Artificial limb exoskeleton knee joint

Abstract

The invention relates to an ectoskeleton knee joint of artificial limb, pertaining to a rehabilitation engineering technical field, which comprises a servo motor, a drive mechanism and a four-bar linkage. The four-bar linkage comprises a thigh ectoskeleton, a crus ectoskeleton, a back link and a worm wheel; the drive mechanism comprises a main drive gear, a driven gear and a worm; the thigh ectoskeleton consists of two plates (an inner plate and an outer plate) between which the servo motor is fixed; the main drive gear is fixedly connected with an output shaft of the servo motor and meshed with the driven gear; the driven gear is positioned on one shaft end of the worm; the worm is fixed between the two plates of the thigh ectoskeleton; the worm is meshed with the worm wheel; the other end of the worm wheel is connected with the crus ectoskeleton through a bearing; a rotation centre of the worm wheel is connected with the thigh ectoskeleton through a support shaft of the worm wheel; the back link is connected with the thigh ectoskeleton and a support shaft of the crus ectoskeleton. The ectoskeleton knee joint of artificial limb of the invention has compact structure and the whole drive system is completely positioned in interior sides of the crus ectoskeletons in two thighs, thus preventing suffers from the impact of mechanical structure.

Description

technical field [0001] The invention relates to a prosthetic joint in the technical field of rehabilitation engineering, in particular to a prosthetic exoskeleton knee joint. Background technique [0002] In modern society, the number of physically disabled persons caused by traffic accidents, sports accidents, industrial injuries, wars and other accidents and population aging is increasing year by year. At present, there are many types of medical equipment for rehabilitation training for patients. For patients with lower limb disabilities and paralysis, traditional rehabilitation tools include crutches, wheelchairs and artificial limbs. These three types are passive rehabilitation equipment, which are not convenient for patients to use, and sometimes they need help from other people. Artificial limbs have also been applied, but in patients Installing prosthetics on the body first requires amputation, which is difficult for many patients to accept psychologically. Exoskelet...

AI Technical Summary

Problems solved by technology

The single-axis rotation of the knee joint is driven by a hydraulic cylinder. The hydraulic cylinder drive has the disadvantage of low positioning accuracy. The US patent (US2007056592-A1) is also a lower extremity exoskeleton prosthesis, which drives the knee joint through a hydraulic cylinder connected to the exoskeleton thigh and calf Rotation, using a single-axis rotation method, there is a problem of stability control

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