CN110584847A - Active ankle joint artificial limb based on motor driving and method thereof - Google Patents
Active ankle joint artificial limb based on motor driving and method thereof Download PDFInfo
- Publication number
- CN110584847A CN110584847A CN201911022393.5A CN201911022393A CN110584847A CN 110584847 A CN110584847 A CN 110584847A CN 201911022393 A CN201911022393 A CN 201911022393A CN 110584847 A CN110584847 A CN 110584847A
- Authority
- CN
- China
- Prior art keywords
- rocker
- shell
- ankle
- fixing
- fixing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/707—Remote control
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an active ankle joint prosthesis based on motor driving and a method thereof. The active ankle joint artificial limb comprises an ankle shell, a driving motor, a control circuit, a rocker transmission device, a foot elastic structure, a wireless sensor data acquisition part and a connecting part. When the power supply is switched on to start the sensor and the control circuit PCB is electrified, the sensor starts to work, the driving motor is started and the rotating speed of the driving motor is adjusted after operation, the rocker swings back and forth through mechanical transmission, and then the whole gait cycle is completed; when the power supply is cut off, the rocker is not driven by the driving force from the driving motor, but swings due to the fact that the elastic structure of the foot is stressed and bent, and other structures play a supporting role at the moment. The device is suitable for various terrains and various gait environments, has good interaction with human bodies, and is suitable for amputee groups at the lower end of the tibia.
Description
Technical Field
The invention belongs to the technical field of electromechanical integration, relates to an active ankle joint prosthesis based on motor driving and a method thereof, and particularly relates to an active ankle joint prosthesis which adjusts the rotation angle of a foot prosthesis in an electric driving mode to meet the requirement of ankle degree of freedom and a using method thereof.
Background
With the development of the times, the number of disabled people with limb loss caused by car accidents, war and the like is continuously increasing, more than 70% of the disabled people have limb loss, and most of the disabled people have the loss below the knee.
In this respect, countries such as Japan, Europe and America have advanced more than 20 years in China, foreign products are expensive and difficult to maintain, and the domestic products are integrally formed, are inconvenient to disassemble and cannot well meet the requirements of audiences, so that the domestic audiences suffer from perplexity. The artificial limb at the lower end of the tibia mainly comprises a shank, an ankle joint and a foot, and the passive ankle joint and the carbon fiber foot are mainly used in the domestic current market, and cannot well meet the requirements of audiences, so that the problems of difficulty in long-time movement, contact surface abrasion and the like are caused; the latter is expensive and most audiences are difficult to pay for repair or replacement.
Disclosure of Invention
In order to overcome the defects of poor adaptability and experience, high maintenance rate, long maintenance time and the like of the traditional passive ankle joint, the invention provides the active ankle joint prosthesis based on motor drive by adopting the concept of active adaptation, a mode of combining mechanical and electrical integration and various parameters such as the angle and the speed of human gait advancing.
In view of the difficulty in maintenance of the integrated damage of the traditional ankle joint, the active ankle joint prosthesis based on the motor drive provided by the invention adopts a novel structural design, and is divided into an active external member, a passive external member and an additional external member, wherein the external member is combined by a shell and a module, so that the characteristics of simple replacement, rapid assembly, high practicability, convenience and practicability are achieved. The active ankle joint artificial limb based on the motor drive is active when being powered on and passive when being powered off, so that the purposes of convenience, practicability and comfortable experience are achieved.
The technical scheme of the invention is as follows:
an active ankle joint artificial limb based on motor drive comprises an ankle shell 3, a drive motor and control circuit 6, a rocker transmission device 7, a foot elastic structure 4, a wireless sensor data acquisition part and a connecting part 1; the foot elastic structure 4 is positioned at the lowest part of the active ankle joint artificial limb, an ankle shell 3 is arranged on the foot elastic structure, a driving motor and control circuit 6 and a rocker transmission device 7 are accommodated in the ankle shell 3, and a connecting part 1 is arranged above the ankle shell 3;
the foot elastic structure 4 comprises an L-shaped elastic body 36 and a C-shaped elastic body 38 which are connected with each other to form an LC-shaped elastic body; a rocker fixing groove 35 is formed in the upper surface of the foot elastic structure 4 at the position of the C-shaped elastic body 38, a foot connecting threaded hole 37 is formed in the center of the rocker fixing groove 35, and the rocker 16 is connected with the foot elastic structure 4 through the foot connecting threaded hole 37;
the ankle shell 3 is used for placing a driving motor, a control circuit 6 and a rocker transmission device 7, the ankle shell 3 comprises a left shell and a right shell which have the same structure, and the left shell and the right shell are spliced to form the complete ankle shell 3; the left side shell and the right side shell respectively comprise an upper part and a lower part;
the driving motor and control circuit 6 is arranged at the upper part inside the ankle outer shell 3 and is used for controlling the power of the whole device, and the driving motor and control circuit 6 comprises a driving motor and a control circuit PCB board 8;
the lower parts of the left side shell and the right side shell comprise a fixing piece 12, a rocker sleeve fixing convex shaft 21, a fixing piece fixing key 22, an ankle fixing piece connecting threaded hole 23 and an ankle rocker circular shaft fixing groove 24; the centers of the lower parts of the left shell and the right shell are respectively provided with a rocker sleeve fixing convex shaft 21, a fixing piece fixing key 22 is arranged at the inner bottom of the shell, the inner bottom of the shell is provided with an ankle fixing piece connecting threaded hole 23, and the center of the inner bottom of the shell is provided with an ankle rocker circular shaft fixing groove 24;
the bottom of the left side shell and the bottom of the right side shell are respectively provided with a fixing piece 12, and the fixing piece 12 is provided with a fixing piece fixing groove 32, a fixing piece rocker circular shaft fixing groove 33 and a fixing piece connecting threaded hole 34; the fixing piece 12 is connected with the shell by a fixing piece connecting bolt 11 through an ankle fixing piece connecting threaded hole 23 formed in the bottom of the shell and a fixing piece connecting threaded hole 34 on the fixing piece 12, a fixing piece fixing key 22 is accommodated in a fixing piece fixing groove 32, and the ankle fixing piece connecting threaded hole 23 and a fixing piece rocker circular shaft fixing groove 33 form a circular groove to accommodate a rocker circular shaft 27;
the rocker transmission device 7 comprises a rocker 16, a rocker sleeve 15, a synchronous belt and a synchronous belt wheel; the center of the rocker sleeve 15 is provided with an opening for sleeving the rocker sleeve 15 on the rocker 16; both sides of the rocker sleeve 15 are provided with a synchronous belt shaft 30 and a rocker sleeve fixing hole 31, the rocker sleeve fixing hole 31 on one side of the rocker sleeve 15 is sleeved with the rocker sleeve fixing convex shaft 21 of the left shell, and the rocker sleeve fixing hole 31 on the other side is sleeved with the rocker sleeve fixing convex shaft 21 of the right shell; the synchronous belt shaft 30 is connected with a driving motor through a synchronous belt and a synchronous belt wheel;
a rocker circular shaft 27 is symmetrically arranged on two sides below the rocker 16, and the two rocker circular shafts 27 are respectively nested in a circular groove formed by the ankle rocker circular shaft fixing groove 24 in the middle of the bottoms of the shells on two sides and the fixing piece rocker circular shaft fixing groove 33 of the fixing piece 12 on the corresponding side to form a fixed rotating pair;
the connecting part 1 comprises a receiving cavity 18 and a thigh connecting telescopic belt 17, the side wall of the lower end of the receiving cavity 18 is provided with a plurality of connecting pieces 42, the upper part of each connecting piece 42 is provided with a receiving cavity thigh connecting belt threaded hole 41, and the lower end is provided with an ankle connecting threaded hole 20; the receiving cavity 18 and the ankle shell 3 are respectively connected through an ankle connecting threaded hole 20 and a receiving cavity connecting threaded hole 9 by bolts, and the thigh connecting telescopic belt 17 and the receiving cavity 18 are respectively connected through a thigh connecting belt hole 43 and a receiving cavity thigh connecting belt threaded hole 41 by a thigh connecting belt connecting bolt 19;
the wireless sensor data acquisition part comprises three sensors 5 and a signal receiver, wherein the three sensors 5 are respectively arranged on the front part of the foot elastic structure 4, the outer wall of the receiving cavity 18 and the thigh connecting belt 17, and the signal receiver, the driving motor and the control circuit 6 are arranged on the same control circuit PCB 8.
Furthermore, the upper parts of the left side shell and the right side shell comprise receiving cavity connecting threaded holes 9 and motor holes 14, the receiving cavity connecting threaded holes 9 are formed in the front side wall and the rear side wall of the left side shell and the right side shell, and the motor holes 14 are formed in the shells; the driving motor is arranged in the motor hole 14, and the control circuit PCB board 8 is arranged at the upper part of the inside of the ankle outer shell 3 and above the motor hole 14.
Further, the rocker 16 includes four side surfaces, each side surface has two fixed sliding grooves 26, the front side surface is provided with a rocker line groove 25, each inner surface of the four inner surfaces of the opening of the rocker sleeve 15 has two fixed sliding keys 28, the inner surface of the corresponding front side is provided with a rocker sleeve line groove 29, and the eight fixed sliding keys 28 of the rocker sleeve 15 correspond to the eight fixed sliding grooves 26 of the rocker 16 one by one and are nested with each other.
Further, the sensor 5 contains a 3-axis ICU, a 3-axis accelerometer and a 3-axis magnetometer for acquiring angle, velocity and calibration data, respectively.
The walking method of the active ankle joint artificial limb based on the motor drive comprises the following steps:
step 1, installing a battery, controlling a circuit PCB 8 to start working after the power is on, starting to acquire data such as current angle, speed and the like, and uploading processed signals to a microprocessor through a noise reduction and amplification circuit after a signal receiver receives the signals;
step 2, after receiving the processed signal, the microprocessor calculates the difference between the processed signal and normal human body gait advancing data stored in a memory in advance, searches a conforming gait cycle stage according to the difference value, and controls the rotating speed of a driving motor by judging the current stage;
step 3, when the driving motors rotate, the synchronous belt wheels are driven to rotate, the rotating speeds of the two driving motors are consistent, the rotating speeds of the two synchronous belt wheels are also consistent, the rotating motion of the motors is transmitted to the rocker sleeve 15 through the synchronous belts, so that the rotating motion is carried out, and when the rocker sleeve 15 is in fixed rotating motion, the rocker 16 is driven to do reciprocating swing;
step 4, the foot elastic structure 13 is connected with the rocker 16 through a foot connecting threaded hole 37 by a bolt, the rocker 16 swings back and forth around the fixed point of the rocker round shaft 27 of the rocker 16 to drive the foot elastic structure 13 to move, and the ankle shell 3 is relatively fixed, so that an included angle which changes along with the change of angles of the shank and the thigh is formed between the foot elastic structure 13 and the ankle shell 3, and the whole action is completed;
and 5, when the power supply is cut off, namely the driving motor and the control circuit 6 stop, the active link of the whole ankle artificial limb stops working.
The invention has the beneficial effects that:
1. the invention adopts a motor driving mode with stability, high efficiency and good controllability, and the driving circuit is simple and reliable, so that the active ankle prosthesis can stably run and is convenient to popularize in the market;
2. the invention designs two modes, one mode is a mode of actively acquiring data and adjusting the angle in advance when the power is on, accords with the motion rule of the lower limbs of the human body, and improves the hysteresis of the passive artificial limb; one mode is a mode for passively sensing the environment during power failure and avoiding insufficient muscle strength, and an active mode is ensured, so that safety and reliability are achieved;
3. the invention designs a mode that the main degree of freedom is mainly satisfied, and the secondary degree of freedom is passively satisfied, wherein the main degree of freedom is the degree of freedom in the sagittal plane, the manner of satisfying the main degree of freedom is the active change of the included angle between the foot and the ankle, and the secondary degree of freedom is passively satisfied by the elastic potential energy of the elastic structure of the foot, so that the mode accords with the law of the motion of the lower limbs of the human body and meets the requirements of various terrains;
4. the invention adopts the standard component in the place easy to wear, the whole device is easy to disassemble and maintain, thereby facilitating the self-maintenance and replacement of audiences, shortening the maintenance time, reducing the maintenance cost and achieving the expectation of convenience and practicability.
Drawings
FIG. 1 is a schematic view of an active ankle prosthesis provided in an embodiment of the present invention;
FIG. 2 is a schematic view of the assembled foot and ankle portion of an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a resilient structure of a foot of an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 4 is a schematic view of a left ankle shell of an active ankle prosthesis provided in an embodiment of the present invention;
FIG. 5 is a schematic structural view of a fastener for an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a rocker of an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 7 is a schematic structural view of a rocker sleeve of an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 8 is a schematic structural view of a connecting portion of an active ankle joint prosthesis provided in an embodiment of the present invention;
FIG. 9 is a schematic view of the configuration of an active ankle joint prosthesis socket provided in an embodiment of the present invention;
fig. 10 is a schematic view of a thigh link of an active ankle joint prosthesis according to an embodiment of the present invention.
In the figure: 1 a connecting portion; 3 ankle shell; 4, a foot elastic structure; 5, a sensor; 6 driving a motor and a control circuit; 7 a rocker drive; 8, controlling a circuit PCB board; 9, the receiving cavity is connected with the threaded hole; 10 ankle outer shell connecting threaded holes; 11 a fixing piece connecting bolt; 12 a fixing member; 14 motor holes; 15 a rocker sleeve; 16 rocker levers; 17 the thigh is connected with a telescopic belt; 18 a receiving cavity; 19 thigh link belt connecting bolts; 20 ankle connecting threaded holes; 21 the rocker sleeve fixes the convex shaft; 22 a fastener securing key; 23, connecting the ankle part fixing piece with the threaded hole; 24 ankle rocker circular shaft fixing grooves; 25 rocker line grooves; 26 fixing the chute; 27 rocker round shaft; 28 fixing a sliding key; 29 a rocker bar sleeve line groove; 30 synchronous belt shaft; 31 a rocker sleeve fixing hole; 32 a fixing member fixing groove; 33 fixing part rocker round shaft fixing groove; 34 connecting the fixing piece with the threaded hole; 35 a rocker fixing groove; a 36L-type elastomer; 37 foot connecting threaded hole; a 38C type elastomer; 39 receiving chamber inner wall; 40 receiving the outer wall of the cavity; 41 receiving cavity thigh connecting belt threaded holes; 42 a connector; the thigh 43 is connected with a hole.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
It is to be understood that the appended drawings are not to scale, but are merely drawn with appropriate simplifications to illustrate various features of the basic principles of the invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and use environment.
In the several figures of the drawings, identical or equivalent components (elements) are referenced with the same reference numerals.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Fig. 1 is a schematic view of an active ankle prosthesis provided in an embodiment of the present invention. As shown in figure 1, the active ankle joint artificial limb based on motor drive comprises an ankle shell 3, a drive motor and control circuit 6, a rocker transmission device 7, a foot elastic structure 4, a wireless sensor data acquisition part and a connecting part 1; the foot elastic structure 4 is positioned at the lowest part of the active ankle joint artificial limb, an ankle shell 3 is arranged on the foot elastic structure, a driving motor and control circuit 6 and a rocker transmission device 7 are accommodated in the ankle shell 3, and a connecting part 1 is arranged above the ankle shell 3.
Fig. 3 is a schematic structural diagram of a foot elastic structure of an active ankle joint prosthesis provided in an embodiment of the present invention. Referring to fig. 3, in the present embodiment, the foot elastic structure 4 includes an L-shaped elastic body 36 and a C-shaped elastic body 38 connected to each other to form an LC-shaped elastic body. The foot elastic structure 4 takes carbon fiber as a main material to meet the energy storage design, so that the foot provides certain power in the walking process and the muscle burden of audiences is reduced, wherein the elastic supporting structure of the foot elastic structure 4 adopts a C-type energy storage design, downward kinetic energy and gravitational potential energy in a gait cycle are converted into elastic potential energy, and then the elastic potential energy is converted into upward kinetic energy, so that the power is provided to reduce the muscle burden of the audiences.
A rocker fixing groove 35 is formed in the upper surface of the foot elastic structure 4 at the position of the C-shaped elastic body 38, a foot connecting threaded hole 37 is formed in the center of the rocker fixing groove 35, and the rocker 16 is connected with the foot elastic structure 4 through the foot connecting threaded hole 37 by a bolt.
Fig. 2 is a schematic structural diagram of the assembly of the foot and the ankle of the active ankle joint prosthesis provided in the embodiment of the invention. Referring to fig. 1 and 2, in this embodiment, the ankle shell 3 is made of aluminum alloy as a main material and is used for accommodating a driving motor, a control circuit 6 and a rocker transmission device 7, and includes a left shell and a right shell having the same structure, the left shell and the right shell are spliced to form the complete ankle shell 3, the corresponding positions of the edges of the left shell and the right shell are provided with ankle shell connecting threaded holes 10, in this embodiment, the left shell and the right shell are respectively provided with four ankle shell connecting threaded holes 10, and the left shell and the right shell are connected through the ankle shell connecting threaded holes 10 by four bolts.
FIG. 4 is a schematic view of a left ankle shell of an active ankle prosthesis provided in an embodiment of the present invention; fig. 5 is a schematic view of the structure of the fixing member. The left side casing is the same with right side casing structure, and the symmetry sets up, and left side casing and right side casing all include upper portion and lower part, and upper portion includes accepting chamber connection screw hole 9 and motor hole 14, and accepting chamber connection screw hole 9 is seted up and is located on the front and back lateral wall of left side casing and right side casing, and motor hole 14 is seted up inside the casing. The driving motor and control circuit 6 is arranged at the upper part inside the ankle outer shell 3 and is used for controlling the power of the whole device, and the driving motor and control circuit 6 comprises a driving motor and a control circuit PCB board 8. The drive motor is disposed in the motor hole 14, and the control circuit PCB board 8 is disposed at the upper portion inside the ankle case 3 above the motor hole 14.
The lower parts of the left and right side cases include a fixing piece 12, a rocker sleeve fixing protruding shaft 21, a fixing piece fixing key 22, an ankle fixing piece connecting threaded hole 23 and an ankle rocker circular shaft fixing groove 24. Referring to fig. 1, 2, 4 and 5, in this embodiment, a rocker sleeve fixing protruding shaft 21 is disposed at the center of the lower portion of each of the left and right housings, a fixing member fixing key 22 is disposed at the bottom of the interior of the housing, an ankle fixing member connecting threaded hole 23 is disposed at the bottom of the interior of the housing, and an ankle rocker circular shaft fixing groove 24 is disposed at the center of the bottom of the interior of the housing.
The bottom of the left side shell and the bottom of the right side shell are respectively provided with a fixing piece 12, and the fixing piece 12 is provided with a fixing piece fixing groove 32, a fixing piece rocker circular shaft fixing groove 33 and a fixing piece connecting threaded hole 34; the fixing piece 12 is connected with the casing by a fixing piece connecting bolt 11 through an ankle fixing piece connecting threaded hole 23 formed in the bottom of the casing and a fixing piece connecting threaded hole 34 on the fixing piece 12, the fixing piece fixing key 22 is accommodated in a fixing piece fixing groove 32, and the ankle fixing piece connecting threaded hole 23 and a fixing piece rocker circular shaft fixing groove 33 form a circular groove to accommodate the rocker circular shaft 27.
FIG. 6 is a schematic structural diagram of a rocker of an active ankle joint prosthesis provided in an embodiment of the present invention; fig. 7 is a schematic structural diagram of a rocker sleeve of an active ankle joint prosthesis provided in an embodiment of the invention. Referring to fig. 1, 2, 6 and 7, in the present embodiment, the rocker transmission device 7 includes a rocker 16, a rocker sleeve 15, a first timing belt, a second timing belt, a first timing pulley and a second timing pulley.
The center of the rocker sleeve 15 is provided with an opening for sleeving the rocker sleeve 15 on the rocker 16; both sides of the rocker sleeve 15 are provided with a synchronous belt shaft 30 and a rocker sleeve fixing hole 31, the rocker sleeve fixing hole 31 on one side of the rocker sleeve 15 is sleeved with the rocker sleeve fixing convex shaft 21 of the left shell, and the rocker sleeve fixing hole 31 on the other side is sleeved with the rocker sleeve fixing convex shaft 21 of the right shell.
Specifically, each of four side surfaces of the rocker 16 is provided with two fixed sliding grooves 26, the front surface of the rocker 16 is provided with a rocker line groove 25, each of four inner surfaces of the rocker sleeve 15 is provided with two fixed sliding keys 28, the inner surface corresponding to the front surface is provided with a rocker sleeve line groove 29, and the eight fixed sliding keys 28 of the rocker sleeve 15 correspond to the eight fixed sliding grooves 26 of the rocker 16 one by one and are mutually nested.
Two sides below the rocker 16 are symmetrically provided with a rocker circular shaft 27, and the two rocker circular shafts 27 are respectively nested in a circular groove formed by the ankle rocker circular shaft fixing groove 24 in the middle of the bottoms of the two side shells and the fixing piece rocker circular shaft fixing groove 33 of the fixing piece 12 on the corresponding side to form a fixed rotating pair.
One end of a first synchronous belt is sleeved on the synchronous belt shaft 30 on one side of the rocker sleeve 15, the other end of the first synchronous belt is sleeved on a first synchronous belt wheel to form synchronous belt transmission, and the first synchronous belt wheel is connected with a first driving motor; one end of a second synchronous belt is sleeved on the synchronous belt shaft 30 on the other side of the rocker sleeve 15, the other end of the second synchronous belt is sleeved on a second synchronous belt wheel to form synchronous belt transmission, and the second synchronous belt wheel is connected with a second driving motor.
FIG. 8 is a schematic structural view of a connecting portion of an active ankle joint prosthesis provided in an embodiment of the present invention; fig. 9 is a schematic view of the structure of the socket. Fig. 10 is a schematic view of the thigh link. See fig. 1, 8-10. In this embodiment, the connection part 1 comprises a receiving cavity 18 and a thigh connecting telescopic belt 17, a plurality of connecting pieces 42 are arranged on the side wall of the lower end of the receiving cavity 18, a receiving cavity thigh connecting belt threaded hole 41 is formed in the upper part of each connecting piece 42, and an ankle connecting threaded hole 20 is formed in the lower end of each connecting piece. The socket 18 and the ankle casing 3 are bolted to each other through the ankle joint threaded hole 20 and the socket joint threaded hole 9, respectively, and the thigh link expansion band 17 and the socket 18 are bolted to each other through the thigh link hole 43 and the socket thigh link threaded hole 41, respectively, with the thigh link connecting bolt 19.
As shown in fig. 1, the wireless sensor data acquisition part comprises three sensors 5 and a signal receiver, each sensor 5 comprises a 3-axis ICU, a 3-axis accelerometer and a 3-axis magnetometer which are respectively used for acquiring angle, speed and calibration data, the three sensors 5 are respectively arranged in the front part of the foot elastic structure 4, in the middle of the outer wall of the receiving cavity 18 and on a thigh connecting belt 17, the signal receiver and a driving motor and control circuit 6 are arranged on the same control circuit PCB board 8 and are simultaneously connected with a noise reduction and amplification circuit to process received signals.
The application method of the active ankle joint prosthesis based on motor driving comprises the following steps:
step 1, installing a battery, controlling a circuit PCB 8 to start working after the power is on, starting to acquire data such as current angle, speed and the like, and uploading processed signals to a microprocessor through a noise reduction and amplification circuit after a signal receiver receives the signals;
step 2, after receiving the processed signal, the microprocessor calculates the difference between the processed signal and normal human body gait advancing data stored in a memory in advance, searches a conforming gait cycle stage according to the difference value, and controls the rotating speed of a driving motor by judging the current stage;
step 3, when the driving motors rotate, the synchronous belt wheels are driven to rotate, the rotating speeds of the two driving motors are consistent, the rotating speeds of the two synchronous belt wheels are also consistent, the rotating motion of the motors is transmitted to the rocker sleeve 15 through the synchronous belts, so that the rotating motion is carried out, and when the rocker sleeve 15 is in fixed rotating motion, the rocker 16 is driven to do reciprocating swing;
step 4, the foot elastic structure 13 is connected with the rocker 16 through a foot connecting threaded hole 37 by a bolt, the rocker 16 swings back and forth around the fixed point of the rocker round shaft 27 of the rocker 16 to drive the foot elastic structure 13 to move, and the ankle shell 3 is relatively fixed, so that an included angle which changes along with the change of angles of the shank and the thigh is formed between the foot elastic structure 13 and the ankle shell 3, and the whole action is completed;
and 5, when the power supply is cut off, namely the driving motor and the control circuit 6 stop, the active link of the whole ankle artificial limb stops working. That is, when the power is cut off, the rocker 16 is not driven by the driving force from the driving motor, but swings due to the elastic structure of the foot being forced to bend, and other structures all play a supporting role at this time.
The above description of exemplary embodiments has been presented only to illustrate the technical solution of the invention and is not intended to be exhaustive or to limit the invention to the precise form described. Obviously, many modifications and variations are possible in light of the above teaching to those skilled in the art. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to thereby enable others skilled in the art to understand, implement and utilize the invention in various exemplary embodiments and with various alternatives and modifications. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (6)
1. An active ankle joint prosthesis based on motor drive is characterized by comprising an ankle shell (3), a drive motor, a control circuit (6), a rocker transmission device (7), a foot elastic structure (4), a wireless sensor data acquisition part and a connecting part (1); the foot elastic structure (4) is positioned at the lowest part of the active ankle joint prosthesis, an ankle shell (3) is arranged on the foot elastic structure, a driving motor, a control circuit (6) and a rocker transmission device (7) are accommodated in the ankle shell (3), and a connecting part (1) is arranged above the ankle shell (3);
the foot elastic structure (4) comprises an L-shaped elastic body (36) and a C-shaped elastic body (38) which are connected with each other to form an LC-shaped elastic body; a rocker fixing groove (35) is formed in the position of the C-shaped elastic body (38) on the upper surface of the foot elastic structure (4), a foot connecting threaded hole (37) is formed in the center of the rocker fixing groove (35), and the rocker (16) is connected with the foot elastic structure (4) through the foot connecting threaded hole (37);
the ankle shell (3) is used for placing a driving motor, a control circuit (6) and a rocker transmission device (7), the ankle shell (3) comprises a left shell and a right shell which are identical in structure, and the left shell and the right shell are spliced to form the complete ankle shell (3); the left side shell and the right side shell respectively comprise an upper part and a lower part;
the driving motor and control circuit (6) is arranged at the upper part inside the ankle part shell (3) and is used for controlling the power of the whole device, and the driving motor and control circuit (6) comprises a driving motor and a control circuit PCB (8);
the lower parts of the left side shell and the right side shell comprise fixing pieces (12), a rocker sleeve fixing convex shaft (21), fixing piece fixing keys (22), ankle fixing piece connecting threaded holes (23) and ankle rocker circular shaft fixing grooves (24); the centers of the lower parts of the left shell and the right shell are respectively provided with a rocker sleeve fixing protruding shaft (21), a fixing piece fixing key (22) is arranged at the inner bottom of the shell, the inner bottom of the shell is provided with an ankle fixing piece connecting threaded hole (23), and the center of the inner bottom of the shell is provided with an ankle rocker circular shaft fixing groove (24);
the bottom of the inner parts of the left side shell and the right side shell are respectively provided with a fixing piece (12), and the fixing piece (12) is provided with a fixing piece fixing groove (32), a fixing piece rocker circular shaft fixing groove (33) and a fixing piece connecting threaded hole (34); the fixing piece (12) and the shell are connected with a fixing piece connecting threaded hole (34) on the fixing piece (12) through an ankle fixing piece connecting threaded hole (23) formed in the bottom of the shell by a fixing piece connecting bolt (11), a fixing piece fixing key (22) is accommodated in a fixing piece fixing groove (32), and the ankle fixing piece connecting threaded hole (23) and a fixing piece rocker circular shaft fixing groove (33) form a circular groove to accommodate a rocker circular shaft (27);
the rocker transmission device (7) comprises a rocker (16), a rocker sleeve (15), a synchronous belt and a synchronous belt wheel; the center of the rocker sleeve (15) is provided with an opening for sleeving the rocker sleeve (15) on the rocker (16); both sides of the rocker sleeve (15) are provided with a synchronous belt shaft (30) and a rocker sleeve fixing hole (31), the rocker sleeve fixing hole (31) on one side of the rocker sleeve (15) is sleeved with the rocker sleeve fixing convex shaft (21) of the left shell, and the rocker sleeve fixing hole (31) on the other side is sleeved with the rocker sleeve fixing convex shaft (21) of the right shell; the synchronous belt shaft (30) is connected with a driving motor through a synchronous belt and a synchronous belt wheel;
two sides below the rocker (16) are symmetrically provided with a rocker circular shaft (27), and the two rocker circular shafts (27) are respectively nested in a circular groove formed by an ankle rocker circular shaft fixing groove (24) in the middle of the bottoms of the shells at the two sides and a fixing piece rocker circular shaft fixing groove (33) of a fixing piece (12) at the corresponding side to form a fixed rotating pair;
the connecting part (1) comprises a receiving cavity (18) and a thigh connecting telescopic belt (17), the side wall of the lower end of the receiving cavity (18) is provided with a plurality of connecting pieces (42), the upper part of each connecting piece (42) is provided with a receiving cavity thigh connecting belt threaded hole (41), and the lower end is provided with an ankle connecting threaded hole (20); the receiving cavity (18) is connected with the ankle shell (3) through an ankle connecting threaded hole (20) and a receiving cavity connecting threaded hole (9) by bolts respectively, and the thigh connecting telescopic belt (17) is connected with the receiving cavity (18) through a thigh connecting belt connecting bolt (19) and a thigh connecting belt threaded hole (41) of the receiving cavity respectively;
the wireless sensor data acquisition part comprises three sensors (5) and a signal receiver, the three sensors (5) are respectively arranged on the front part of the foot elastic structure (4), the outer wall of the receiving cavity (18) and the thigh connecting belt (17), and the signal receiver, the driving motor and the control circuit (6) are arranged on the same control circuit PCB (8).
2. The active ankle joint prosthesis based on motor drive according to claim 1, wherein the upper parts of the left and right shells include socket connection screw holes (9) and motor holes (14), the socket connection screw holes (9) are opened on the front and rear side walls of the left and right shells, and the motor holes (14) are opened inside the shells; the driving motor is arranged in the motor hole (14), the control circuit PCB (8) is arranged at the upper part inside the ankle part shell (3) and above the motor hole (14).
3. An active ankle joint prosthesis based on motor drive according to claim 1 or 2, characterized in that the rocker (16) comprises four sides, each side has two fixed sliding grooves (26), the front side has a rocker line groove (25), each inner surface of the four inner surfaces of the opening of the rocker sleeve (15) has two fixed sliding keys (28), the inner surface of the corresponding front side has a rocker sleeve line groove (29), and the eight fixed sliding keys (28) of the rocker sleeve (15) correspond to the eight fixed sliding grooves (26) of the rocker (16) one by one, and are nested with each other.
4. An active ankle prosthesis based on motor drive according to claim 1 or 2, characterized in that the sensors (5) comprise a 3-axis ICU, a 3-axis accelerometer and a 3-axis magnetometer, respectively for collecting angle, velocity and calibration data.
5. The active ankle joint prosthesis based on motor drive according to claim 3, characterized in that the sensors (5) comprise a 3-axis ICU, a 3-axis accelerometer and a 3-axis magnetometer for acquiring angle, velocity and calibration data, respectively.
6. A walking method based on the active ankle joint prosthesis based on motor drive according to claim 1, comprising the following steps:
step 1, installing a battery, controlling a wireless sensor (5) to start working after a PCB (8) of a circuit is electrified, starting to acquire data such as current angle, speed and the like, and uploading a processed signal to a microprocessor through a noise reduction and amplification circuit after a signal receiver receives the signal;
step 2, after receiving the processed signal, the microprocessor calculates the difference between the processed signal and normal human body gait advancing data stored in a memory in advance, searches a conforming gait cycle stage according to the difference value, and controls the rotating speed of a driving motor by judging the current stage;
step 3, when the driving motors rotate, the synchronous belt wheels are driven to rotate, the rotating speeds of the two driving motors are consistent, the rotating speeds of the two synchronous belt wheels are also consistent, the rotating motion of the motors is transmitted to the rocker sleeve (15) through the synchronous belt, so that the rotating motion is carried out, and when the rocker sleeve (15) does fixed rotating motion, the rocker (16) is driven to do reciprocating swing;
step 4, the foot elastic structure (13) is connected with the rocker (16) through a foot connecting threaded hole (37) by a bolt, the rocker (16) swings back and forth around the fixed point of the rocker circular shaft (27) of the rocker (16) to drive the foot elastic structure (13) to move, at the moment, the ankle shell (3) is relatively fixed, so that an included angle which changes along with the change of angles of the shank and the thigh is formed between the foot elastic structure (13) and the ankle shell (3), and the whole action is completed;
and 5, when the power supply is cut off, namely the driving motor and the control circuit (6) stop, the active link of the whole ankle artificial limb stops working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911022393.5A CN110584847B (en) | 2019-10-25 | 2019-10-25 | Active ankle joint artificial limb based on motor drive and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911022393.5A CN110584847B (en) | 2019-10-25 | 2019-10-25 | Active ankle joint artificial limb based on motor drive and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110584847A true CN110584847A (en) | 2019-12-20 |
| CN110584847B CN110584847B (en) | 2023-05-12 |
Family
ID=68851603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911022393.5A Active CN110584847B (en) | 2019-10-25 | 2019-10-25 | Active ankle joint artificial limb based on motor drive and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110584847B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113057769A (en) * | 2021-03-16 | 2021-07-02 | 吉林大学 | Active-driving ankle joint artificial limb |
| CN113288531A (en) * | 2021-05-10 | 2021-08-24 | 吉林大学 | Multi-axis ankle joint artificial limb |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008103917A1 (en) * | 2007-02-22 | 2008-08-28 | Chas. A. Blatchford & Sons Limited | A prosthetic ankle and foot combination |
| CN201370656Y (en) * | 2009-03-30 | 2009-12-30 | 上海理工大学 | Heel height stepless adjustable fake ankle joint |
| CN103356363A (en) * | 2013-07-22 | 2013-10-23 | 武汉理工大学 | Ankle joint boosting method with reverse drivability |
| WO2016180073A1 (en) * | 2015-05-11 | 2016-11-17 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN205964408U (en) * | 2016-06-24 | 2017-02-22 | 上海璟和技创机器人有限公司 | Ankle articulated mechanism and have this ankle articulated mechanism's recovered robot of low limbs |
| CN107349036A (en) * | 2017-06-20 | 2017-11-17 | 南京工程学院 | Ankle-joint artificial limb based on flexible actuator |
| CN108836583A (en) * | 2018-05-17 | 2018-11-20 | 西北工业大学 | A kind of main passive-type ankle-joint artificial limb of change bar spool gear five-rod |
| CN109846672A (en) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | The ankle foot healing orthoses and its motion control method of stiffness variable |
| WO2019121794A1 (en) * | 2017-12-22 | 2019-06-27 | Otto Bock Healthcare Products Gmbh | System made up of multiple orthopedic components and method for controlling such a system |
| CN211460695U (en) * | 2019-10-25 | 2020-09-11 | 东北大学 | Active ankle joint artificial limb based on motor drive |
-
2019
- 2019-10-25 CN CN201911022393.5A patent/CN110584847B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008103917A1 (en) * | 2007-02-22 | 2008-08-28 | Chas. A. Blatchford & Sons Limited | A prosthetic ankle and foot combination |
| CN201370656Y (en) * | 2009-03-30 | 2009-12-30 | 上海理工大学 | Heel height stepless adjustable fake ankle joint |
| CN103356363A (en) * | 2013-07-22 | 2013-10-23 | 武汉理工大学 | Ankle joint boosting method with reverse drivability |
| WO2016180073A1 (en) * | 2015-05-11 | 2016-11-17 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN205964408U (en) * | 2016-06-24 | 2017-02-22 | 上海璟和技创机器人有限公司 | Ankle articulated mechanism and have this ankle articulated mechanism's recovered robot of low limbs |
| CN107349036A (en) * | 2017-06-20 | 2017-11-17 | 南京工程学院 | Ankle-joint artificial limb based on flexible actuator |
| WO2019121794A1 (en) * | 2017-12-22 | 2019-06-27 | Otto Bock Healthcare Products Gmbh | System made up of multiple orthopedic components and method for controlling such a system |
| CN108836583A (en) * | 2018-05-17 | 2018-11-20 | 西北工业大学 | A kind of main passive-type ankle-joint artificial limb of change bar spool gear five-rod |
| CN109846672A (en) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | The ankle foot healing orthoses and its motion control method of stiffness variable |
| CN211460695U (en) * | 2019-10-25 | 2020-09-11 | 东北大学 | Active ankle joint artificial limb based on motor drive |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113057769A (en) * | 2021-03-16 | 2021-07-02 | 吉林大学 | Active-driving ankle joint artificial limb |
| CN113288531A (en) * | 2021-05-10 | 2021-08-24 | 吉林大学 | Multi-axis ankle joint artificial limb |
| CN113288531B (en) * | 2021-05-10 | 2022-05-20 | 吉林大学 | Multi-axis ankle joint artificial limb |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110584847B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109009866B (en) | Sitting type lower limb exoskeleton rehabilitation robot | |
| CN110584847A (en) | Active ankle joint artificial limb based on motor driving and method thereof | |
| US20090237025A1 (en) | Bipedal walking robot | |
| CN108639180B (en) | Three leg section leg structures of one kind and quadruped robot | |
| CN103448828A (en) | Leg structure of quadruped bionic robot | |
| CN111645772A (en) | Multi-legged robot | |
| CN108836583B (en) | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism | |
| CN108161909B (en) | Bionic lower limb exoskeleton robot for auxiliary carrying | |
| CN111906752B (en) | Passive exoskeleton robot for enhancing human body load transportation capacity | |
| CN111745624A (en) | Exoskeleton load-bearing robot with passive power assistance | |
| CN211460695U (en) | Active ankle joint artificial limb based on motor drive | |
| CN112206079B (en) | Active and passive bionic artificial limb knee joint | |
| CN212287630U (en) | Hip joint assistance exoskeleton system capable of assisting in supporting load | |
| CN112008701A (en) | Hip joint assistance exoskeleton system capable of assisting in supporting load | |
| CN111017063B (en) | Direct-drive type humanoid biped robot | |
| CN210310636U (en) | Lightweight quadruped robot with joint force control function | |
| CN108938337B (en) | Ankle rehabilitation assistance type exoskeleton device | |
| EP4032508A1 (en) | Assist device and artificial limb | |
| CN109262594A (en) | A kind of assistance exoskeleton hip joint structure | |
| CN211095004U (en) | Power-assisted knee joint prosthesis | |
| CN217260387U (en) | Desktop-level small bionic quadruped robot | |
| CN210612483U (en) | Lower limb rehabilitation device | |
| CN115056883A (en) | Leg structure and quadruped robot | |
| CN218892638U (en) | Leg structure and biped robot | |
| CN218892637U (en) | Biped robot and leg structure thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |