CN103271783B - Artificial limb knee joint with assistance function - Google Patents
Artificial limb knee joint with assistance function Download PDFInfo
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- CN103271783B CN103271783B CN201310182128.XA CN201310182128A CN103271783B CN 103271783 B CN103271783 B CN 103271783B CN 201310182128 A CN201310182128 A CN 201310182128A CN 103271783 B CN103271783 B CN 103271783B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 74
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 24
- 238000013016 damping Methods 0.000 claims description 17
- 210000003127 knee Anatomy 0.000 claims description 14
- 210000000245 forearm Anatomy 0.000 claims description 11
- 230000008520 organization Effects 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 7
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 claims description 2
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- 210000001699 lower leg Anatomy 0.000 abstract description 17
- 238000002266 amputation Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000003044 adaptive effect Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract 1
- 230000005021 gait Effects 0.000 description 20
- 210000000689 upper leg Anatomy 0.000 description 17
- 230000001276 controlling effect Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 230000008859 change Effects 0.000 description 4
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- 210000003447 amputation stump Anatomy 0.000 description 3
- 244000309466 calf Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 238000004146 energy storage Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of biomedical engineering and recovery assistance tools and particularly relates to an artificial limb knee joint with an assistance function. The upper end of the artificial limb knee joint is connected with an artificial limb receiving cavity, and the lower end of the artificial limb knee joint is connected with a sole through a crus connecting rod and an ankle joint. The artificial limb knee joint comprises a fixed air cylinder multi-shaft artificial limb knee joint component used as an artificial limb joint functional component, an air cylinder throttle valve opening control mechanism used as an artificial limb joint intelligent component, and a knee joint assistance stretching driving mechanism used as an artificial limb joint active energy supply component. According to the artificial limb knee joint, intelligent active control can be achieved in function, stability is good, noise is low, and the artificial limb knee joint can be adaptive to multiple landscape features, can help an amputation patient to sit up autonomously and go up and down stairs in an alternating mode autonomously and integrates function advantages of a passive artificial limb knee joint and an active artificial limb knee joint.
Description
Technical field
The invention belongs to biomedical engineering and rehabilitation accessory technical field, relate to a kind of artificial limb knee-joint, particularly a kind of artificial limb knee-joint with assist function driving leading screw and spring promotion cylinder piston to move by motor.
Background technology
Artificial thigh is distinguished according to type of drive can be divided into two types: a kind of is the passive type artificial thigh that is power source with patients with amputation stump, and a kind of is the active artificial thigh bent and stretched by external power supply driving joint.Most of artificial thigh is passive type in the market, and passive type artificial thigh can be divided into again plain edition and intelligent two kinds.Plain edition passive type artificial thigh knee joint damping torque size sets when mounted, is difficult to the change adapting to the external environment conditions such as leg speed.Intelligent passive type artificial thigh is by having the antivibrator of adaptation function, when external environment condition changes such as leg speeds, joint of artificial limb damping torque dynamic adjustments makes artificial limb side can respond the change of strong side step state and external environment condition fast, has good dynamic following and gait symmetry.Active artificial thigh for artificial limb knee-joint provides flexible moment, controls bending and stretching of artificial limb knee-joint by external power supply, therefore realizes the function that passive type artificial thigh is difficult to realize, and as do not stood up by other strength, goes upstairs to replace paces.
Patent US6764520B2 has invented a kind of magnetorheological intelligent passive type artificial leg, and its core technology is magnetic flow liquid artificial limb knee-joint.This joint utilizes magnetic flow liquid can be controlled the Self Adaptive Control of viscosity realization to artificial limb knee-joint damping torque of liquid by adjustment electromagnetic field size.Patent US201100873391A1 has invented a kind of intelligent passive type artificial leg knee joint of hydraulic cylinder type, utilizes micro machine to regulate the Self Adaptive Control of hydraulic throttle valve openings of sizes realization to artificial limb knee-joint damping torque.Patent CN101336849A has invented a kind of cylinder fixation type four-bar mechanism artificial limb knee-joint, regulates the Self Adaptive Control of choke valve openings of sizes realization to artificial limb knee-joint damping torque by miniature linear.Because the compressibility of gas is larger than liquid, therefore the artificial limb knee-joint of cylinder can only control the gait of shaking peroid usually, and the artificial limb knee-joint of hydraulic cylinder can control shaking peroid, also can control the gait of support phase.Patent US20100312363A1 has invented one and has had Antagonistic muscle and the myofunctional active artificial leg knee joint of anti-antagonism, this artificial limb knee-joint is by two kneed flexion and extensions of Electric Machine Control, power can be provided for joint motions, realize alternately paces and the function such as to go upstairs.
In sum, passive type intelligence artificial thigh has good gait tracking and symmetry when level walking, and volume and noise are all very little.Active artificial thigh joint because of the power of drive motors very large, make battery and noise all larger.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of artificial limb knee-joint with assist function is proposed, it not only possesses the passive type intelligence artificial thigh gait symmetry good when level walking and gait tracking, also possesses active artificial limb knee-joint and can alternately to go upstairs and not by the advantage that external force is stood up.The present invention takes into account the functionality advantage of passive type and active artificial limb knee-joint, overcomes active artificial thigh energy consumption large, the shortcomings such as noise is large.
In order to achieve the above object, the technical scheme of employing is:
The upper end of this artificial limb knee-joint is connected with artificial limb reception cavity, lower end is connected with sole by shank connecting rod, ankle joint, comprises fixing cylinder multiaxis artificial limb knee-joint assembly, cylinder throttle valve opening controlling organization, knee joint power-assisted stretching, extension driving mechanism three parts;
Described fixing cylinder multiaxis artificial limb knee-joint assembly is made up of upper joint body, joint forearm, rear joint arm, cylinder and related components thereof; Upper joint body is connected with artificial limb reception cavity, and joint forearm and rear joint arm are connected with upper joint body, cylinder respectively, common composition hinge multi-bar linkage; Arrange piston and compressible spring in cylinder, the outfan of piston is piston pillar, is connected and fixed by screw thread and upper joint body; Piston moves back and forth in the cylinder, and then promotes upper joint body flexion and extension, and piston moves downward, compressible spring is compressed, storage power, piston upwards, compacted compressible spring is released, and releases energy, and articulation is also with movable joint to become extended configuration from flexion; Compressible spring serves the effect of power assistant spring in prosthesis component;
Described cylinder throttle valve opening controlling organization is made up of linear electric motors and choke valve; Choke valve is needle-type throttle valve, and its head portion is conical, inserts in cylinder air inlet; Linear electric motors promote choke valve and carry out straight reciprocating motion, and the degree of depth that valve head inserts cylinder air inlet back and forth changes, and the folding degree of air inlet is constantly changed, and then the damping size of adjustments of gas; The folding degree that air damping size enters (going out) QI KOU with cylinder is relevant, and opening is larger, and air damping is less, and opening is less, and air damping is larger.
Described knee joint power-assisted stretches driving mechanism and comprises DC brushless motor, gear-driven assembly, leading screw, cylinder bottom end cover, and its lower end is connected with shank connecting rod, for artificial limb provides external force by shank end-cap assembly; Leading screw is connected with the outfan of DC brushless motor, and the rotary motion of motor is converted to straight reciprocating motion; Feed screw nut is connected as a single entity by guide post and cylinder bottom end cover, when DC brushless motor, feed screw nut promotes cylinder bottom end cover, and then the compressible spring in compression cylinder, compressible spring promotes piston and does straight reciprocating motion in the cylinder, promotes upper joint body motion.
The DC brushless motor that described knee joint power-assisted stretches driving mechanism adopts Maxon EC30 high power DC brushless motor.
Piston in described fixing cylinder multiaxis artificial limb knee-joint assembly is made up of piston body, sealing ring, piston pillar, straight rod piston and piston knee; Straight rod piston and piston knee are threaded connection or interference fit is fixed as one, and upper end and the piston support column type of piston knee are in the hinge connection.
Beneficial effect of the present invention is:
In the present invention, fixing cylinder multiaxis artificial limb knee-joint assembly is joint of artificial limb functional assembly, and cylinder throttle valve opening controlling organization assembly is the intelligent assembly of joint of artificial limb, and it is joint of artificial limb initiatively energy supply assembly that knee joint power-assisted stretches driving mechanism assembly.This artificial limb knee-joint distinct characteristics, complete function, functionally can realize intelligent ACTIVE CONTROL, good stability, noise is little, can adapt to more lineament, and patients with amputation can be helped independently to sit up, the functions such as autonomous alternately stair activity, take into account the functionality advantage of passive type and active artificial limb knee-joint.
Accompanying drawing explanation
Fig. 1 (a) and Fig. 1 (b) is axonometric drawing of the present invention and artificial limb schematic appearance respectively;
Fig. 2 (a) and Fig. 2 (b) is front view of the present invention and side view;
Fig. 3 is the explosion figure of polycentric knee joint and cylinder related components;
Fig. 4 (a), Fig. 4 (b) are joint of artificial limb special angle schematic diagram respectively;
Fig. 5 is cylinder and related components explosion figure thereof;
Fig. 6 (a) and Fig. 6 (b) are the partial enlarged drawing of region A in cylinder throttle valve opening controlling organization assembly schematic diagram and figure respectively;
Fig. 7 (a) and Fig. 7 (b) is sectional view and the explosion figure that knee joint power-assisted stretches driving mechanism assembly respectively;
Description of reference numerals:
1-polycentric knee joint; 2-cylinder; 3-bends and stretches in joint power-assisted assembly; 4-shank end-cap assembly; 5-cylinder throttle valve opening controlling organization assembly; 6-artificial limb reception cavity; 7-shank connecting rod; 8-ankle joint; 9-foot plate; 11-upper joint body; 12-joint forearm; 13-rear joint arm; 14-piston pillar; 15-piston knee; 16-straight rod piston; 21-cylinder block; 22-cylinder upper end cover; 23-piston; 24-compressible spring; 25-air plug; 31-shank chamber; 32-helps and stretches motor; 33-cylinder bottom end cover; 34-leading screw; 35-leading screw guide rod; 36-round nut; 37-lead screw shaft deep groove ball bearing; 41-shank end cap; 42-leading screw end tooth is taken turns; 43-idle wheel; 44-motor side gear; The little axle of 45-; 46-gear shaft deep groove ball bearing; 47-shank bolt of cover; 51-needle-valve; 52-linear electric motors; 111-forearm upper hinge shaft assembly; 112-postbrachium upper hinge shaft assembly; Arm bolt before 121-joint; 141-piston pillar set bolt; 142-bearing pin; 151-piston knee bearing; Hinge axis assembly under 211-forearm; Hinge axis assembly under 212-postbrachium; 213-end cap bolt; 231-piston base bolt; 232-piston X-shaped sealing ring; 233-piston guide ring; 331-end cap X-shaped sealing ring; 332-end cap guide ring.
Detailed description of the invention
The invention provides a kind of artificial limb knee-joint with assist function, below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Overall structure of the present invention as shown in Figure 1 (a) and Fig 1 (b) shows, is bent and stretched power-assisted assembly 3, shank end-cap assembly 4, cylinder throttle valve opening controlling organization assembly 5, artificial limb reception cavity 6, shank connecting rod 7, ankle joint 8 and sole 9 etc. assembled by polycentric knee joint 1, cylinder 2, joint.Wherein polycentric knee joint 1 and cylinder 2 constitute fixing cylinder multiaxis artificial limb knee-joint assembly.
Composition graphs 2(a) and Fig. 2 (b), upper joint body 11 and artificial limb reception cavity 6 are fixed together by standard component, and reception cavity is intended to be worn on patients with amputation stump, and the model of reception cavity is determined because of the shape and size of stump.Shank end cap 41 and shank connecting rod 7 are fixed together by given joint, shank connecting rod 7 and the hinged formation ankle joint 8 of sole 9.The present invention only provides reception cavity 6, shank connecting rod 7, and the schematic diagram of ankle joint 8 and sole 9, concrete structure does not discuss in detail.
The complex structure of human normal knee joint and lower limb, one of design object of artificial limb is the gait feature can simulating natural joint more really, and the most important condition needs the motion of simulating joint instantaneous.So the present invention adopts fixing cylinder multiaxis artificial limb knee-joint assembly to realize this function, makes prosthesis gait closer to normal gait.Fixing cylinder multiaxis artificial limb knee-joint assembly is made up of polycentric knee joint 1 and cylinder and related components 2 thereof.
Relative to single-axis knee joint, the instantaneous real-time change of motion of polycentric knee joint, by this feature, the present invention, to the design of bar progress row, can simulate the kneed motion of normal human more really.The kneed angle excursion of four-bar mechanism in the present invention is 0 ° ~ 135 °.Move instantaneous consistent with the instantaneous height of Normal Knee.Polycentric knee joint 1(is as four-bar mechanism knee joint) form primarily of upper joint body 11, joint forearm 12, rear joint arm 13 and cylinder block 21.Upper joint body 11 and joint forearm 12 pass through the combination of forearm upper hinge shaft assembly 111(hollow axle and needle bearing) form hinge, before joint, arm bolt 121 prevents joint forearm and upper joint body from throwing off through hinge axis.Upper joint body 11 and rear joint arm 13 form the another one hinge of four-bar mechanism by postbrachium upper hinge shaft assembly 112.Joint forearm 12 and rear joint arm 13 form hinge respectively by hinge axis assembly under hinge axis assembly 211 under forearm and postbrachium 212 and cylinder block 21.The driving link of four-bar mechanism is upper joint body 11, by with piston support bolt 141, the piston pillar 14 be connected in upper joint body 11 is connected with the piston component in cylinder.Piston pillar 14 and piston knee 15 form hinge by bearing pin 142 and piston knee bearing 151, and meanwhile, piston knee 15 and straight rod piston 16 also form a hinge by bearing pin 142 and piston knee bearing 151.Straight rod piston 16 lower end is passed with circular seal ring cylinder upper end cover 22, and is fixed together by piston base bolt 231 and piston 23.By above-mentioned connection, when piston 23 moves in the cylinder, just can promote upper joint body 11 and rotate around hinge, cylinder block 21 just becomes the frame of four-bar mechanism, and upper joint body 11 is driving link.
Cylinder upper end cover 22 is fixed on cylinder wall by end cap bolt 213.Zero RunddichtringO is adopted to seal.Piston 23 and straight rod piston 16 piston component formed that is fixed together passes from the centre bore of cylinder upper end cover 22.Compressible spring 24 be placed under piston 23, in support phase, spring-compressed energy storage, keeps supporting phase stability, and stretches latter stage in support phase, releases energy, serves assist function in the present invention.Fig. 1 (b), Fig. 4 (a) and Fig. 4 (b) give the schematic diagram of three specific positions that knee joint is rotated: be respectively position view when knee joint angle (angle between thigh and shank) 0 °, 90 ° and 135 °.
Piston 23 and cylinder bottom end cover 33 need to move in the cylinder, so need to carry out leading and movable sealing.The present invention adopts piston X-shaped sealing ring 232 to carry out movable sealing, adopts piston guide ring 233 to lead, and adopts air plug to seal gas circuit.
Cylinder casing wall has air inlet and venthole.Air inlet and venthole are thin long eyelet, conveniently process, and the present invention is designed to through hole.The hole air plug 25 communicated with the external world is blocked and is sealed.
A gait cycle can be divided into support phase and swing two stages mutually.Supporting be the process of foot and earth surface mutually, and swing is process that shank freely swings mutually.Wherein supporting is front about 60% of whole gait cycle mutually, and swinging is rear 40% of gait cycle mutually.Due to the synergism of thigh and calf many groups muscle, shank not rotates freely around the rotary motion of thigh, and rotates according to certain characteristics of motion.In order to simulate this special characteristics of motion, the present invention realizes strong side gait tracking function by the cylinder throttle valve opening controlling organization assembly of adjustable gas damping.The folding degree that air damping size enters (going out) QI KOU with cylinder is relevant, and opening is larger, and air damping is less, and opening is less, and air damping is larger.Fig. 5 is cylinder and related components explosion figure thereof; Fig. 6 (a) and Fig. 6 (b) are the partial enlarged drawing of region A in cylinder throttle valve opening controlling organization assembly schematic diagram and figure respectively.Cylinder throttle valve opening controlling organization assembly is made up of needle-valve 51 and linear electric motors 52.Linear electric motors 52 are by self being threaded in the screwed hole of cylinder block side in joint assembly.Main shaft and the needle-valve 51 of linear electric motors 52 are fixed together by shaping connection, and the enlarged partial sectional view A in Fig. 6 represents the relative position relation of needle-valve and pore.Linear electric motors 52 promote needle-valve 51 and advance, and orifice size reduces gradually, and the cylinder damper in joint assembly increases gradually, and to provide enough support forces, the position feature that in collaborative joint assembly, multiaxial joint is instantaneous, ensure that the stability supporting phase.Support after terminating mutually, gait cycle enters swing phase, and linear electric motors 52 drive needle-valve 51 to retreat, and orifice size increases gradually, and the cylinder damper in joint assembly reduces gradually, knee joint is rotated more flexible.Kneed damping can regulate in real time according to the different times supporting mutually and swing phase.And linear electric motors 52 can according to the air pressure of upper and lower two chambers of cylinder in the speed of travel and joint angles change adjusting joint assembly, namely when leg speed is fast, linear electric motors 52 retreat, orifice size increases gradually, cylinder damper in joint assembly reduces gradually, namely when leg speed is slow, linear electric motors advance, orifice size reduces gradually, cylinder damper in joint assembly increases gradually, knee joint damping can be regulated in real time according to variation in pace speed, and to adapt to the requirement of different leg speed to knee joint damping force, what realize strong side step state follows function.
Human body lower limbs motion is varied, and as level walking, stair activity, up and down ramp, leaping over obstacles, sits up.In order to complete above-mentioned lower extremity movement action, the musculoskeletal system of thigh and calf needs for joint provides certain joint moment and energy.Above knee amputation patient is due to physical disabilities, and lower limb can not normally for lower extremity movement provides joint moment and energy.In level walking process, dress people with disability of the present invention and can provide level walking gait by lower leg stump, namely follow by prosthesis gait support phase stability assembly and prosthesis gait the lower extremity movement that namely assembly can realize level walking.By known to the gait analysis of normal person, lower limb complete stair activity and not by external force sit up action time, required moment and energy when the driving moment that joint needs and energy are far longer than level walking.Now, support phase stability assembly only according to prosthesis gait, the action that the power that prosthesis gait follows assembly and patients with amputation stump to be provided cannot complete stair activity and sit up.So the present invention adopts joint to bend and stretch power-assisted assembly and helps stretch square for artificial limb provides.Joint is bent and stretched power-assisted assembly 3 and is adopted to help and stretch motor (DC brushless motor) and indirectly promote piston to realize the function of power-assisted.Help that to stretch motor under the help of leading screw be rectilinear motion by convert rotational motion.Feed screw nut and cylinder bottom end cover are fixed together, and promotion spring and piston upwards just can play the effect helping and stretch.Such as, patients with amputation is dressed the present invention and is being sat up in motion, when being sitting on chair, knee joint angle is 90 degree, piston is in cylinder bottom, when needing to stand up, direct current generator rotates, under the External Force Acting that motor provides, promote cylinder bottom end cover to move upward, indirect promotion piston upwards, due to the setting that four-bar mechanism bar is long, knee joint angle track will gradually become 0 degree from 90 degree, when knee joint angle becomes 0 degree, patients with amputation will be in standing state, motor reversal, and cylinder bottom end cover is return home position.Alternately during stair activity, help and stretch functional method and sit up identical, do not do tired stating herein.
As shown in Fig. 7 (a) He Fig. 7 (b), carry decelerator help the output shaft of stretching motor 32 and motor side gear 44 to be connected by being shaped to be fixed together with threaded.Idle wheel 43 and shank end cap 41 are linked together by gear deep groove ball bearing 46 and little axle 45, and idle wheel 43 engages with motor side gear 44.Leading screw 34 and leading screw end tooth wheel 42 are fixed together by shaping connection, and engage with idle wheel 43.Leading screw 34 top connects top, shank chamber 31 by lead screw shaft deep groove ball bearing 37, and wherein three gears are the gear of same specification.Round nut 36 is enclosed within leading screw, and be fixed together through the smooth aperture in upper end, shank chamber 31 and cylinder bottom end cover 33 by 120 ° of uniform leading screw guide rods 35, DC brushless motor drives leading screw 34 to rotate, leading screw 34 just drives round nut 36 and cylinder bottom end cover 33 to form slide block, cylinder cathetus in joint assembly moves back and forth, the piston 23 promoted in joint assembly moves up and down, and realizes artificial limb and stretches assist function.Stretch assembly only stretch for helping owing to helping, discontinuous work, have power consumption little, the advantage that noise is little.
Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (3)
1. one kind has the artificial limb knee-joint of assist function, upper end is connected with artificial limb reception cavity, lower end is connected with sole by shank connecting rod, ankle joint, it is characterized in that, comprise fixing cylinder multiaxis artificial limb knee-joint assembly, cylinder throttle valve opening controlling organization, knee joint power-assisted stretching, extension driving mechanism three parts;
Described fixing cylinder multiaxis artificial limb knee-joint assembly is made up of upper joint body, joint forearm, rear joint arm, cylinder and related components; Upper joint body is connected with artificial limb reception cavity, and joint forearm and rear joint arm are connected with upper joint body, cylinder respectively, common composition hinge multi-bar linkage; Arrange piston and compressible spring in cylinder, the outfan of piston is piston pillar, is connected and fixed by screw thread and upper joint body; Piston moves back and forth in the cylinder, and then promotes upper joint body flexion and extension, and piston moves downward, compressible spring is compressed, storage power, piston upwards, compacted compressible spring is released, and releases energy, and articulation is also with movable joint to become extended configuration from flexion;
Described cylinder throttle valve opening controlling organization is made up of linear electric motors and choke valve; Choke valve is needle-type throttle valve, and its head portion is conical, inserts in cylinder air inlet; Linear electric motors promote choke valve and carry out straight reciprocating motion, and the degree of depth that valve head inserts cylinder air inlet back and forth changes, and the folding degree of air inlet is constantly changed, and then the damping size of adjustments of gas;
Described knee joint power-assisted stretches driving mechanism and comprises DC brushless motor, gear-driven assembly, leading screw, cylinder bottom end cover, and knee joint power-assisted is stretched driving mechanism lower end and is connected with shank connecting rod, for artificial limb provides external force by shank end-cap assembly; Leading screw is connected with the outfan of DC brushless motor, and the rotary motion of motor is converted to straight reciprocating motion; Feed screw nut is connected as a single entity by guide post and cylinder bottom end cover, when DC brushless motor, feed screw nut promotes cylinder bottom end cover, and then the compressible spring in compression cylinder, compressible spring promotes piston and does straight reciprocating motion in the cylinder, promotes upper joint body motion.
2. a kind of artificial limb knee-joint with assist function according to claim 1, is characterized in that, the DC brushless motor that described knee joint power-assisted stretches driving mechanism adopts Maxon EC30 high power DC brushless motor.
3. a kind of artificial limb knee-joint with assist function according to claim 1, is characterized in that, the piston in described fixing cylinder multiaxis artificial limb knee-joint assembly is made up of piston body, sealing ring, piston pillar, straight rod piston and piston knee; Straight rod piston and piston knee are threaded connection or interference fit is fixed as one, and upper end and the piston support column type of piston knee are in the hinge connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310182128.XA CN103271783B (en) | 2013-05-16 | 2013-05-16 | Artificial limb knee joint with assistance function |
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| CN201310182128.XA CN103271783B (en) | 2013-05-16 | 2013-05-16 | Artificial limb knee joint with assistance function |
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| CN103271783A CN103271783A (en) | 2013-09-04 |
| CN103271783B true CN103271783B (en) | 2015-04-15 |
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| DE102015106384B4 (en) | 2015-04-24 | 2017-09-07 | Otto Bock Healthcare Products Gmbh | Method for controlling an attenuation change in an artificial joint |
| DE102015106392B4 (en) | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Method for controlling the stance phase damping of an artificial knee joint |
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| CN114795605B (en) * | 2022-04-26 | 2024-07-23 | 吉林大学 | Magnetorheological knee joint prosthesis and control method |
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