KR102419344B1 - Robot artificial leg and method of operating robot artificial leg - Google Patents

Abstract

The present invention relates to a robotic prosthetic leg and a method of driving the robotic prosthetic leg that can help more stable walking. The robotic prosthetic leg comprises: a foot assembly; an ankle part; a wire; a first elastic member; and a second elastic member. The foot assembly comprises a step member and an ankle bracket provided at a rear end of the step member. The ankle part is rotatably provided to the ankle bracket. The wire is provided below the ankle part, includes a rear end part thereof connected to the ankle part, and extends in a longitudinal direction of the step member. One end part of the first elastic member is coupled to a front end part of the wire, and the other end part thereof is supported by the foot assembly. One end part of the second elastic member is supported on the foot assembly, and the other end part thereof is supported on the ankle part. The first elastic member generates restoring force when the step part kicks the ground after being compressed as the ankle part rotates in a forward direction, and the wire is pulled to a rear of the step member. The second elastic member provides rotational resistance while being compressed by being pressed by the ankle part when the ankle part rotates in a rear direction.

Description

ROBOT ARTIFICIAL LEG AND METHOD OF OPERATING ROBOT ARTIFICIAL LEG

The present invention relates to a robot prosthesis and a method for driving a robot prosthesis, and more particularly, to a robot prosthesis and a method for driving a robot prosthesis that can help a more stable walking.

As the demand for robots that can perform dangerous tasks on behalf of humans and prosthetic limbs that can replace human limbs increases, the generation of appropriate torque and weight as the performance of basic articulation devices to support and balance weight and load It is important.

Initially, commercial prosthetic legs were mainly developed for the purpose of replacing amputated body parts in terms of aesthetics, but prosthetic legs that play an important role in functional aspects that allow natural walking and prevent excessive metabolic consumption for users have been developed. is becoming

However, in order to walk naturally, a driving force for gait propulsion must be provided stably and continuously. However, in the case of a conventional robot prosthetic leg, there is a problem in that stable walking cannot be helped when the operation of the motor providing the driving force is stopped.

Republic of Korea Patent Publication No. 2005-0058417 (published on June 16, 2005)

In order to solve the above problems, the technical problem to be achieved by the present invention is to provide a robot prosthesis and a method for driving a robot prosthesis that can help a more stable walking.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

In order to achieve the above technical object, one embodiment of the present invention is a foot assembly having a stepping member and an ankle bracket provided at the rear end of the stepping member; An ankle portion rotatably provided on the ankle bracket; a wire provided on the lower side of the ankle part, the rear end connected to the ankle part, and extending in the longitudinal direction of the stepping member; One end is coupled to the front end of the wire, the other end is a first elastic member supported by the foot assembly; And one end is supported by the foot assembly and the other end includes a second elastic member supported by the ankle, and the first elastic member rotates the ankle in the forward direction so that the wire moves to the rear of the stepping member. After being compressed as it is pulled, a restoring force is generated when the stepping member kicks the ground, and the second elastic member is pressed and compressed by the ankle part when the ankle part rotates in the rear direction to provide rotation resistance. We provide a robotic prosthesis that

In an embodiment of the present invention, when the wire is coupled to the front end of the wire, one end of the first elastic member is in close contact, and the wire is pulled to the rear of the stepping member, the first step is moved to the rear of the stepping member. It may include a first coupling portion for pressing the elastic member to be compressed.

In an embodiment of the present invention, the ankle portion has a support mount provided in the lower portion, the support mount is provided spaced apart from each other in the lower portion of the ankle portion, a first through-formed in a direction parallel to the axis of rotation of the ankle portion A pair of support flanges having a hinge hole, connecting the pair of support flanges, and having a support block having an adjustment hole formed through the support flange to be connected to an installation space formed so that the wire passes between the support flanges have.

In an embodiment of the present invention, it may include a second coupling part hingedly connected to the support mount and provided to allow the wire to pass therethrough.

In an embodiment of the present invention, the second coupling portion has a second hinge hole to which a hinge shaft coupled to the first hinge hole is coupled, and a pair of rotary flanges rotatably coupled to the support flange; Connecting a pair of rotating flanges, having a first through hole through which the wire passing through the installation space passes, and may have a pressing tool for pressing the second elastic member to be compressed when the ankle part rotates in the rear direction .

In an embodiment of the present invention, it may include a guide block provided in the installation space, formed to contact the wire passing through the installation space, and having a guide groove for guiding the movement of the wire.

In an embodiment of the present invention, the guide block may have a third hinge hole through which the hinge shaft is coupled.

In an embodiment of the present invention, a stopper coupled to the rear end of the wire extending through the adjustment hole, and a controller connected to the stopper and screwed to the adjustment hole to adjust the tension of the wire while rotating It may include a control unit having a.

In an embodiment of the present invention, the foot assembly has a base portion provided on the upper portion of the stepping member, and the base portion includes a base block protruding from the upper portion of the stepping member, and the rear end portion is connected to the front surface of the base block, , may have a first rod extending from the inside of the first elastic member to the front of the stepping member.

In an embodiment of the present invention, the base portion may further include a second rod that is connected to the rear surface of the base block and extends to the rear of the stepping member from the inside of the second elastic member.

In an embodiment of the present invention, the wire may be provided through the base block, the first rod, and the second rod.

In an embodiment of the present invention, the ankle part includes a driving motor that provides a rotational force to the ankle bracket, and the driving motor rotates in a direction in which the stepping member kicks the ground when the compressed first elastic member is unfolded. It can provide rotational force to make it possible.

In an embodiment of the present invention, the foot assembly includes a first plug provided to reciprocate in a height direction of the stepping member in a first installation groove formed under the front end of the stepping member, and provided in the first installation groove and may have a forefoot impact mitigator having a third elastic member elastically supporting the first plug so that a lower portion of the first plug protrudes more than a lower portion of the stepping member.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a driving method of a robot prosthesis for driving a robot prosthesis, wherein the rear end of the stepping member touches the ground and the ankle part is rotated in the rear direction to the ankle part. a landing step in which the second elastic member is pressed and compressed; A stepping step in which the first elastic member is compressed as the stepping member steps on the ground and the ankle portion is rotated in a forward direction and the wire is pulled rearward; a rolling step in which the ankle portion is rotated in a rearward direction while the compressed first elastic member is unfolded and the stepping member kicks the ground; And it provides a driving method of the robot prosthetic leg comprising the step of the stepping member falling off the ground.

In an embodiment of the present invention, the ankle part includes a driving motor that provides a rotational force to the ankle bracket, and in the rolling step, the driving motor is the first elastic member compressed when the first elastic member is unfolded, the stepping member is on the ground It is possible to further provide a rotational force to rotate in the kicking direction.

According to an embodiment of the present invention, when the first coupling part presses the first elastic member, the first elastic member is compressed and pushes the first coupling part forward, and accordingly, the wire is pushed forward while the ankle part is pushed in the rear direction It is possible to provide a rotational force that causes the rotation. Through this, the angle between the upper portion of the stepping member and the ankle portion may be increased, which may bring about an effect of increasing the force in which the stepping member kicks the ground.

In addition, according to an embodiment of the present invention, when the second coupling portion presses the second elastic member, the second elastic member may provide a rotational resistance to resist the rearward rotation of the ankle portion while being compressed. Through this, it is possible to prevent the angle between the upper part of the stepping member and the ankle part from increasing rapidly, which can have the effect of increasing the force that resists the stepping member from quickly unfolding. can help

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a block diagram schematically showing a robot prosthesis according to an embodiment of the present invention.
2 is a perspective view showing a robot prosthesis according to an embodiment of the present invention.
3 is an exploded perspective view showing the robot prosthesis of FIG. 2 .
4 is a perspective view showing the support mount and the second coupling part of the ankle part of FIG. 2 .
5 is an exploded perspective view of FIG. 4 .
6 is an operation example of a robot prosthesis according to an embodiment of the present invention.
FIG. 7 is an exploded perspective view showing the forefoot shock mitigating part of the robot prosthetic leg of FIG. 2 .
FIG. 8 is an exploded perspective view showing the heel shock mitigating part of the robot prosthetic leg of FIG. 2 .
9 is a flowchart illustrating a method of driving a robot prosthesis according to an embodiment of the present invention.
10 is an exemplary view for explaining an example of driving the robot prosthesis according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when it is said that a part is “connected (connected, contacted, coupled)” with another part, it is not only “directly connected” but also “indirectly connected” with another member in between. “Including cases where it is In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically showing a robot prosthesis according to an embodiment of the present invention.

As shown in FIG. 1 , the robot prosthesis may include a foot assembly 100 , an ankle part 200 , a wire 300 , a first elastic member 400 , and a second elastic member 450 .

The foot assembly 100 may have a stepping member 110 and an ankle bracket 120 .

The stepping member 110 may correspond to the wearer's foot. Hereinafter, for convenience of description, the front end/front end/front/front direction and the rear end/rear end/rear/rear direction will be described based on the direction of the step member 110 . That is, the heel direction of the step member 110 will be described as the front end/front end/forward/forward direction, and the heel direction will be described as the rear end/rear end/rear/rear direction.

The ankle bracket 120 may be provided at the rear end of the stepping member 110 .

The ankle part 200 may be rotatably provided on the ankle bracket 120 . The ankle bracket 120 may correspond to the wearer's ankle. A connector 700 (refer to FIG. 2 ) connected to the wearer's leg may be provided at an upper portion of the ankle part 200 .

The wire 300 is provided on the lower side of the ankle part 200 , and the rear end is connected to the ankle part 200 , and may be provided to extend in the longitudinal direction of the stepping member 110 .

One end of the first elastic member 400 may be coupled to the front end of the wire 300 , and the other end may be supported by the foot assembly 100 . In addition, one end of the second elastic member 450 may be supported by the foot assembly 100 , and the other end may be supported by the ankle part 200 .

The second elastic member 450 may provide rotation resistance while being compressed by being pressed by the ankle part 200 when the ankle part 200 rotates in the rear direction.

Then, the first elastic member 400 is compressed as the ankle part 200 rotates in the forward direction (R2) and the wire 300 is pulled to the rear of the stepping member 110, and then the stepping member 110 is A restoring force may be generated when the ground is kicked, and through this, the force of the stepping member 110 to kick the ground may be strengthened.

In detail, FIG. 2 is a perspective view showing a robot prosthesis according to an embodiment of the present invention, and FIG. 3 is an exploded perspective view showing the robot prosthesis of FIG. 2 .

2 and 3 , a first coupling hole 111 may be formed at the rear end of the stepping member 110 . In addition, a first through hole 121 corresponding to the first coupling hole 111 may be formed in the ankle bracket 120 . The first fastening member 122 may be coupled to the first coupling hole 111 through the first through hole 121 , and through this, the ankle bracket 120 may be firmly coupled to the stepping member 110 . . A pair of ankle brackets 120 may be provided to be spaced apart from both sides of the rear end of the stepping member 110 .

A fixing groove 112 may be formed in an upper portion of the stepping member 110 , and a concave groove 113 may be formed in front of the fixing groove 112 .

The foot assembly 100 may have a base portion 130 . In addition, the base unit 130 may have a base block 131 and a first rod 133 .

The base block 131 may be fixed to the fixing groove 112 of the stepping member 110 and protrude.

The rear end of the first rod 133 may be connected to the front surface 132 of the base block 131 , and may extend forward of the stepping member 110 .

In addition, the base unit 130 may further include a second rod 135 , and the second rod 135 may have a front end connected to the rear surface 134 of the base block 131 (refer to FIG. 6B ). and may extend to the rear of the stepping member 110 . The first rod 133 and the second rod 135 may have the same central axis, and a through hole may be formed in the first rod 133 , the base block 131 and the second rod 135 in the central axis direction. and the wire 300 may be provided through the through hole.

The lobok prosthetic leg may include a first coupling part 500 , and the first coupling part 500 may be coupled to the front end of the wire 300 .

The first coupling part 500 may have a fastener 510 and a pressure plate 520 .

The fastener 510 may be coupled to the front end of the wire 300 . The fastener 510 may not be separated from the wire 300 by tightening the front end of the wire 300 .

The pressing plate 520 may be provided to be connected to the fastener 510 . The pressing plate 520 may be formed to have a larger diameter than the outer diameter of the first elastic member 400 .

The first elastic member 400 may be provided between the base block 131 and the pressing plate 520 . Also, the first elastic member 400 may be provided to surround the first rod 133 . The first elastic member 400 may be positioned in the recess 113 formed on the step member 110 . In addition, the first elastic member 400 may further wrap the wire 300 extending forward through the first rod 133 . The rear end of the first elastic member 400 may be in close contact with the front surface 132 of the base block 131 , and the front end may be in close contact with the pressing plate 520 .

The first elastic member 400 may be a coil spring, or a compression spring that stores the force to be compressed. When the wire 300 is pulled to the rear of the stepping member 110 , the first coupling part 500 may move backward together with the wire 300 and pressurize the first elastic member 400 to be compressed. Since the base block 131 is fixed to the stepping member 110 , the first elastic member 400 generates an elastic restoring force in the forward direction of the stepping member 110 with respect to the base block 131 .

On the other hand, the ankle 200 may have a support mount 210 provided at the lower portion.

FIG. 4 is a perspective view showing the support mount and the second coupling part of the ankle part of FIG. 2 , and FIG. 5 is an exploded perspective view of FIG. 4 .

4 and 5 , the support mount 210 may have a support flange 211 and a support block 215 .

The support flange 211 may be formed as a pair, and may be provided at the lower portion of the ankle part 200 to be spaced apart from each other. Accordingly, an installation space 217 may be formed between the support flanges 211 , and the wire 300 may pass through the installation space 217 . The support flange 211 may have a first hinge hole 212 , and the first hinge hole 212 may be formed penetrating in a direction parallel to the axis of rotation of the ankle part 200 .

The support block 215 may be formed to connect the pair of support flanges 211 . The support block 215 may have an adjustment hole 216 that is formed to pass through to be connected to the installation space 217 , and a thread may be formed on the inner circumferential surface of the adjustment hole 216 .

In addition, the robot prosthesis may include a second coupling unit 600 .

The second coupling part 600 may be hingedly connected to the support mount 210 , and may be provided to pass through the wire 300 .

Specifically, the second coupling part 600 may have a rotating flange 610 and a pressing tool 620 .

The rotating flange 610 may be provided as a pair, and may have a second hinge hole 611 formed to correspond to the first hinge hole 212 . A hinge shaft 219 may be coupled to the second hinge hole 611 and the first hinge hole 212 , and through this, the second coupling part 600 is a hinge shaft even in a state in which the support mount 210 is fixed. It can be rotated about (219).

The pressing tool 620 may connect a pair of rotating flanges 610 and may have a first through hole 621 through which the wire 300 passing through the installation space 217 passes. In addition, the guide ring 622 may be inserted into the first through hole 621 , and the wire 300 may be provided through the guide ring 622 .

Referring further to FIG. 3 , the second elastic member 450 may be provided between the base block 131 and the pressing member 620 . In addition, the second elastic member 450 may be provided to surround the second rod 135 . The front end of the second elastic member 450 may be in close contact with the rear surface of the base block 131 , and the rear end may be in close contact with the pressing hole 620 .

The second elastic member 450 may also be a coil spring, or a compression spring that stores the force to be compressed. When the pressing member 620 moves forward of the stepping member 110 , the pressing member 620 may press the second elastic member 450 to be compressed. Since the base block 131 is fixed to the stepping member 110 , the compressed second elastic member 450 generates an elastic restoring force in the rear direction of the stepping member 110 with respect to the base block 131 . .

In addition, the robot prosthesis may include a guide block 250 . The guide block 250 may be provided in the installation space 217 . The guide block 250 may have a third hinge hole 251 , and in a state where the guide block 250 is provided in the installation space 217 , the hinge shaft 219 may pass through the third hinge hole 251 . can Accordingly, the guide block 250 may be firmly fixed to the installation space 217 .

The guide block 250 may have a guide groove 252 formed thereunder. The guide groove 252 may be formed in the circumferential direction of the ankle part 200 . The guide groove 252 may be formed to contact the wire 300 of the installation space 217 to guide the wire 300 to move stably.

In addition, the robot prosthesis may include an adjustment unit 270 .

The adjusting unit 270 may have a stopper 271 and an adjusting member 275 .

The stopper 271 may be coupled to the rear end of the wire 300 extending through the adjustment hole 216, and the stopper 271 tightens the rear end of the wire 300 to prevent the wire 300 from being separated. can

The adjuster 275 may be connected to the stopper 271 . The adjusting member 275 may be screw-coupled to the adjusting hole 216 , and thus, when the adjusting member 275 coupled to the adjusting hole 216 rotates, the height of the stopper 271 may be adjusted. When the height of the stopper 271 is adjusted to be higher, the wire 300 is pulled further backward, and when the height of the stopper 271 is adjusted to be lowered, the wire 300 is further stretched forward, so that the tension of the wire 300 This can be adjusted.

As the wire 300 is pulled back, the initial state of the first elastic member 400 may be more compressed by the first coupling part 500, and accordingly, the elastic restoring force in the initial state is large. will lose Conversely, as the wire 300 is pushed forward, the degree of pressing of the first elastic member 400 by the first coupling part 500 becomes smaller, so that the elastic restoring force in the initial state may be relatively small. Through this method, the initial state of the first elastic member 400 suitable for the wearer of the robot prosthesis may be appropriately set.

6 is an operation example of a robot prosthesis according to an embodiment of the present invention.

In the initial state of the ankle part 200 and the stepping member 110 (see Fig. 6 (a)), when the ankle part 200 is rotated in the rear direction (R1), the second coupling part 600 is also a hinge axis. The second elastic member 450 is pressed while being rotated around 219 . Then, the second elastic member 450 may provide a rotational resistance to resist the rearward rotation R1 of the ankle part 200 while being compressed. That is, it is possible to prevent the angle between the upper portion of the step member 110 and the ankle portion 200 from increasing rapidly. This may bring about an effect of increasing the holding force so that the stepping member 110 is not quickly unfolded (refer to FIG. 6(b) ).

And, when the ankle part 200 is rotated in the forward direction (R2), the adjustment part 270 pulls the wire 300 rearward, and accordingly, the first coupling part 500 also moves rearward, and the first elasticity The member 400 is pressed. Then, the first elastic member 400 may accumulate energy while being compressed. The accumulated energy pushes the first coupling part 500 forward, and accordingly, the wire 300 is pushed forward and the ankle part 200 can provide a rotational force that causes the rearward rotation (R1). That is, the angle between the upper part of the stepping member 110 and the ankle part 200 may be increased, and this may bring about an effect of increasing the force of the stepping member 110 to kick the ground (( in FIG. 6 ). c) see).

On the other hand, the ankle part 200 may include a driving motor that provides a rotational force to the ankle bracket (120). When the compressed first elastic member 400 is unfolded, the driving motor may provide a rotational force that causes the stepping member 110 to rotate in a kicking direction to the ground, through which the stepping member 110 kicks the ground. You can make it stronger. Of course, the driving motor may provide a rotational force to increase the holding force so that the stepping member 110 is not quickly unfolded.

FIG. 7 is an exploded perspective view showing the forefoot shock mitigating part of the robot prosthetic leg of FIG. 2 .

As shown in FIG. 7 , the foot assembly 100 may have a forefoot shock absorber 140 (refer to FIG. 3 ).

The forefoot shock alleviation unit 140 may have a first plug 141 and a third elastic member 143 .

The first plug 141 may be inserted into the first installation groove 115 formed under the front end of the step member 110 , and may be provided to reciprocate in the height direction of the step member 110 . The first plug 141 may have a pair of first hooks 142 .

The third elastic member 143 may be provided in the first installation groove, and the first plug 141 can be elastically supported downward so that the lower portion of the first plug 141 protrudes from the lower portion of the stepping member 110 . have.

In addition, the heel shock alleviation unit 140 may further include a first fixing portion 144 , a first fixing ring 146 , and a fourth elastic member 147 .

The first fixing part 144 may be inserted and fixed in the first installation groove 115 . The first fixing part 144 may be provided on an upper portion of the first plug 141 , and a first stop surface 145 may be formed thereon. The first hook 142 may be caught on the first stop surface 145 to limit movement to the lower side, and through this, the first plug 141 may be prevented from falling out from the first installation groove 115 to the lower side. can When the lower part of the first plug 141 protrudes more than the lower part of the stepping member 110, when the lower part of the first plug 141 comes into contact with the ground when walking, the first plug 141 moves upward. The first hook 142 may protrude through the hop hole 116 (refer to FIG. 2 ) formed through the upper end of the front end of the stepping member 110 . And, when the stepping member 110 is lifted while walking, the first plug 141 can be moved downward by the restoring force of the third elastic member 143, and the first hook 142 is the first stop surface ( 145), the downward movement of the first plug 141 may be restricted.

The first fixing ring 146 is provided between the lower portion of the first installation groove 115 and the lower edge of the first plug 141 to prevent the first plug 141 from being removed from the first installation groove 115 and , it is possible to prevent foreign substances from entering the first installation groove 115 .

The fourth elastic member 147 may be further provided between the first fixing part 144 and the first plug 141 so that the force for elastically supporting the first plug 141 downward is further increased. A plurality of heel shock alleviation units 140 may be provided.

FIG. 8 is an exploded perspective view showing the heel shock mitigating part of the robot prosthetic leg of FIG. 2 .

As shown in FIG. 8 , the heel shock mitigating unit 150 includes a housing 151 , a second plug 155 , a fifth elastic member 156 , a second fixing part 157 , and a second fixing ring 158 . and a sixth elastic member 159 .

The housing 151 may be provided under the rear end of the stepping member 110 . A second coupling hole 153 may be formed in the housing 151 . In addition, a second through hole 123 corresponding to the second coupling hole 153 may be formed in the ankle bracket 120 . The second fastening member 124 may be coupled to the second coupling hole 153 through the second through hole 123 , and through this, the housing 151 may be firmly coupled to the ankle bracket 120 .

The second plug 155 may be inserted into the second installation groove 152 formed in the housing 151 , and may be provided to reciprocate in the height direction of the housing 151 .

The second plug 155 , the fifth elastic member 156 , the second fixing part 157 , the second fixing ring 158 and the sixth elastic member 159 are the first plugs of the forefoot shock mitigating part 140 . 141 , the first fixing part 144 , the first fixing ring 146 and the fourth elastic member 147 may be configured in the same way.

The heel shock alleviator 150 may further have a protective cap 160 . A third through hole 161 may be formed in the protective cap 160 , and a third coupling hole corresponding to the third through hole 161 may be formed in the housing 151 . The third fastening member 162 may be coupled to the third coupling hole 154 through the third through hole 161 , and through this, the protective cap 160 may be detachably attached to the housing 151 .

Hereinafter, a method of driving the robot prosthesis will be described.

9 is a flowchart illustrating a method of driving a robot prosthesis according to an embodiment of the present invention, and FIG. 10 is an exemplary view for explaining an example of driving the robot prosthesis according to an embodiment of the present invention.

9 and 10 , the driving method of the robot prosthesis may include a landing step (S810), a stepping step (S820), a rolling step (S830), and a swinging step (S840).

In the landing step (S810), the second elastic member 450 is pressed by the ankle part 200 while the rear end of the stepping member 110 touches the ground 10 and the ankle part 200 rotates in the rear direction (R1). It may be a step of being compressed. The second elastic member 450 compressed in the landing step (S810) may provide a resistance F1 against the rearward rotation R1 of the ankle part 200, and through this, the stepping member 110 can be rapidly moved. It can help the wearer to walk more stably because it does not straighten out. In particular, in a state in which the ankle part 200 is configured to include the driving motor, the driving motor does not operate due to a failure, etc., so even if a situation occurs that torque for adjusting the unfolding speed of the stepping member 110 is not generated, the first The stepping member 110 is not quickly unfolded by the rotational resistance F1 by the second elastic member 450, so that the wearer can walk more stably (refer to FIGS. 10 (a) and (b)).

In the stepping step (S820), as the stepping member 110 steps on the ground 10, the ankle part 200 rotates in the forward direction (R2) and the wire 300 is pulled back, the first elastic member 400. may be a step in which is compressed (step (c) of FIG. 10).

The rolling step (S830) may be a step in which the ankle part 200 is rotated in a rearward direction (R1) while the compressed first elastic member 400 is unfolded and the stepping member 110 kicks the ground 10. As the compressed first elastic member 400 is unfolded, the wire 300 is pulled forward, and accordingly, the ankle part 200 may be rotated (R1) in the rear direction, and the ankle part 200 has the wearer's foot Since it is coupled and supported, the force F2 generated while the compressed first elastic member 400 is unfolded may act as a force that the stepping member 110 kicks the ground 10, and lifts it from the heel. quality (U) is possible (refer to (d) of FIG. 10).

In the rolling step (S830), the driving motor of the ankle part 200 further provides a rotational force such that when the compressed first elastic member 400 is unfolded, the stepping member 110 rotates in the kicking direction of the ground 10 can do.

The swing step (S840) may be a step in which the stepping member 110 is removed from the ground and the robot prosthesis is lifted as a whole (U) (refer to (e) of FIG. 10).

The description of the present invention described above is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

100: foot assembly 110: stepping member
200: ankle portion 210: support mount
250: guide block 270: adjuster
300: wire 400: first elastic member
450: second elastic member 500: first coupling part
600: second coupling part

Claims (15)

a foot assembly having a stepping member and an ankle bracket provided at a rear end of the stepping member;
An ankle portion rotatably provided on the ankle bracket;
a wire provided on the lower side of the ankle part, the rear end connected to the ankle part, and extending in the longitudinal direction of the stepping member;
One end is coupled to the front end of the wire, the other end is a first elastic member supported by the foot assembly; and
One end is supported on the foot assembly, the other end includes a second elastic member supported on the ankle portion,
The first elastic member is compressed as the ankle part rotates in the forward direction and the wire is pulled to the rear of the stepping member, and then generates a restoring force when the stepping member kicks the ground,
The second elastic member provides rotational resistance while being pressed and compressed by the ankle part when the ankle part rotates in the rear direction,
The foot assembly has a base portion provided on the upper portion of the stepping member,
the base part
a base block protruding from an upper portion of the stepping member;
The rear end portion is connected to the front surface of the base block, the first rod extending from the inside of the first elastic member to the front of the stepping member;
The front end is connected to the rear surface of the base block, the robot prosthetic leg, characterized in that it has a second rod extending from the inside of the second elastic member to the rear of the stepping member. According to claim 1,
The first elastic member is coupled to the front end of the wire, one end of the first elastic member is in close contact, and when the wire is pulled to the rear of the stepping member, the first elastic member is compressed while moving to the rear of the stepping member. 1 Robot prosthetic leg comprising a coupling part. According to claim 1,
The ankle part has a support mount provided in the lower part,
The support mount is
A pair of support flanges provided spaced apart from each other in the lower part of the ankle part and having a first hinge hole that is formed through the ankle part in a direction parallel to the central axis of rotation of the ankle part;
A robot prosthetic leg connecting the pair of support flanges, and having a support block having an adjustment hole penetratingly formed to be connected to an installation space formed so that the wire passes between the support flanges. 4. The method of claim 3,
The robot prosthesis is hinge-connected to the support mount and comprises a second coupling part provided so that the wire passes therethrough. a foot assembly having a stepping member and an ankle bracket provided at a rear end of the stepping member;
An ankle portion rotatably provided on the ankle bracket;
a wire provided on the lower side of the ankle part, the rear end connected to the ankle part, and extending in the longitudinal direction of the stepping member;
One end is coupled to the front end of the wire, the other end is a first elastic member supported by the foot assembly;
a second elastic member having one end supported on the foot assembly and the other end supported on the ankle portion; and
comprising a second coupling part;
The first elastic member is compressed as the ankle part rotates in the forward direction and the wire is pulled to the rear of the stepping member, and then generates a restoring force when the stepping member kicks the ground,
The second elastic member provides rotational resistance while being pressed and compressed by the ankle part when the ankle part rotates in the rear direction,
The ankle part,
A pair of support flanges provided to be spaced apart from each other at the lower part of the ankle part and having a first hinge hole that is formed through a first hinge hole in a direction parallel to the axis of rotation of the ankle part, and connecting the pair of support flanges, and between the support flanges and a support mount having a support block through which an adjustment hole is formed to be connected to an installation space formed so that the wire passes,
The second coupling part is hingedly connected to the support mount and provided so that the wire passes through,
The second coupling part,
A pair of rotating flanges having a second hinge hole to which a hinge shaft coupled to the first hinge hole is coupled, and rotatably coupled to the support flange;
Connecting the pair of rotation flanges, having a first through hole through which the wire passing through the installation space passes, and having a pressing tool for pressing the second elastic member to be compressed when the ankle part rotates in the rear direction Characterized by a robot prosthetic leg. 6. The method of claim 5,
and a guide block provided in the installation space and formed to contact the wire passing through the installation space and having a guide groove for guiding the movement of the wire. 7. The method of claim 6,
The guide block is a robot prosthesis, characterized in that it has a third hinge hole formed through the hinge shaft is coupled. a foot assembly having a stepping member and an ankle bracket provided at a rear end of the stepping member;
An ankle portion rotatably provided on the ankle bracket;
a wire provided on the lower side of the ankle part, the rear end connected to the ankle part, and extending in the longitudinal direction of the stepping member;
One end is coupled to the front end of the wire, the other end is a first elastic member supported by the foot assembly;
a second elastic member having one end supported on the foot assembly and the other end supported on the ankle portion; and
comprising a control unit;
The first elastic member is compressed as the ankle part rotates in the forward direction and the wire is pulled to the rear of the stepping member, and then generates a restoring force when the stepping member kicks the ground,
The second elastic member provides rotational resistance while being pressed and compressed by the ankle part when the ankle part rotates in the rear direction,
The ankle part,
A pair of support flanges provided to be spaced apart from each other at the lower part of the ankle part and having a first hinge hole that is formed through a first hinge hole in a direction parallel to the axis of rotation of the ankle part, and connecting the pair of support flanges, and between the support flanges and a support mount having a support block through which an adjustment hole is formed to be connected to an installation space formed so that the wire passes,
The control unit,
Robot prosthetic leg, characterized in that it has a stopper coupled to the rear end of the wire extending through the control hole, and a control member connected to the stopper and screwed to the adjustment hole to adjust the tension of the wire while rotating. . delete delete According to claim 1,
The wire is a robot prosthetic leg, characterized in that provided through the base block, the first rod and the second rod. According to claim 1,
The ankle part includes a driving motor for providing a rotational force to the ankle bracket, and the driving motor provides a rotational force for rotating the stepping member in a kicking direction when the compressed first elastic member is unfolded. Robot prosthetic leg. a foot assembly having a stepping member and an ankle bracket provided at a rear end of the stepping member;
An ankle portion rotatably provided on the ankle bracket;
a wire provided on the lower side of the ankle part, the rear end connected to the ankle part, and extending in the longitudinal direction of the stepping member;
One end is coupled to the front end of the wire, the other end is a first elastic member supported by the foot assembly; and
One end is supported on the foot assembly, the other end includes a second elastic member supported on the ankle portion,
The first elastic member is compressed as the ankle part rotates in the forward direction and the wire is pulled to the rear of the stepping member, and then generates a restoring force when the stepping member kicks the ground,
The second elastic member provides rotational resistance while being pressed and compressed by the ankle part when the ankle part rotates in the rear direction,
the foot assembly
a first plug provided to reciprocate in a height direction of the stepping member in a first installation groove formed under the front end of the stepping member;
The robot prosthetic leg, which is provided in the first installation groove, and has a forefoot impact mitigator having a third elastic member that elastically supports the first plug so that a lower portion of the first plug protrudes from a lower portion of the stepping member. A method of driving a robot prosthetic leg for driving the robot prosthesis according to claim 1,
a landing step in which the rear end of the stepping member touches the ground and the second elastic member is pressed and compressed by the ankle portion while the ankle portion is rotated in the rear direction;
a stepping step of compressing the first elastic member as the stepping member steps on the ground while the ankle portion is rotated in a forward direction and the wire is pulled back;
a rolling step in which the ankle portion is rotated in a rearward direction while the compressed first elastic member is unfolded and the stepping member kicks the ground; and
Including the step of the stepping member falling off the ground,
The second elastic member is provided to surround the second rod, and in the landing step, the second elastic member is compressed while surrounding the second rod,
The first elastic member is provided to surround the first rod, in the stepping step the first elastic member is compressed while surrounding the first rod, and in the rolling step, the first elastic member is the first elastic member A method of driving a robot prosthetic leg, characterized in that it is stretched in a state wrapped around the rod. 15. The method of claim 14,
The ankle portion includes a driving motor for providing a rotational force to the ankle bracket,
In the rolling step, when the compressed first elastic member is unfolded, the driving motor further provides a rotational force so that the stepping member is rotated in a direction kicking the ground.

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