at any time, so that the walking gait tends to the gait of a normal person, and the user will not feel discomfort caused by obstacles such as walking or squatting.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of a knee brace for supporting phase control in an embodiment of the present invention;

2 is a schematic diagram of wearing a support phase control knee brace in an embodiment of the present invention;

3 is a schematic structural diagram of the medial knee joint module of the support phase control knee brace in an embodiment of the present invention;

4 is a schematic structural diagram of the lateral knee joint module of the support phase control knee joint brace in the embodiment of the present invention;

5 is a schematic diagram of the locked state of the spring-pretensioned unidirectional ratchet assembly of the support phase control knee brace in the embodiment of the present invention;

6 is a schematic diagram of the unlocked state of the spring-preloaded unidirectional ratchet assembly of the support phase control knee brace in the embodiment of the present invention;

FIG. 7 is a schematic diagram of a single joint form of the support phase control knee brace in an embodiment of the present invention;

8 is a front view of the inner knee joint module of the double-joint spring pre-tensioning ratchet module of the support phase control knee brace of the present invention;

9 is a front view of the lateral knee joint module of the double-joint spring pre-tensioning ratchet module of the support phase control knee brace of the present invention;

Fig. 10 is a perspective view of the lateral knee joint module of the double-joint spring pre-tensioning ratchet module of the supporting phase control knee joint brace of the present invention.

Detailed ways

In order to make the technical means and effects of the present invention easy to understand, the following describes the present invention in detail with reference to embodiments and drawings.

In the following examples, gait refers to the posture shown when walking and all walking movements. The time that the lower limbs of the supporting finger touch the ground and bear gravity, which accounts for about 60% of the walking cycle, and the swinging finger refers to the fact that the soles of the feet cannot move forward from the ground. The time between stepping and landing again accounts for about 40% of the entire gait cycle.

Examples:

Fig. 1 is a schematic diagram of the structure of a support-phase control knee brace in an embodiment of the present invention, and Fig. 2 is a schematic diagram of wearing a support-phase control knee brace in an embodiment of the present invention.

As shown in Figures 1 and 2, a support phase control knee brace 100 of this embodiment is used to provide auxiliary limit support for the knee joint, including: an insole 1, a medial knee joint module 2, and a medial joint cover 3. The lateral knee joint module 4, the lateral joint cover 5, the calf front baffle 6, the thigh front baffle 7, the sensor module 9, the control module 10, the anti-falling hook belt 11, and the anti-falling hook 12.

The insole 1 is placed under the user's foot.

The medial knee joint module 2 includes the inner calf link 201 and the inner thigh link 202 that are connected to each other and rotate around the medial joint axis. The medial knee joint module 2 has a two-link structure that can rotate around the medial joint axis with a single degree of freedom. , And only play the role of reducing the shearing force of the medial and lateral knee joints, and limit the legs to only rotate with a single degree of freedom in the sagittal plane, that is, the plane in the forward direction of human walking.

In this embodiment, the medial knee joint module 2 further includes an inner calf link limiting block 203 provided on the top surface of the inner calf link 201 for limiting.

One end of the medial joint cover 3 is connected to the inner thigh link 202 by a screw, and the other end is connected to the connection between the inner thigh link and the inner calf link by a screw.

4 is a schematic diagram of the structure of the lateral knee joint module of the support phase control knee joint brace in the embodiment of the present invention.

As shown in Fig. 4, the lateral knee joint module 4 includes a lower leg outer link 401 and an outer thigh link 402 that are connected to each other, and rotate around the outer joint rotation axis.

In this embodiment, the lateral knee joint module 4 further includes a lower leg outer link limiting block 403 arranged on the top surface of the lower leg outer link 401 for limiting position, and a spring pretensioner arranged on the outer and inner sides of the outer joint cover. One-way ratchet assembly.

In this embodiment, both the medial knee joint module 2 and the lateral knee joint module 4 are modules in the form of a single joint, and the rotation axis of the medial joint and the rotation axis of the lateral joint are collinear, forming the knee joint of the support phase control knee brace 100 axis.

In this embodiment, the inner side of the connection between the inner calf link 201 and the inner thigh link 202 and the inner side of the connection between the outer calf link 402 and the outer thigh link 402 are fixed with a flexible pad 13, and the flexible pad 13 It consists of a filler, an outer fabric wrapped outside the filler, and a Velcro with hook bristles attached to the outer fabric on one side and attached to the inner surface of the front calf baffle and the inner surface of the thigh front baffle on the other side And the outer fabric is sealed by knitting or gluing, and it is divided into two sides, one side is the soft fiber surface connected with the side with hook bristles of the Velcro, and the other side is the non-slip surface coated with non-slip rubber.

In this embodiment, the shape of the flexible pad 13 is the same as or similar to the shape of the thigh front baffle 7 and the calf front baffle 6, so as to fit the leg shape and have a fixed anti-skid function.

The outer joint cover 5 is connected to the outer thigh connecting rod 402, specifically through a screw that passes through the outer thigh connecting rod 402, the first sliding bearing 801, and the pawl 803 in turn, and then is inserted into the positioning hole on the outer joint cover 5. 405 and a screw 406 that passes through the outer thigh connecting rod 402, the outer calf connecting rod 401, the second sliding bearing 802, and the ratchet 804 in sequence, and then inserted into the positioning hole on the outer joint cover plate 5.

In this embodiment, the inner joint cover 3 is fixed to the inner thigh link 202, and the outer joint cover 5 is fixed to the outer thigh link 402, thereby forming a U-shaped structure, so that the knee joint has only one degree of freedom of rotation. , The inner thigh link 202 and the inner calf link 201, the outer thigh link 402 and the outer calf link 201 all have a U-shaped structure for physically limiting the opening of the inner and outer upper and lower leg links 15. Limit the rotation angle of the knee joint axis to 130°. At the same time, the minimum included angles between the inner thigh link 202 and the inner calf link 201, and the outer thigh link 402 and the outer calf link 401 are all 50° , The maximum included angle is 180°.

Both sides of the front calf baffle 6 are respectively connected to an end of the inner calf link 201 near the foot and an end of the outer calf link 401 near the foot, for supporting the calf.

In this embodiment, the front calf baffle 6 is provided with a front calf strap 601 and a rear calf strap 602 for binding the calf and respectively disposed on the front side of the calf and the back side of the calf.

Both sides of the thigh front baffle 7 are respectively connected to an end of the inner thigh link 202 near the torso and an end of the outer thigh link 402 near the torso for supporting the thigh.

In this embodiment, the front thigh baffle 7 is provided with a front thigh strap 701 and a rear thigh strap 702 for binding the thighs and respectively disposed on the front side of the thigh and the back side of the thigh.

As shown in Figures 2 to 4, the spring-preloaded one-way ratchet assembly 8 is arranged on the outside of the outer joint cover 5 and includes: a first sliding bearing 801, a second sliding bearing 802, a pawl 803, a ratchet 804, and a torsion spring 805 , Pre-tensioning spring 806 and pawl roller 807.

The first sliding bearing 801 is arranged between the outer thigh link 402 and the outer joint cover 5.

The second sliding bearing 802 is arranged between the outer link 401 of the lower leg and the outer joint cover 5.

The pawl 803 is sleeved on the periphery of the first sliding bearing 801, and the surface of the pawl 803 has a first outer edge protrusion 808 at the front and a second outer edge protrusion 809 at the rear.

The ratchet 804 is sleeved on the periphery of the second sliding bearing 802.

In this embodiment, the rotation axis of the ratchet 804 is coaxial with the rotation axis of the outer joint and is fixed to the outer link 401 of the lower leg. The pawl 803 rotates around the rotation axis of the pawl 803 and can effectively contact the teeth of the ratchet 804. In addition, , The rotation axis of the pawl 803 is parallel to the rotation axis of the outer joint and perpendicularly fixed to the outer thigh link 402.

In this embodiment, the maximum angle of engagement between the pawl 803 and the ratchet wheel 804 is 130°, and every 10° is a gear. In addition, the outer lower leg link 401 and the ratchet wheel 804 are fixed by four screws, and the outer lower leg The four ratchet fixing holes 407 on the connecting rod 401 are waist-shaped long holes to ensure that the ratchet 804 can rotate with the rotation axis of the ratchet 804 in a restricted manner, and the rotation is 5°.

In this embodiment, when the ratchet wheel 804 is rotated by 5° by the pressure-bearing bite, the bite force direction at this time is perpendicular to the occlusal surface between the ratchet wheel 804 and the pawl 803, which is formed by the rotation axis of the ratchet wheel 804 and the rotation axis of the outer joint In the plane, the ratchet wheel 804 and the pawl 803 are divided into front and rear parts.

One end of the pre-tensioning spring 806 is fixed to the first protrusion 404 on the outer thigh link 401, and the other end is fixed to the first outer edge protrusion 808 of the front part of the pawl 803 to apply a pre-tensioning force to the pawl 803 , And under the action of the first preload, the pawl 803 can engage with the ratchet 804 within a range of 130°, the interactive force of the occlusal surface generates a torque that prevents the knee joint from bending, and the direction of the first preload is The direction in which the auxiliary pawl 803 engages with the ratchet wheel 804.

The torsion spring 805 is embedded in the inner ring of the ratchet 804 to provide the ratchet 804 with a pre-tightening force that is opposite to the direction of the bite force, which can provide a cushioning effect for the pressure-bearing bite and lock, and increase the impact resistance of the ratchet 804, thereby Protect the user's knee joints.

The pawl roller 807 is mounted on the pawl 803 through the roller pin 8011, and a roller sliding sleeve 8010 is arranged between the pawl roller 807 and the roller pin. The surface of the pawl roller 807 will interact with the ratchet wheel when the pawl 803 is engaged with the ratchet wheel 804. The tooth surfaces of the 804 are in contact, thereby reducing the friction between the pawl 803 and the ratchet 804 during biting.

In this embodiment, the pawl 803 and the ratchet 804 are occluded under the action of the first pretension force of the pretension spring 806, so that the interactive force generated by the occlusal surface prevents the bending torque of the knee joint. Locking, and under the action of the electromagnetic actuator 1003, the pawl 803 overcomes the first pre-tightening force received during the swing phase of the gait, thereby completing the unlocking action between the ratchet wheel 804 and the pawl 803, thereby completing the unlocking action between the ratchet wheel 804 and the pawl 803. Bend of the knee joint.

The sensor module 9 is used to detect the gait behavior of the user, including the first six-axis accelerometer at the top of the outer thigh link at the end of the thigh for detecting the acceleration of thigh movement, and the first six-axis accelerometer installed at the lower end of the lower leg of the outer link at the lower leg. A second six-axis accelerometer 901 for detecting the acceleration of the movement of the calf, an angular velocity sensor installed at the end of the knee joint axis for detecting the angle of the knee joint, and a plurality of second six-axis accelerometers 901 installed on the surface of the insole 1 through wires 14 A plurality of pressure sensors 902 for pressure detection and obtaining plantar contact information are connected.

In this embodiment, the first six-axis accelerometer is integrated on the control module 10, and the second six-axis accelerometer 901 is a separate circuit board mounted on the outside of the lower leg, and is connected to the main controller 1001 through a wire. The battery pack connected to the main controller 1001 supplies power.

In this embodiment, the angular velocity sensor is composed of a magnetic head 903 and a magnetic ring 904. The magnetic head 903 is arranged on the outer peripheral surface of the central circular hole at the top of the lower leg outer link 401 and is adjacent to the lower leg outer link limit block 403. The magnetic ring 904 is coaxial with the first sliding bearing 801 and is close to the magnetic head 903. The magnetic head 903 reads the change of the magnetic field of the magnetic ring 904 and transmits it to the control module 10 in response to the angle data between the upper and lower connecting rods.

The control module 10 is used to control the state of the spring-preloaded one-way ratchet assembly according to the user's gait behavior, and includes a main control that is provided on the front thigh baffle 7 and has a manual control button and is equipped with a first six-axis accelerometer. A battery pack 1002 for power supply connected to the main controller 1001 via a wire 14, and an electromagnetic actuator 1003 connected to the main controller 1001 via a wire 14.

In this embodiment, the electromagnetic actuator 1003 is an electromagnet, and the output end of the electromagnetic actuator 1003 is connected to the second outer edge protrusion 809 of the pawl 803 through an inelastic cable 1004 or a rigid brake link. When the actuator 1003 is working, the direction of the traction force on the pawl 803 is the direction that assists the pawl 803 to disengage from the ratchet wheel 804.

The anti-drop hook strap 11 is fixed on the outer thigh connecting rod 402 near the top of the trunk section.

The anti-fall hook 12 is connected to the top of the anti-fall hook belt 11 for hanging on the wearer's waist belt to prevent the support phase control knee brace 100 from sliding down during the user's walking process and causing wearing discomfort.

5 is a schematic diagram of the locked state of the spring-pretensioned unidirectional ratchet assembly of the support-phase-controlled knee brace in an embodiment of the present invention, and FIG. 6 is the spring-pretension unit of the support-phase-controlled knee brace in the embodiment of the present invention A schematic diagram of the unlocked state of the ratchet assembly. FIG. 7 is a schematic diagram of the single-joint form of the support phase control knee brace in the embodiment of the present invention.

Further, in this embodiment, when the support phase control knee brace 100 is not energized or in the support phase state, the ratchet 804 and the pawl 803 are in the occluding state. At this time, the knee joint is locked, as shown in FIG. 5, when When the support phase controls the knee brace 100 to be powered on and the sensor module 9 detects that the leg enters the swing phase, the control module 10 sends a signal to the electromagnetic actuator 1003, the electromagnetic actuator 1003 is activated, the tongue retracts, and the An inelastic cable or a rigid brake link pulls up one end of the pawl 803 and enters the unlocked state from the locked state, as shown in FIG. 6. After a certain period of time or when the sensor module 9 detects that the leg is in the supporting phase, the electromagnetic actuator 1003 is closed, and the pawl 803 is locked again under the action of the first pre-tensioning force of the side pre-tensioning spring 806 by the pawl 803.

The function and effect of the embodiment

According to the support phase control knee brace involved in this embodiment, because the medial knee joint module has a calf inner link stopper and the outer knee joint module has a calf outer link stopper, it can limit the medial knee joint and the outer side. The angle of rotation of the knee joint; because it has the front calf baffle connected to the inner calf link and the outer calf link, it can be used to support the calf; because it has the front thigh connected to the inner thigh link and the outer thigh link The baffle can be used to support the thigh; because it has a sensor module, it can detect the user’s gait behavior; because it has a control module, it can control the two spring-preloaded unidirectional ratchet components according to the user’s gait behavior Status: Because the spring pre-tensioned unidirectional ratchet components all have pawls, ratchets, pre-tensioned springs, torsion springs and pawl rollers, one-way locking and unlocking of the knee brace are realized, thereby completing the bending and erection of the knee joint.

According to the support phase control knee brace involved in this embodiment, because it has an anti-fall hook strap and an anti-fall hook, it can prevent the wearer's discomfort caused by the user's sliding failure during walking.

According to the support phase control knee brace involved in this embodiment, the front calf strap and the back calf strap are provided on the front calf baffle and are located on the front side of the calf and the back side of the calf, so it can be used to tie the calf , So that it can better support the calf.

According to the support phase control knee brace involved in this embodiment, the front thigh strap and the back thigh strap are provided on the front thigh baffle and are respectively located on the front side of the thigh and the back side of the thigh, so it can be used to tie the thighs , So that it better supports the thighs.

According to the support phase control knee brace involved in this embodiment, flexible guards are fixed on the inner side of the connection between the inner calf link and the inner thigh link and the inner side of the connection between the outer calf link and the outer thigh link. Cushion, so it can better protect the knee joint.

According to the support phase control knee brace involved in this embodiment, because the output end of the electromagnetic actuator is connected to the second outer edge of the first pawl through an inelastic cable or a rigid brake link, the electromagnetic The actuator can assist the direction in which the pawl disengages from the engaged state of the ratchet wheel during operation.

According to the support phase control knee brace involved in this embodiment, because the ratchet fixing holes on the outer link of the lower leg and the inner link of the lower leg are all waist-shaped long holes, the ratchet can be guaranteed to rotate around the ratchet rotation axis in a restricted manner , The rotation is 5°.

Therefore, the support phase control knee brace of this embodiment can realize the detection of gait through the cooperation of the spring-pretensioned unidirectional ratchet assembly, the sensor module and the control module, and control the unlocking by the battery actuator and the The walking support phase is unidirectionally locked, and can also be unlocked during the swing phase of walking, so as not to affect the user's walking.

Further, the support phase-controlled knee brace of this embodiment solves the problems of abnormal gait and tripping when the patient is walking, and each part of the brace of this embodiment fits the legs, which can be very effective for the user. The walking gait is detected, allowing the joints to be stretched at any time, so that the walking gait tends to the gait of a normal person, and the user will not feel discomfort caused by obstacles such as walking or squatting.

The foregoing embodiments are preferred cases of the present invention, and are not used to limit the protection scope of the present invention.

The pawl roller, torsion spring, waist-shaped hole of the outer link of the lower leg, etc. in the embodiment are all functionally improved parts and designs, but in the present invention, the basic pawl and the design of the ratchet fixed to the outer link of the lower leg should also be incorporated Within the scope of patent protection.

The medial knee joint module and the lateral knee joint module in the embodiment are both single-joint modules. However, in the present invention, the medial knee joint module and the lateral knee joint module can also be the medial knee joint module and the lateral knee joint module in the form of double joints, as shown in Figures 8-10, that is, the outer thigh link is replaced by the outer thigh gear Links, the outer calf link is replaced with an outer calf gear link, the inner thigh link is replaced with an inner thigh gear link, the inner calf link is replaced with an inner calf gear link, and an inner joint cover and an outer joint are added Cover, the pawl is connected to the outer thigh gear link, and the ratchet is connected to the outer calf gear link. At this time, the rotation axis of the outer thigh gear link, the rotation axis of the inner thigh gear link and the outer joint cover rotate on the thigh side The axis is coaxial, the rotation axis of the outer calf gear link, the rotation axis of the inner calf gear link and the calf side rotation axis of the outer joint cover are coaxial, and the rotation axis of the inner thigh gear link is coaxial with the thigh side of the inner joint cover. The rotation axis is coaxial, the rotation axis of the inner calf gear link is coaxial with the calf side rotation axis of the inner joint cover, the gear part of the outer thigh gear link and the gear part of the outer calf gear link mesh with each other, and the inner thigh gear is connected The gear part of the lever meshes with the gear part of the inner calf gear link. The outer thigh gear link and the outer calf gear link rotate in conjunction with their respective rotating shafts through gear meshing. The rotating shaft of the pawl and the outer joint cover The thigh side rotation axis is coaxial, and the rotation axis of the ratchet wheel is coaxial with the calf side rotation axis of the outer joint cover. At the same time, the medial knee joint module meshes with the gears of the inner thigh gear link and the inner calf link, and can only move around the thigh joint shaft and the lower leg joint shaft, and the inner knee joint module of the double-joint form also only reduces the inner leg. The role of the shearing force of the lateral knee joint restricts the leg to only rotate with a single degree of freedom in the sagittal plane, which is the plane in which the person is walking forward.

Claims (8)

1. A support phase control knee joint brace for providing auxiliary limit support of the knee joint, which is characterized in that it comprises:

   Insoles, placed under the user's feet;

   The medial knee joint module includes an inner calf link and an inner thigh link that are connected to each other, and an inner calf link limiting block provided on the top surface of the inner calf link for limiting;

   An inner joint cover plate, one end is connected to the inner thigh link, and the other end is connected to the connection between the inner calf link and the inner thigh link;

   The lateral knee joint module includes an outer thigh link and an outer thigh link that are connected to each other, and a lower leg outer link limiting block provided on the top surface of the lower leg outer link for limiting;

   The outer joint cover is connected to the connecting rod of the outer thigh;

   The front calf baffle, both sides of which are respectively connected to one end of the inner calf link close to the foot and one end of the calf outer link close to the foot, for supporting the calf;

   The thigh front baffle, both sides of which are respectively connected to an end of the inner thigh link close to the torso and an end of the outer thigh link close to the torso, for supporting the thigh;

   The sensor module is used to detect the user’s gait behavior, including a first six-axis accelerometer installed at the top of the outer thigh link, a second six-axis accelerometer installed at the lower end of the lower leg outer link, and The magnetic head on the top surface of the outer link of the lower leg and the angular velocity sensor composed of a magnetic ring coaxial with the second sliding bearing and close to the magnetic head, and a plurality of angular velocity sensors arranged on the surface of the insole and connected to the second six through wires The pressure sensor connected to the axis accelerometer; and

   The control module is used to control the state of the spring-preloaded one-way ratchet assembly according to the user's gait behavior, and includes a manual control button provided on the thigh front baffle and installed with the first six-axis A main controller of the accelerometer, a battery pack connected to the main controller via a wire, and an electromagnetic actuator connected to the main controller via a wire;

   Wherein, the lateral knee joint module further includes a spring-preloaded unidirectional ratchet assembly disposed on the outer and inner sides of the outer joint cover plate, and the spring-preloaded unidirectional ratchet assembly includes:

   The first sliding bearing is arranged between the connecting rod of the outer thigh and the outer cover plate of the joint;

   The second sliding bearing is arranged between the outer connecting rod of the lower leg and the outer cover plate of the joint;

   The pawl is sleeved on the periphery of the first sliding bearing, and the surface of the pawl has a first outer edge protrusion at the front part and a second outer edge protrusion at the rear part;

   A ratchet, sleeved on the periphery of the second sliding bearing;

   A pre-tensioning spring, one end is fixed to the first protrusion on the outer thigh link, and the other end is fixed to the first outer edge protrusion of the pawl, for applying first pretension to the pawl Force, and the direction of the first pre-tightening force is the direction assisting the engagement of the pawl with the ratchet wheel;

   A torsion spring, embedded in the inner ring of the ratchet wheel, for providing the ratchet wheel with a second pretension force opposite to the direction of the bite force; and

   The pawl roller is mounted on the pawl through a roller pin, and the surface of the pawl roller contacts the tooth surface of the ratchet wheel when the pawl engages with the ratchet wheel, thereby reducing the ratchet during engagement. The friction between the pawl and the ratchet,

   The pawl and the ratchet are both engaged under the action of the pretensioning force of the pretensioning spring, so that the interactive force generated by the occlusal surface prevents the bending torque of the knee joint, and performs unidirectional locking during the walking support phase, And under the action of the electromagnetic actuator, the pawl overcomes the pre-tightening force received during the swing phase of the gait, thereby completing the unlocking action between the ratchet wheel and the pawl, thereby completing the knee The bending of the joints.
2. The supporting phase control knee brace according to claim 1, further comprising:

   An anti-falling hook strap fixed on the side of the outer thigh link near the top of the trunk section; and

   The anti-falling hook is connected to the top of the anti-falling hook belt and is used to hang on the waist belt of the wearer.
3. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the front calf baffle is provided with a front calf strap and a back calf strap for binding the calf and respectively arranged on the front side of the calf and the back side of the calf.
4. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the front thigh baffle is provided with a front thigh strap and a rear thigh strap for binding the thigh and respectively arranged on the front side of the thigh and the back side of the thigh.
5. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the inner side of the connection between the inner calf link and the inner thigh link and the inner side of the connection between the outer calf link and the outer thigh link are fixed with flexible pads,

   The flexible pad consists of a filler, an outer layer fabric wrapped outside the filler, and one side connected to the outer layer fabric with hook bristles and the other side is glued to the inner side of the calf front baffle Velcro on the surface and the inner surface of the front thigh baffle.
6. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the minimum included angle between the inner thigh link and the inner calf link, and between the outer thigh link and the outer calf link are both 50°, and the maximum included angle is both 180°,

   The maximum angle of engagement between the pawl and the ratchet wheel is 130°, and every 10° is a gear.
7. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the outer connecting rod of the lower leg and the ratchet are fixed by four screws,

   The ratchet fixing hole on the outer connecting rod of the lower leg is a waist-shaped long hole.
8. The supporting phase control knee brace according to claim 1, wherein:

   Wherein, the electromagnetic actuator is an electromagnet,

   The output end of the electromagnetic actuator is connected to the second outer edge protrusion of the pawl through an inelastic cable or a rigid brake link, and the direction of the traction force on the pawl when the electromagnetic actuator is working In order to assist the direction of the pawl from being engaged with the ratchet wheel.

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