CN1957862A - Intelligent lap artificial limb system controlled to follow pace of health leg - Google Patents
Intelligent lap artificial limb system controlled to follow pace of health leg Download PDFInfo
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Abstract
An intelligent on-knee artificial leg system able to control the walking speed for synchronizing it with health leg is composed of an artificial leg with a microprocessor, an electrically controlled hydraulic knee joint, an in-line detecting mechanism for detecting the steps of health leg, a step data transmission system, and a computer control system. Its control method is also disclosed.
Description
Technical field
The present invention relates to the above-knee prosthesis on a kind of medical apparatus and instruments engineering, especially a kind of have a microprocessor control lap artificial limb system of following the healthy leg gait.
Background technology
But tradition band lock or load-bearing knee joint with locking function artificial leg, its kinestate is malleable not, particularly in swing process, can not control kneed damping and control the swing speed variation, therefore can't simulate the human body normal gait, and can not adapt to descending well, complex environment such as go downstairs, trip.Along with improvement of computer science, above-knee prosthesis is being updated in recent years.Intelligent lap artificial limb can be regulated the knee joint damping automatically owing to adopt microprocessor control, thus approximate simulation people lower limb gait.How to make artificial leg can be automatically, any gait of full-time phase simulation, finish all functions of people's lower limb, and with people with disability's organic integration, be the research direction of current high-grade intelligent artificial leg.In order to solve that traditional artificial leg walking speed can not naturally, arbitrarily be followed the variation of pedestrian's walking speed and the problem that changes, the clear husband in river at first conceived a kind of knee joint based on microprocessor among the Japanese scholar in 1986.This knee joint can be controlled motor adjusting cylinder loop needle-valve aperture by microprocessor and regulate the cylinder damping, thus control swing phase gait.The engineer Saced Zahedi of nineteen ninety Britain Blatchford company has designed first artificial intelligence's lower limb in the world, and nineteen ninety-five has carried out improving design again.Enter after the nineties in 20th century, the artificial leg technology is showing improvement or progress day by day, the Ottto Bock company of the Nabco company of Japan, the Blatchford company of Britain and Germany has successively developed the intelligent bionic artificial limb that can discern limited road conditions automatically, but this road conditions recognition function is limited.The external at present research to intelligent artificial leg mainly is that the desirable gait under limited road conditions (being generally 6 kinds) or the limited leg speed (being generally 3 kinds) is preset in the control sequence as desired value, revise the joint damping by real-time detection practical leg speed and swing position then, with the kneed flexion and extension of closed loop control, even have " the intelligent bionic lower limb " of road conditions identification ability, as the OTTO BOCK C-LEG artificial leg of introducing in the CA1074109A patent, the Endolite self-adapting intelligent bionic leg of introducing in the U.S. Pat 6517585 etc., Iceland OSSUR company has developed a kind of novel intelligent above-knee prosthesis (seeing international monopoly WO01/54630) of using electromagnetism rheological technique control joint damping recently, and this artificial limb mainly is to improve on high speed micro computer and antivibrator.Thereby can realize more leg speed control.Above-mentioned these intelligent artificial limbs are to utilize the detection signal of artificial limb self that hydraulic pressure or vapour-pressure type antivibrator are controlled basically, not only can't simulate actual normal gait, and the control of limited leg speed also needs to obtain through numerous and diverse training the target component of control mostly, use inconvenience, its essence is not really to have real-time bionic intelligence artificial limb.
If can design a kind of lap artificial limb system, make artificial limb can follow the tracks of the gait walking of healthy leg on one side in real time, not only can expand the leg speed of intelligent artificial limb greatly, and patient just need not train and can directly install and use.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of gait walking that can follow the tracks of healthy leg in real time, gait is more true to nature, the control that changes of conforming is more reasonable, it is more convenient, more intelligent that its self-learning function uses artificial limb, and can expand the intelligent lap artificial limb system of leg speed, this artificial limb patient just need not train and can directly install and use.
For achieving the above object, technical scheme of the present invention is: a kind of intelligent lap artificial limb system of follow pace of health leg control comprises: pseudocolloid, flexible electric-controlled hydraulic knee joint of regulating with the stretching, extension bidirectional damper; Be installed in the online testing agency of healthy leg gait in the healthy leg joint; The gait data transfer system; The control artificial limb carries out walking speed and follows computer control system with mode adaptive.
The online testing agency of healthy leg gait delivers to the gait data of healthy leg in the microprocessor in the artificial limb by the gait data transfer system as the desired value of following of artificial limb, microprocessor is by signal analysis, calculate the pendulum angle and the angular velocity of healthy leg, be used for the aim parameter that artificial limb is followed;
The control artificial limb carries out walking speed and follows computer control system with mode adaptive, receive and detect knee joint angle and the feedback signal of corresponding speed and the feedback signal of artificial limb mode of operation that the angular transducer of being located at pseudocolloid knee joint place detects artificial limb in real time; The model of aim parameter of following by artificial limb and design is in advance revised, and the output control signal is to the electric-controlled hydraulic knee joint on the pseudocolloid, is used for the artificial limb gait is followed healthy leg control and the residing pattern of artificial limb is controlled.
The voltage analog signal of angular transducer is imported a microprocessor by analog digital conversion, microprocessor passes to the wireless transmitter module emission by serial ports with digital signal, after the wireless receiving module that is positioned at artificial limb knee-joint receives the digital signal that launches, with these signals send into the wireless receiving module microprocessor linked in.
The electric-controlled hydraulic knee joint is by two motor numeral needle-valves, piston-cylinder, fixed piston, check valve is formed, the numeral needle-valve is contained on the middle part boss of piston-cylinder, and the valve rod of two choke valves is connected with two hydraulic oil channels on the fixed piston respectively, is used for the directly control flow of two hydraulic cavities up and down, in two hydraulic channels check valve is housed all, the piston rod outer cover is equipped with one and helps and stretch spring.
Healthy leg testing agency is made up of upper connecting rod, lower connecting rod and angular transducer, upper connecting rod and lower connecting rod in the junction by the rotation that cooperatively interacts of circular swivel head, swivel head is provided with limited block on the top, make two bars between 0-180 °, to rotate, be connected by the angular transducer axle between upper connecting rod and the lower connecting rod, lower connecting rod and sensor axis matched in clearance, the installation foot of pick off is fixedlyed connected with bar; Upper connecting rod has microscler square groove in swivel head central authorities, and sensor axis is by a fixed small slide block and microscler square groove are connected in the end, and the square groove that bar is passed through on it drives slide block and fixed sensing bar rotation with it thereof.
The motor digital throttle is by motor, ball screw, miniature bearing, valve rod, pick off is formed, the motor output shaft is connected with ball screw, screw mandrel is supported by miniature bearing, and valve rod is connected with ball screw, and is driven by ball screw, on valve rod, be provided with an induction positioning boss that is used for null pick-up, be used for determining the original position of motor.
The invention has the beneficial effects as follows:
The intelligence lower limb wants anthropomorphic dummy's lower limb to move at first will be on time and space, make artificial leg and healthy leg the time go up symmetry mutually, and former intelligent lower limb the time control the detection signal that also just utilizes artificial limb itself mutually and carry out finite state control, as can only on speed, realizing high, medium and low three kinds of walking speeds control, can not the strong lower limb gait of real-time tracking.Therefore, the advantage that the present invention mainly has is that intelligent artificial leg can follow the novel artificial limb system that the healthy leg gait is carried out real-Time Tracking Control, the checkout gear (sensor attachment mechanism and signal transfer system) that comprises a cover healthy leg gait, and utilize artificial leg to follow the healthy leg gait and carry out real-time closed-loop control, thereby realize the bionic intelligence control of artificial leg.
Description of drawings
Fig. 1 is that artificial limb is followed the control principle block diagram;
Fig. 2 is a normal gait knee joint change curve;
Fig. 3 is a hydraulic cylinder swing moment of resistance control curve;
Fig. 4 is a healthy leg gait testing agency;
Fig. 5 is the detection of healthy leg angle, processing and wireless transmission hardware configuration;
Fig. 6 is the interval discriminating program block diagram of healthy leg gait;
Fig. 7 is an artificial limb microprocessor signals wireless receiving hardware configuration;
Fig. 8 is that leg speed is followed the control principle block diagram;
Fig. 9 is neural network learning and controller transfer principle block diagram;
Figure 10 is a motor numeral needle valve structure shaft side figure;
Figure 11 is the electro-hydraulic damping cylinder structure chart;
Figure 12 is the johning knot composition in hydraulic damping cylinder and joint;
Figure 13 is artificial limb action pattern and corresponding hydraulic cylinder state diagram thereof;
Figure 14 is the controlled condition figure that enters various artificial limb action patterns;
Figure 15 is that leg speed is followed control software main program flow chart.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, a kind of intelligent lap artificial limb system of follow pace of health leg control comprises: pseudocolloid 100, flexible electric-controlled hydraulic knee joint 200 of regulating with the stretching, extension bidirectional damper, be installed in the online testing agency 300 of healthy leg gait in the healthy leg joint, the gait data transfer system; The control artificial limb carries out walking speed and follows computer control system with mode adaptive.
The online testing agency of healthy leg gait delivers to the gait data of healthy leg in the microprocessor in the artificial limb by the gait data transfer system as the desired value of following of artificial limb, microprocessor is by signal analysis, calculate the angular velocity of healthy leg, be used for the aim parameter that artificial limb is followed;
The control artificial limb carries out walking speed and follows computer control system with mode adaptive, receive and detect knee joint angle and the feedback signal of corresponding speed and the feedback signal of artificial limb mode of operation that the angular transducer of being located at pseudocolloid knee joint place detects artificial limb in real time; The model of aim parameter of following by artificial limb and design is in advance revised, and the output control signal is to the electric-controlled hydraulic knee joint on the pseudocolloid, is used for the artificial limb gait is followed healthy leg control and the residing pattern of artificial limb is controlled.
The electric-controlled hydraulic knee joint with bend one's legs song and the adjusting of stretching, extension bidirectional damper that the present invention is designed is one of core component of invention artificial limb, this device has adopted the damping of hydraulic cylinder as the control artificial limb knee-joint, thereby control joint mechanical resistance square, this damping force is by to being that the choke valve in two loops of one is controlled with plunger designs in the hydraulic cylinder, wherein loop is used for the control of lower limb flexion velocity, another loop is used for the control of the lower limb rate of stretch, throttle orifice aperture size is regulated by miniature Throttle needle valve, and needle-valve is by driving with two DC servo motors of the integrated manufacturing all-in-one-piece of hydraulic cylinder or motor.Hydraulic cylinder is mainly used in preventing that joint damping of shocks, the joint locking of supporting mid-term and the shaking peroid in swing speed control, swing latter stage in joint trip.Send the flexing loop of locking signal by computer when tripping, thereby prevent that thigh from falling down because of unexpected flexing causes with the locking joint of artificial limb.
The present invention is designed to integral structure to the kneed control executing mechanism of bidirectional damper control hydraulic pressure, to reduce volume.Because hydraulic oil is a kind of incompressible medium, here adopted a kind of intermediate piston to fix, the structure of a movable piston is respectively adopted at the piston rod two ends, like this when piston rod moves up and down with knee sprung, two mutual mobile hydraulic oil of hydraulic cavities can be as single piston hydraulic cylinder like that because the volume differences of two chamber piston rods and bad student produce stroke and disturb.In addition, the power-assisted when stretching in order to produce artificial limb, section increases a spring outside the cylinder of hydraulic cylinder piston rod, and spring top is with nut rotation compression spring, to adjust the power of stretching that helps of spring.
The present invention has also designed a cover healthy leg gait testing agency, is used to detect kneed angle position of healthy leg and corresponding angular velocity thereof.This cover mechanism has adopted a mechanical joint measuring device, and frame for movement can be simulated the dynamic change of the joint instantaneous center of rotation.Mechanism by two can active band swivel joint thin bar form, two bars connect with pin in the joint, and be that installation shaft is installed an angular transducer with the pin, the present invention has used a kind of accurate conductive plastic potentiometer formula pick off, the pick off installation foot is connected with a bar swivel head, and the swivel joint of pin and another bar is fixed.
The gait data of healthy leg is sent in the microprocessor in the artificial limb as the desired value of following of artificial limb, and this process is realized by the data wireless transfer system of cover the present invention design.The voltage analog signal of pick off is imported a microprocessor by analog digital conversion, microprocessor passes to the wireless transmitter module emission by serial ports with digital signal, after the wireless receiving module that is positioned at artificial limb knee-joint receives the digital signal that launches, with these signals send into the wireless receiving module microprocessor linked in, signal is analyzed in microprocessor, calculate the instantaneous angle and the angular velocity of healthy leg, post retrograde can control as the aim parameter that artificial limb is followed.
The gait control that artificial limb is followed healthy leg is to realize that by the microprocessor software and hardware that a cover is installed in the knee joint cavity microprocessor calculates the gait data from healthy leg, and the hydraulic damping cylinder that the program of passing through to work out is then calculated output drives output.At the knee joint place of artificial limb an angular transducer has been installed also, detect the knee joint angle and the corresponding speed thereof of artificial limb in real time, control system detects this feedback signal, needle-valve aperture output to microprocessor is revised by the model of design in advance, thereby constantly approaches the swing speed of healthy leg.Microprocessor program mainly programs by the requirement of following two aspects:
A. the artificial limb gait is followed healthy leg control
People's normal walking generally is divided into the support phase and swings two intervals mutually, can be subdivided into again mutually in support: phase preliminary swing totally three subintervals are stretched, are supported in support phase flexing, support mutually; And can be subdivided into mutually in swing: totally two subintervals are stretched in swing phase flexing, swing mutually.Because the speed of travel is mainly relevant with the swing moment of resistance, so in the artificial leg walking process, the following two kinds of swing states of automatic program identification:
---flexing and extended configuration (angle increases or reduces);
---support phase preliminary swing and mutually kneed flexing of swing and stretching, extension angular interval;
After the residing angular interval of identification artificial limb, between the microprocessor auto-partition flowed friction is carried out feedback control.
B. the residing pattern of artificial limb is controlled
Except that speed is controlled, also the mode of operation of artificial limb is discerned and controlled,
Main recognized patterns and control mode are as shown in Figure 4.
How to realize that artificial leg follows the healthy leg gait and control, describe in detail in conjunction with the accompanying drawings here in order to explain.
Overall control block diagram of the present invention such as Fig. 1, an angular transducer of measuring knee joint attitude (angle and variation) is housed on healthy leg, the signal of its detection is transmitted in the microprocessor of artificial limb by wireless data transferring system, the angle of microprocessor analysis healthy leg and target angular velocity, carry out the control of artificial limb damping then, to reach the leg speed of healthy leg, and judgement walking interval and action pattern, comprise the angular interval identification of support phase, descending, stand or sit down pattern recognition etc., microprocessor carries out signal output according to the control model that is provided with automatically in software, so that the rotational angle of control needle-valve motor, thereby the size of control bidirectional hydraulic damping and cut-offfing finally makes artificial limb reach target knee joint angle of oscillation speed and different action patterns are responded.The knee joint of artificial limb has been carried out particular design, regulates the damping fluid cylinder pressure except the automatically controlled bidirectional damper of special use, and an angular transducer identical with healthy leg also has been installed on knee joint, to detect actual knee joint rotational angular velocity, carries out feedback control.
For the target that can clearly invent, first analyst's normal gait here.Fig. 2 has represented during 5 of normal gait one-period: support flexing district (SF), support extensin period (SE), support preliminary swing district (SP), swing flexing district (SWF) and swing stretching area (SWE).
Fig. 3 has represented that normal gait is at the mutually required damping torque curve of swing, in swing flexing interval, damping becomes to increase progressively gradually trend, comprising helping the linearity of stretching spring to increase, to the latter stage of swing flexing, stretch beginning, the flexing damping does not have effect, and to weaken be 0, but owing to help the effect of stretching spring, stretch damping and non-vanishing, help and stretch moment but present an active, impel toe raise rotate to quicken, but this helps and stretch moment be reduced to 0 gradually under the opposing of stretching damping, then stretch damping and increase stretching, extension gradually with the deceleration lower limb, to stretching latter stage, be before knee joint becomes 180 °, stretch damping and sharply increase suddenly, kneed to cushion because of accelerating to the bump in latter stage.When level walking, healthy leg gait system for tracking of the present invention can be controlled artificial limb tracking swing phase flexing moment and control with stretching, extension moment, so that follow the tracks of the swing speed of healthy leg, and controls hydraulic damping and cushions stretching terminal joint impact.
Introduce healthy leg testing agency, wireless data transferring system, automatically controlled bidirectional damper hydraulic cylinder below respectively in detail and microsystem is soft, hardware.
The frame for movement of healthy leg of the present invention testing agency as shown in Figure 4, this mechanism is by upper connecting rod 19, lower connecting rod 18 and angular transducer 17 are formed, upper connecting rod 19 and lower connecting rod 18 are made the circular swivel head that cooperatively interacts and rotate in the junction, swivel head is provided with limited block on the top, make two bars between 0-180 °, to rotate, the connection of two bars connects by the angular transducer axle, hole on the lower connecting rod 18 and sensor axis adopt matched in clearance, upper connecting rod 19 has the microscler square groove of a length 20mm in swivel head central authorities, sensor axis is connected with microscler square groove by a small slide block that is screwed in the end, the square groove of bar 19 can drive slide block and fixed sensing bar rotation with it thereof like this, the installation foot of pick off 17 is connected with bar 18, has so just realized the angular surveying that pick off rotates with knee joint.Because the square groove in the bar 19 can make the axle slippage therein of pick off 17, therefore, this testing agency can adapt to the variation of the knee joint instantaneous center of rotation automatically, measures more accurate.In actual applications, the upper connecting rod 19 and the lower connecting rod 18 of this testing agency are installed the nylon bandage respectively, are used for fixing with the direct of people's lower limb, owing to used thickness only to be the thin type WDD-35 angle displacement sensor of about 20mm, trousers can normally be worn in the outside.Sensor signal links to each other with an A/D module by data wire, and the A/D module is directly imported data into a 89C51 single-chip microcomputer.
Fig. 5 has represented that the signal of angular transducer carries out data collection and analysis by the single-chip microcomputer 89C51 in healthy leg one side, by the wireless data transmission module emission angular velocity of the per step swing of healthy leg is sent to the wireless data sending receiver module of artificial limb side then.Healthy leg is carried out pretreatment through the data of single-chip microcomputer collection.
Fig. 6 has represented that the data of angular transducer collection at first pass through the identification of microprocessor, if a sampled data is bigger than previous numerical value, then expression is between the flexion stage of joint this moment, data are deposited in a depositor, so discern the sample of all collections repeatedly, and deposit same depositor in, replace data.When the sample data that collects than last one hour, show that the joint began to enter between extensin period shaking peroid, this sample data is deposited in another and is specified depositor, the data of back are not restored, until measuring one is 0 data, utilize data and sampling time in the depositor to calculate, can calculate swing phase flexing interval and the swing speed between extensin period, these two data send to STR-18 type wireless data sending transmitter module shown in Figure 5 by microprocessor.
Fig. 7 has represented to receive flexing and the extension angle speed that the healthy leg side launches at the STR-18 of artificial limb side type micropower wireless data sending receiver module, import the microprocessor of artificial limb side then, microprocessor is controlled the flexion velocity of artificial limb according to artificial limb angle sensor signal and sole contact switch, this process is controlled motor by transmission pulse and direction signal and is realized, thus the position of step motor control hydraulic cylinder throttle valve lever control needle-valve aperture.Therefore, control the flexion velocity of artificial limb at every turn and follow detected healthy leg speed, be that the Position Control of needle-valve valve rod is very crucial to the damping of hydraulic cylinder.In order to make the swing speed of artificial limb energy real-time tracking healthy leg, here designed a kind of intelligence control system (Fig. 8) based on neural network learning and associative memory, neutral net adopts cerebellum Model Neural (CMAC), this neutral net is a kind of local learning neural network that is based on the input and output of table lookup formula, simple in structure, fast convergence rate is easy to software and hardware and realizes and control in real time.Especially only be the one dimensional network of healthy leg swing speed for input parameter, sort controller has great superiority and practicality.Fig. 8 has adopted the Neural Network Supervised Control mode based on the PD controller, and little cranial nerve network carries out online training by the output signal U (overall pulse number) that PD controller feedback control obtains with system input signal Y (swing speed) data set.Because the CMAC pace of learning is fast and be input as one-dimensional vector, therefore the number of training that is provided by the PD controller does not need a lot.Swing speed scope according to normal gait, here it is speed setting 20 grades, have the principle that close output is shone upon in close input according to the CMAC controller, obvious minimum about 20 samples of need just can be finished the training of neutral net, the neutral net of approaching required extensive function of region.The present invention is set at 20 training samples, and neutral net is carried out 20 training, and after every kind of speed training once, promptly takes over control by neutral net.Therefore, a switching controller (Fig. 9) is set between neutral net and PD.Whether switching controller differentiates the speed of detection to learn, if learn then to be controlled by CMAC, otherwise is directly controlled by PD, and CMAC learns, after 20 all speed thresholds were all finished training, switching controller withdrawed from automatically, and whole system is taken over control by CMAC.Because detected angle to the time difference that nearly 300-500ms is arranged between the artificial limb swing in healthy leg, artificial limb calculates fully if having time until finishing Electric Machine Control output.
From the umber of pulse and the direction of the U value representation drive stepping motor of neutral net or PD controller output, motor adopts biphase mixing motor, and step angle is 1.8 degree, maximum (top) speed 600npm.This motor digital throttle is specialized designs (as Figure 10).Motor 22 drives ball screw 25, screw mandrel 25 is supported by miniature bearing 24, valve rod 26 is driven by ball screw, on valve rod, there is a boss to be used for the induction location of null pick-up 23, be used for determining the original position of motor, this signal adds that the pulse accumulative total of each microprocessor output just can determine the absolute position of valve rod.Therefore, use this digital valve and can directly obtain corresponding damping by control impuls, thereby control kneed swing speed, if promptly ignore the interference of prosthetic walking process, and when considering that there are an identical in theory swing active moment in healthy leg thigh and artificial limb thigh because of following leg speed, neutral net is exported between U value and the artificial limb swing speed Yd and is had mapping relations one to one.
Figure 11 (a) has represented the structure of digital hydraulic damping cylinder, two motor numeral needle-valves 2 are contained on the middle part boss of piston-cylinder 5, the valve rod of two choke valves links to each other with two hydraulic oil channels 10 on the fixed piston 3 respectively, directly the flow of two hydraulic cavities about the control all is equipped with check valve 4 in two hydraulic channels 10.Fixed piston 3 is screwed with cylinder body 5 and is connected, and hydraulic cylinder piston rod 6 two ends have connected a piston plate 1 respectively, and piston plate 1 together slides with piston rod 6, and cylinder body 5 is connected with piston end cap 7 by screw, is equipped with one in the piston rod outer cover and helps and stretch spring 9.Two motor digital throttles of this hydraulic cylinder are controlled the flexing of hydraulic cylinder respectively and are stretched damping.Because kneed speed controlling mainly is the swing flexion velocity, and mainly be to produce the damping of a buffering extensin period, to weaken the joint in the collision when stretching fully, for simplifying control, also can become the another kind of structure shown in Figure 11 (b) to cylinder design, this hydraulic cylinder just makes a stepping digital throttle shown in Figure 11 (a) into an electromagnetic valve structure (11,12), the quick lock in when being used for directly controlling flexing.Figure 12 is the syndeton of hydraulic damping cylinder and uniaxial joint head, and ball and socket joint 14 is connected by a bearing pin with hydraulic cylinder 13, and hydraulic cylinder 13 is connected with joint body 15 by bearing pin 16.
Figure 13 has represented the hydraulic damping control requirement of six kinds of artificial limb action patterns, and these six kinds of patterns are respectively: level walking, go downstairs/descending, wait to sit down, sit down, trip and stand.
Figure 14 has represented to enter the trigger condition of other the 5 kinds of patterns except that this active operation mode of level walking.These trigger conditions are to be combined by 4 sensing elements such as contact switches before and after artificial limb and healthy leg angular transducer, the artificial limb sole, are the control models that the interactive control of people and computer artificial limb moves.
According to above-mentioned hardware designs, the flow chart of control system software programming such as Figure 15.Various input signals are with the microprocessor of interrupt mode input artificial limb, microprocessor is judged signal, with the speed controlling of level walking as mastery routine, and descending, sit down, wait to sit, stand, sat back and waited 5 kinds of action patterns respectively by subprogram control, the design of subprogram can be carried out redirect and calculate, selects output signal according to the flow process of Figure 13 and Figure 14.
Claims (5)
1. the intelligent lap artificial limb system of follow pace of health leg control, comprise pseudocolloid (100), it is characterized in that, also comprise electric-controlled hydraulic knee joint (200) flexible and that the stretching, extension bidirectional damper is regulated, be installed in the online testing agency of healthy leg gait (300) in the healthy leg joint, gait data transfer system, control artificial limb carry out walking speed and follow computer control system with mode adaptive;
The online testing agency of described healthy leg gait (300) delivers to the gait data of healthy leg in the microprocessor in the artificial limb by the gait data transfer system as the desired value of following of artificial limb, microprocessor is by signal analysis, calculate the instantaneous angle and the angular velocity of healthy leg, be used for the aim parameter that artificial limb is followed;
Described control artificial limb carries out walking speed and follows computer control system with mode adaptive, receive and angular transducer that pseudocolloid (100) knee joint place is located in detection detects knee joint angle and the feedback signal of corresponding speed and the feedback signal of artificial limb mode of operation of artificial limb in real time; The model of aim parameter of following by artificial limb and design is in advance revised, and the output control signal is to the electric-controlled hydraulic knee joint (200) on the pseudocolloid, is used for the artificial limb gait is followed healthy leg control and the residing pattern of artificial limb is controlled.
2. the intelligent lap artificial limb system of follow pace of health leg control according to claim 1, it is characterized in that, the voltage analog signal of described angular transducer is by the analog digital conversion input microprocessor, microprocessor passes to the wireless transmitter module emission by serial ports with digital signal, after the wireless receiving module that is positioned at artificial limb knee-joint receives the digital signal that launches, with signal send into the wireless receiving module microprocessor linked in.
3. the intelligent lap artificial limb system of follow pace of health leg control according to claim 1, it is characterized in that, described control hydraulic pressure knee joint is by two motor numeral needle-valves (2), piston-cylinder (5), fixed piston (3), check valve (4) is formed, described digital needle-valve (2) is contained on the middle part boss of piston-cylinder (5), the valve rod of two choke valves is connected with two hydraulic oil channels (10) on the fixed piston (3) respectively, be used for the directly control flow of two hydraulic cavities up and down, check valve (4) all is housed in two hydraulic channels (10), and the piston rod outer cover is equipped with to help stretches spring (9).
4. the intelligent lap artificial limb system of follow pace of health leg control according to claim 1, it is characterized in that, described healthy leg testing agency is by upper connecting rod (19), lower connecting rod (18) and angular transducer (17) are formed, described upper connecting rod (19) and lower connecting rod (18) in the junction by the rotation that cooperatively interacts of circular swivel head, swivel head is provided with limited block on the top, make two bars between 0-180 °, to rotate, be connected by angular transducer (17) axle between upper connecting rod (19) and the lower connecting rod (18), lower connecting rod (18) cooperates with pick off (17) between centers crack, and the installation foot of pick off (17) is fixedlyed connected with bar (18); Upper connecting rod (19) has microscler square groove in swivel head central authorities, pick off (17) axle makes bar (19) drive slide block and fixed sensing (17) bar rotation with it thereof by the square groove on it by a fixed small slide block and microscler square groove are connected in the end.
5. the intelligent lap artificial limb system of follow pace of health leg control according to claim 3, it is characterized in that, described motor digital throttle is by motor (22), ball screw (25), miniature bearing (24), valve rod (26), pick off (23) is formed, described motor (22) output shaft is connected with ball screw (25), screw mandrel (25) is supported by miniature bearing (24), and valve rod (26) is connected with ball screw, and is driven by ball screw (25), on valve rod (26), be provided with an induction positioning boss that is used for null pick-up (23), be used for determining the original position of motor.
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| CNB2006101180098A CN100528107C (en) | 2006-11-06 | 2006-11-06 | Intelligent lap artificial limb system controlled to follow pace of health leg |
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| CNB2006101180098A CN100528107C (en) | 2006-11-06 | 2006-11-06 | Intelligent lap artificial limb system controlled to follow pace of health leg |
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| CN1957862A true CN1957862A (en) | 2007-05-09 |
| CN100528107C CN100528107C (en) | 2009-08-19 |
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