CN117814969B - Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted - Google Patents
Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted Download PDFInfo
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- CN117814969B CN117814969B CN202410239768.8A CN202410239768A CN117814969B CN 117814969 B CN117814969 B CN 117814969B CN 202410239768 A CN202410239768 A CN 202410239768A CN 117814969 B CN117814969 B CN 117814969B
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- 230000005484 gravity Effects 0.000 title claims abstract description 51
- 210000003414 extremity Anatomy 0.000 title claims abstract description 23
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 210000002683 foot Anatomy 0.000 claims description 32
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 12
- 239000000741 silica gel Substances 0.000 claims description 12
- 229910002027 silica gel Inorganic materials 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- 210000004744 fore-foot Anatomy 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000003592 biomimetic effect Effects 0.000 claims 6
- 239000000463 material Substances 0.000 abstract description 5
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 abstract 1
- 210000003371 toe Anatomy 0.000 description 17
- 239000002184 metal Substances 0.000 description 14
- 210000003423 ankle Anatomy 0.000 description 8
- 230000003247 decreasing effect Effects 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
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- 230000003014 reinforcing effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 244000309466 calf Species 0.000 description 1
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Abstract
The invention relates to a lower limb bionic artificial limb with pneumatic balance and active gravity center adjustment, belongs to the technical field of medical instrument artificial limbs, and is used for solving the problem that the lower limb artificial limb in the prior art cannot adjust the gravity center and the sole strength of the artificial limb to adapt to the environment; comprising the following steps: foot support, gasbag system, shank support, focus governing system, actuating system and sensing system, foot support includes spliced pole, heel backup pad, arch support frame and toe connecting rod, wherein the heel backup pad with spliced pole fixed connection, arch support frame with spliced pole fixed connection, a plurality of the toe connecting rod is installed on the arch support frame, foot support and shank support relevant material all can adopt carbon fiber material, and the quality is light and strong, owing to be provided with sensing system, through focus governing system, the focus of adjustment artificial limb makes whole artificial limb focus decline to strengthen its stability.
Description
Technical Field
The invention belongs to the technical field of medical instrument prostheses, and particularly relates to a lower limb bionic prosthesis with pneumatic balance and active gravity center adjustment.
Background
For those persons with limited mobility, lower extremity amputees. These patients are more prone to falling because the prosthesis does not match themselves or is poorly adapted, leading to secondary injuries or more serious consequences. Thus, the need for prostheses has far exceeded the basic use of the function for this particular population, which requires prostheses that not only provide basic support and walking capabilities, but also ensure safety, comfort and convenience of use, and that they have a degree of intelligence.
One major disadvantage of existing prosthesis designs is that most prostheses are passive, and they lack the necessary flexibility in design, particularly in the face of varying external environments. For example, in slippery ground, roads covered with snow and ice, or other unstable ground conditions, these passive prostheses often fail to adjust the center of gravity of the prosthesis and the plantar strength to suit the environment, thus failing to provide adequate stability and safety. When a patient uses a conventional prosthesis in these circumstances, more effort and attention is often required to maintain balance and stability, thereby significantly increasing the risk of falling.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a lower limb bionic artificial limb with pneumatic balance and active gravity center adjustment, which is used for solving the problem that the lower limb artificial limb in the prior art cannot adjust the gravity center and the sole strength of the artificial limb to adapt to the environment.
In order to achieve the above object, the present invention provides a lower limb bionic prosthesis with pneumatic balance and active gravity center adjustment, comprising: foot support, gasbag system, shank support, focus governing system, actuating system and sensing system, foot support includes spliced pole, heel backup pad, arch support frame and toe connecting rod, wherein the heel backup pad with spliced pole fixed connection, the arch support frame with spliced pole fixed connection, a plurality of the toe connecting rod is installed on the arch support frame, foot support and shank support relevant material all can adopt carbon fiber material, and the quality is light and strong.
The air bag system comprises a heel air bag, an arch air bag and a front sole air bag, wherein the heel air bag is fixedly arranged at the bottom of the heel supporting plate, the arch air bag is fixedly arranged at the bottom of the arch supporting frame, and the front sole air bag is fixedly connected with the toe connecting rod. The lower leg support is in spherical hinge joint with the connecting column, and a hollow cavity is arranged in the lower leg support; a center of gravity adjustment system is installed in the chamber, the center of gravity adjustment being used to adjust the position of the center of gravity; the driving system is used for driving the heel air bag, the arch air bag and the front sole air bag to act, and the sensing system is used for collecting the temperature and humidity of the environment and the sole pressure.
Due to the fact that the sensing system is arranged, the environment condition can be judged through information collected by the sensing system, when the ground is judged to be a wet and slippery ground, the gravity center of a human body needs to be lowered, and the gravity center of the artificial limb is adjusted through the gravity center adjusting system, so that the gravity center of the whole artificial limb is lowered, and the stability of the artificial limb is enhanced.
The heel is the part which firstly contacts the ground during walking and running and bears larger impact force, the heel air bag can absorb the impact force and provide support, support the arch of foot and maintain the natural arch curve, so as to be beneficial to dispersing the pressure during walking and providing stability, and the front sole air bag provides elasticity and buffering during the advancing stage of walking and running and is beneficial to simulating the foot rolling motion of natural gait. The pressure in each air bag can be regulated according to different environments, so that the softness of the sole can be controlled to adapt to the environments, and if the ground is softer, the air pressure of the heel air bag part needs to be increased, and the sinking is reduced. If the ground is harder, the air pressure is properly reduced, and stability is increased. The adjustment of the air pressure of the arch portion on the snow should be focused on providing sufficient support to prevent the foot from bending in the snow. This generally means that the air pressure is increased in soft ground, while it is moderately decreased in hard ground. The air pressure of the forefoot portion is adjusted so that it provides sufficient propulsion on snow. On soft ground, the air pressure is increased appropriately to increase the support, while on hard ground, the air pressure is decreased to increase the contact area with the ground.
Optionally, gravity center governing system includes guide rail, slider, linear drive device and balancing weight, the guide rail sets firmly in the cavity, the slider with guide rail sliding fit, the balancing weight with slider fixed connection, the balancing weight with can dismantle between the slider, linear drive device is used for the drive the balancing weight is followed the guide rail slides. The balancing weight can be a metal block, the metal block descends along the guide rail, the whole gravity center ascends along with the descending of the metal block, and the whole gravity center ascends along with the ascending of the metal block, so that the gravity center of the artificial limb is adjusted, and the aim of adjusting the gravity center of a human body is achieved.
The mass of the metal block can be calculated according to the following formula: mass = body weight x percentage of ankle portion below, wherein the percentage of ankle portion below is typically between 4.7% and 6.5%; mass of metal block = mass below ankle-mass of other components. Taking a 70 kg individual as an example, the mass of the lower portion of the ankle joint is estimated to be about 70×4.7% to 70×6.5%. Subtracting the mass of other necessary designs: the mass of the other components of the prosthesis is subtracted from the mass obtained in the previous step. Assuming that the total mass of the other components is 2 kg, the mass of the metal block should be equal to the mass of the lower ankle portion minus 2 kg. For an adult male with a weight of 70 kg, the mass estimation of the lower ankle portion (including the lower leg and foot) ranges between 1.29 kg and 2.55 kg. Meanwhile, the user can be customized solely according to the calculation formula, and the quality of the metal block is changed according to the weight of the user, so that the metal block better accords with the characteristics of each person, and the comfort of the user is improved.
Optionally, the linear driving device comprises a telescopic airbag, one end of the telescopic airbag is fixed on the cavity, the other end of the telescopic airbag is fixedly connected to the balancing weight, the telescopic airbag stretches along the length direction of the guide rail, and the telescopic airbag is pneumatically connected with the driving system. The telescopic air bag can be contracted to a small space, and can realize telescopic adjustment in a small range.
Optionally, the actuating system includes electronic air pump, steady voltage irritates and a plurality of control valve, electronic air pump with steady voltage irritates fixed mounting and is in inside the cavity, electronic air pump with the steady voltage is irritated the intercommunication, through electronic air pump to the steady voltage is irritated in input high pressure gas, heel gasbag arch gasbag preceding sole gasbag with flexible gasbag all through the pipeline with the steady voltage is irritated the intercommunication, be provided with a plurality of control valve on the pipeline. The stability of output pressure can be ensured due to the arrangement in the pressure stabilizing tank.
Optionally, a plurality of springs are arranged between the shank support and the connecting column, one end of each spring is fixedly connected with the shank support, and the other end of each spring is fixedly connected with the connecting column. Because the shank supports and be spherical articulated between the spliced pole for foot range of motion is wide, can make multiple action, simultaneously, around to the spring can provide support and buffering, avoids the foot of spraining, can set up the attenuator in the spring, reinforcing damping buffering.
Optionally, the heel air bag, the arch air bag and the forefoot air bag all comprise a constant chamber and a variable chamber, the variable chamber is wrapped on the periphery of the constant chamber, the pressure in the constant chamber is constant, the variable chamber is communicated with the driving system, and the air pressure in the variable chamber is changed through the driving system.
Optionally, the toe connecting rod with the arch support frame is articulated, last gag lever post and the actuating lever of having set firmly of toe connecting rod, the gag lever post stretches to arch support frame upper portion, the actuating lever with arch gasbag fixed connection. The limiting rod can prevent the toe connecting rod from being overturned due to overlarge stress, and can limit the rotation angle of the toe connecting rod.
Optionally, sensing system includes humidity transducer, temperature sensor and pressure sensor, and is a plurality of humidity transducer temperature sensor and pressure sensor lay heel gasbag and preceding sole gasbag bottom can effectively gather sole environmental information.
Optionally, the gravity center adjusting system comprises a guide rail type rodless cylinder and a balancing weight, wherein the guide rail type rodless cylinder is fixedly installed in the cavity, the balancing weight is fixedly installed on a sliding block of the guide rail type rodless cylinder, and the balancing weight and the sliding block are detachable. The guide rail type rodless cylinder is mature in product, good in stability and capable of stably driving the balancing weight.
Optionally, the lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted further comprises a bionic silica gel shell, the foot support and the air bag system are embedded in the bionic silica gel shell, the bottom of the bionic silica gel shell is opened, and an air bag of a sole is convenient to stretch and retract. The whole device is more like the real foot of a human body by copying the foot through the bionic silica gel shell.
Drawings
FIG. 1 is a schematic diagram (I) of a three-dimensional structure of a lower limb bionic prosthesis with pneumatic balance and active gravity center adjustment according to an embodiment of the present invention;
Fig. 2 is a schematic perspective view (two) of a lower limb bionic prosthesis with pneumatic balance and active gravity center adjustment according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a foot support according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a foot support with an airbag system installed in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a foot support mounting location according to an embodiment of the present invention;
Fig. 6 is a schematic perspective view of a gravity center adjusting system according to an embodiment of the invention.
Reference numerals illustrate:
the bionic silica gel shell 1, a connecting column 201, a heel supporting plate 202, an arch supporting frame 203, a toe connecting rod 204, a driving rod 205, a limiting rod 206, a heel air bag 301, an arch air bag 302, a forefoot air bag 303, a spring 4, a humidity sensor 501, a temperature sensor 502, a pressure sensor 503, a spherical hinge 6, a calf supporting 7, a guide rail type rodless cylinder 801, a sliding block 8011 and a balancing weight 802.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale.
Referring to fig. 1-6, the present invention provides an embodiment of a lower limb bionic artificial limb with pneumatic balance and active center of gravity adjustment, which comprises a foot support, an air bag system, a lower leg support 7, a center of gravity adjustment system, a driving system and a sensing system, wherein the foot support comprises a connecting post 201, a heel support plate 202, an arch support 203 and a toe connecting rod 204, wherein the heel support plate 202 is fixedly connected with the connecting post 201, the arch support 203 is fixedly connected with the connecting post 201, a plurality of toe connecting rods 204 are installed on the arch support 203, and the foot support and the lower leg support 7 can be made of carbon fiber materials, and have light weight and high strength.
The air bag system comprises a heel air bag 301, an arch air bag 302 and a front sole air bag 303, wherein the heel air bag 301 is fixedly arranged at the bottom of the heel supporting plate 202, the arch air bag 302 is fixedly arranged at the bottom of the arch supporting frame 203, and the front sole air bag 303 is fixedly connected with the toe connecting rod 204. The forefoot bladder 303 is shaped to match the shape of the ball of the toes and is in a corresponding position. The shank support 7 and the connecting column 201 are hinged through a spherical hinge 6, and a hollow cavity is arranged in the shank support 7; a center of gravity adjustment system is installed in the chamber, the center of gravity adjustment being used to adjust the position of the center of gravity; the driving system is used for driving the heel air bag 301, the arch air bag 302 and the front sole air bag 303 to act, and the sensing system is used for collecting the temperature and humidity of the environment and the sole pressure.
Due to the fact that the sensing system is arranged, the environment condition can be judged through information collected by the sensing system, when the ground is judged to be a wet and slippery ground, the gravity center of a human body needs to be lowered, and the gravity center of the artificial limb is adjusted through the gravity center adjusting system, so that the gravity center of the whole artificial limb is lowered, and the stability of the artificial limb is enhanced.
The heel is the part that first contacts the ground during walking and running, receives a large impact force, the heel bladder 301 can absorb the impact force and provide support, support the arch, maintain the natural arch curve, help to disperse the pressure during walking, provide stability, and the forefoot bladder 303 provides elasticity and cushioning during the propulsion phase of walking and running, helping to simulate the "rolling foot" motion of natural gait.
The pressure in each bladder can be adjusted according to different circumstances to control the degree of softness of the sole of the foot so as to adapt to the circumstances, if the ground is softer, the air pressure of the heel bladder 301 part needs to be increased to reduce subsidence. If the ground is harder, the air pressure is properly reduced, and stability is increased. The adjustment of the air pressure of the arch portion on the snow should be focused on providing sufficient support to prevent the foot from bending in the snow. This generally means that the air pressure is increased in soft ground, while it is moderately decreased in hard ground. The air pressure of the forefoot portion is adjusted so that it provides sufficient propulsion on snow. On soft ground, the air pressure is increased appropriately to increase the support, while on hard ground, the air pressure is decreased to increase the contact area with the ground.
In this embodiment, referring to fig. 6, the gravity center adjusting system includes a guide rail, a slider, a linear driving device and a balancing weight, where the guide rail is fixedly disposed in the cavity, the slider is in sliding fit with the guide rail, the balancing weight is fixedly connected with the slider, the balancing weight is detachable from the slider, and the linear driving device is used to drive the balancing weight to slide along the guide rail. The balancing weight can be a metal block, the metal block descends along the guide rail, the whole gravity center ascends along with the descending of the metal block, and the whole gravity center ascends along with the ascending of the metal block, so that the gravity center of the artificial limb is adjusted, and the aim of adjusting the gravity center of a human body is achieved.
In this embodiment, referring to fig. 6, the gravity center adjusting system includes a rail type rodless cylinder 801 and a balancing weight 802, the rail type rodless cylinder 801 is fixedly installed in the chamber, the balancing weight 802 is fixedly installed on a slider 8011 of the rail type rodless cylinder 801, and the balancing weight 802 and the slider 8011 are detachable. The guide rail type rodless cylinder 801 has good stability and can stably drive the balancing weight 802.
The balancing weight 802 may be a metal block, and the mass of the balancing weight 802 may be calculated according to the following formula: mass = body weight x percentage of ankle portion below, wherein the percentage of ankle portion below is typically between 4.7% and 6.5%; weight 802 mass = ankle joint down mass-mass of other components. Taking a 70 kg individual as an example, the mass of the lower portion of the ankle joint is estimated to be about 70×4.7% to 70×6.5%. Subtracting the mass of other necessary designs, and subtracting the mass of other parts of the artificial limb from the mass obtained in the previous step. Assuming the total mass of the other components is 2 kg, the mass of weight 802 should be equal to the mass of the portion below the ankle minus 2 kg. For an adult male with a weight of 70 kg, the mass estimation of the lower ankle portion (including the lower leg and foot) ranges between 1.29 kg and 2.55 kg. Meanwhile, the user can be customized solely according to the calculation formula, and the quality of the balancing weight 802 is changed according to the weight of the user, so that the balancing weight better accords with the characteristics of each person, and the comfort of the user is improved.
In this embodiment, the linear driving device includes a telescopic airbag, one end of the telescopic airbag is fixed on the cavity, the other end of the telescopic airbag is fixedly connected to the balancing weight, the telescopic airbag stretches along the length direction of the guide rail, and the telescopic airbag is pneumatically connected with the driving system. The telescopic air bag can be contracted to a small space, and can realize telescopic adjustment in a small range.
In this embodiment, referring to fig. 4, the driving system includes an electric air pump, a pressure stabilizing tank and a plurality of control valves, the electric air pump and the pressure stabilizing tank are fixedly installed inside the chamber, the electric air pump is communicated with the pressure stabilizing tank, high-pressure air is input into the pressure stabilizing tank through the electric air pump, the heel air bag 301, the arch air bag 302, the front sole air bag 303 and the telescopic air bag are all communicated with the pressure stabilizing tank through pipelines, a two-position three-way valve can be arranged on the pipeline communicated with each air bag, one of the two-position three-way valves is connected with the outside, high-pressure air can be introduced into the air bag through a two-position three-way valve, when the pressure is switched to another state, the high-pressure air in the air bag is discharged, and the pipelines are provided with a plurality of control valves. The stability of output pressure can be ensured due to the arrangement in the pressure stabilizing tank.
In this embodiment, referring to fig. 1,2 and 5, a plurality of springs are disposed between the shank support 7 and the connecting post 201, one end of the spring 4 is fixedly connected to the shank support 7, and the other end of the spring 4 is fixedly connected to the connecting post 201. Because the shank support 7 and the connecting column 201 are in spherical hinge connection, the foot has a wide range of motion, can perform various actions, and meanwhile, the springs 4 of the surrounding pairs can provide support and buffer to avoid spraining the foot.
In this embodiment, the heel bladder 301, the arch bladder 302, and the forefoot bladder 303 each include a constant chamber and a variable chamber, the variable chamber is wrapped around the constant chamber, the pressure in the constant chamber is constant, the variable chamber is communicated with the driving system, and the air pressure in the variable chamber is changed by the driving system.
The design is different from the traditional single air bag, and only the air pressure of a small part of space needs to be changed, so that the air pressure can be changed rapidly, and the air bag is sensitive in response and suitable for different road conditions. The inner part of the outermost layer air bag is added with a net-shaped or stripe-shaped reinforcing structure, so that the compression resistance of the air bag can be enhanced, and excessive expansion is avoided. Meanwhile, the safety valve is designed on the outermost layer of the air bag, and the safety valve is automatically opened when the pressure inside the air bag reaches a critical point, so that redundant gas is released, and the air bag is prevented from explosion. The overall safety is improved. The gas in the air bag is not directly discharged, but is recovered and recompressed through a built-in circulation system, and the energy consumption is reduced by recovering and recycling the gas. While skiing or walking on snow and ice, a softer bottom may be required to increase friction, while on a harder flat surface, a harder bottom may be required to provide stable support. According to the sensor, different ground environments are judged, and the compressed air of the air bag is operated according to biological performance, so that the air bag is suitable for different road conditions.
In this embodiment, referring to fig. 4, the toe connecting rod 204 is hinged to the arch support 203, a stop lever 206 and a driving rod 205 are fixed on the toe connecting rod 204, the stop lever 206 extends to the upper portion of the arch support 203, and the driving rod 205 is fixedly connected to the arch air bag 302. The stop lever 206 can prevent the toe link lever 204 from being turned up due to excessive force, and can limit the turning angle of the toe link lever 204. When the arch bladder 302 contracts, the driving rod 205 is driven to rotate, and the toe link 204 rotates downward, so that a foot rolling action can be performed, thereby providing a larger grip.
In this embodiment, referring to fig. 4, the sensing system includes a humidity sensor 501, a temperature sensor 502 and a pressure sensor 503, and a plurality of the humidity sensor 501, the temperature sensor 502 and the pressure sensor 503 are disposed at the bottoms of the heel air bag 301 and the forefoot air bag 303, so as to effectively collect sole environment information.
In this embodiment, please refer to fig. 1,2 and 5, the lower limb bionic prosthesis with pneumatic balance and active gravity center adjustment further includes a bionic silica gel shell 1, the foot support and the air bag system are embedded in the bionic silica gel shell 1, and the bottom of the bionic silica gel shell 1 is opened, so that the air bags of the sole are convenient to stretch. The whole device is more like the real foot of a human body by profiling the foot through the bionic silica gel shell 1.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (8)
1. A lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted, which is characterized by comprising:
A foot support is provided for the foot,
The foot support comprises a connecting post, a heel support plate, an arch support frame and toe connecting rods, wherein the heel support plate is fixedly connected with the connecting post, the arch support frame is fixedly connected with the connecting post, and a plurality of toe connecting rods are arranged on the arch support frame;
an air bag system is provided, which comprises an air bag,
The air bag system comprises a heel air bag, an arch air bag and a front sole air bag, wherein the heel air bag is fixedly arranged at the bottom of the heel supporting plate, the arch air bag is fixedly arranged at the bottom of the arch supporting frame, and the front sole air bag is fixedly connected with the toe connecting rod;
the lower leg support is used for supporting the lower leg,
The lower leg support is in spherical hinge joint with the connecting column, and a hollow cavity is arranged in the lower leg support;
A gravity center adjusting system,
The gravity center adjusting system is arranged in the cavity and used for adjusting the position of the gravity center;
the driving system is used for driving the vehicle,
The driving system is used for driving the heel air bag, the arch air bag and the front sole air bag to act;
The sensing system is used for sensing the sensing signals,
The sensing system is used for collecting temperature and humidity information of the environment and sole pressure information;
the heel air bag, the arch air bag and the forefoot air bag all comprise a constant chamber and a variable chamber, the variable chamber is wrapped on the periphery of the constant chamber, the pressure in the constant chamber is constant, the variable chamber is communicated with the driving system, and the air pressure in the variable chamber is changed through the driving system;
The toe connecting rod is hinged with the arch support frame, a limiting rod and a driving rod are fixedly arranged on the toe connecting rod, the limiting rod extends to the upper part of the arch support frame, and the driving rod is fixedly connected with the arch air bag;
Acquiring temperature and humidity information of the environment and sole pressure information through the sensing system, and judging the wet and slippery and soft and hard conditions of the ground; the gravity center adjusting system adjusts the position of the gravity center according to the ground wet and slippery condition; the driving system drives the heel air bag, the arch air bag and the front sole air bag to act according to the soft and hard condition of the ground.
2. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 1, wherein: the gravity center adjusting system comprises a guide rail, a sliding block, a linear driving device and a balancing weight, wherein the guide rail is fixedly arranged in the cavity, the sliding block is in sliding fit with the guide rail, the balancing weight is fixedly connected with the sliding block, the balancing weight is detachable from the sliding block, and the linear driving device is used for driving the balancing weight to slide along the guide rail.
3. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 2, wherein: the linear driving device comprises a telescopic airbag, one end of the telescopic airbag is fixed on the cavity, the other end of the telescopic airbag is fixedly connected to the balancing weight, the telescopic airbag stretches along the length direction of the guide rail, and the telescopic airbag is pneumatically connected with the driving system.
4. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 3, wherein: the driving system comprises an electric air pump, a pressure stabilizing tank and a plurality of control valves, wherein the electric air pump is fixedly installed inside the cavity, the electric air pump is communicated with the pressure stabilizing tank, air is input into the pressure stabilizing tank through the electric air pump, the heel air bag, the arch air bag, the front sole air bag and the telescopic air bag are all communicated with the pressure stabilizing tank through pipelines, and the pipelines are provided with the plurality of control valves.
5. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 1, wherein: a plurality of springs are arranged between the shank support and the connecting column, one end of each spring is fixedly connected with the shank support, and the other end of each spring is fixedly connected with the connecting column.
6. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 1, wherein: the sensing system comprises a plurality of humidity sensors, temperature sensors and pressure sensors, wherein the humidity sensors, the temperature sensors and the pressure sensors are distributed at the bottoms of the heel air bags and the front sole air bags.
7. The pneumatically balanced and actively barycentric regulated lower limb biomimetic prosthesis of claim 1, wherein: the gravity center adjusting system comprises a guide rail type rodless cylinder and a balancing weight, wherein the guide rail type rodless cylinder is fixedly arranged in the cavity, the balancing weight is fixedly arranged on a sliding block of the guide rail type rodless cylinder, and the balancing weight and the sliding block are detachable.
8. The lower limb bionic prosthesis of any one of claims 1-7, wherein the pneumatic balance and the active adjustment of the center of gravity are: still include bionical silica gel shell, foot support with the gasbag system is all embedded inside the bionical silica gel shell, bionical silica gel shell bottom opening.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410239768.8A CN117814969B (en) | 2024-03-04 | 2024-03-04 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410239768.8A CN117814969B (en) | 2024-03-04 | 2024-03-04 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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| CN117814969A CN117814969A (en) | 2024-04-05 |
| CN117814969B true CN117814969B (en) | 2024-06-07 |
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| CN (1) | CN117814969B (en) |
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