Four-bar linkage artificial limb knee joint based on magneto rheological effect

A magneto-rheological effect and four-link technology, applied in prosthetics, medical science, artificial legs, etc., can solve the problems of not being able to simulate the change of the center of the knee joint of the human leg, no structural integration, and insufficient compactness of the mechanism. , to achieve the effect of compact structure, continuous damping force and small space occupation

Inactive Publication Date: 2010-06-02
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] U.S. Patent US6423098B1 discloses a uniaxial knee joint using a magnetorheological damper, but the uniaxial structure cannot well simulate the change of the center of the knee joint of a human leg, and the magnetorheological damper is separately assembled on the knee joint, occupying The space is large, the mechanism is not compact enough, which affects the appearance
[0005] US patents US2004 / 0217324A1, US2006 / 0074493A1, US2006 / 0085082A1, US2006 / 0178753A1, US2006 / 0197051A1 and US7198071B2 (Chinese patent CN1498095A) disclose a uniaxial knee joint using a rotor and stator sheared magnetorheological damper, It also cannot simulate the change of the center of the knee joint of the human leg very well.
[0006] The magneto-rheological damping cylinder disclosed in the patent CN1448116A applied by German Otto Bock is just an independent device without structural integration

Method used

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  • Four-bar linkage artificial limb knee joint based on magneto rheological effect
  • Four-bar linkage artificial limb knee joint based on magneto rheological effect
  • Four-bar linkage artificial limb knee joint based on magneto rheological effect

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Experimental program
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Effect test

specific Embodiment 1

[0026] Such as figure 1 As shown, the four-link prosthetic knee joint based on the magneto-rheological effect of this embodiment includes a thigh bearing part 1, a calf support part 2, a four-bar linkage mechanism and a semi-active damping force control assembly;

[0027] The semi-active damping force control assembly includes a sensor 3, a control unit 4, a current driver 5, and a magnetorheological damper; wherein, the magnetorheological damper includes a cylinder 6, a piston 7 and a piston rod 8, and the cylinder 6 is filled with The magnetorheological fluid is arranged on the calf support part 2 and integrated with the calf support part 2, and the piston 7 is slidingly matched with the cylinder body 6, as image 3 As shown and the cylinder body 6 is divided into an upper cylinder 61 and a lower cylinder 62, the piston 7 is provided with a throttling passage 9, and its two ends communicate with the upper cylinder 61 and the lower cylinder 62 respectively; the cross-sectiona...

specific Embodiment 2

[0033] Such as Figure 4 As shown, the difference between this embodiment and Embodiment 1 is that the outer diameter of the piston 7 is smaller than the inner diameter of the cylinder 6, and the gap between the piston 7 and the cylinder 6 forms a throttling channel 9', and the piston 7 is wound around the axis There is an exciting coil 15', such as Figure 5 As shown, in this embodiment, the piston and the cylinder are made of the same material with the same magnetic permeability, and the magnetic field lines of the electromagnetic field radially pass through the throttling passage 9', and pass through the piston and the cylinder wall to form a magnetic field. The consistency and uniformity of the throttling channel gap during movement is guaranteed by the cooperation between the piston rod and the upper end hole of the cylinder body and the cooperation between the piston and the cylinder body.

specific Embodiment 3

[0034] Such as Image 6 As shown, the difference between this embodiment and Embodiment 1 is that the throttling passage can also be arranged outside the cylinder body 6, and communicate with the upper cylinder 61 and the lower cylinder 62 respectively through conduits, along the throttling passage 9″ An excitation coil 15 ″ is wound around the axis to control the flow rate of the magnetorheological fluid in the throttling channel. The specific structure can adopt the structure of the magnetorheological valve adopted in patent ZL200420033801.X or ZL200410022657.4.

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Abstract

The invention discloses a four-bar linkage artificial limb knee joint based on magneto rheological effect, which comprises a thigh bearing part, a shank supporting part, a four-bar linkage mechanism and a semi-active damping force control assembly, wherein the semi-active damping force control assembly comprises a sensor, a control unit, a current driver and a magneto rheological damper; and the magneto rheological damper is adopted as a main semi-active damping force control assembly, and the four-bar linage mechanism is used as a connecting mechanism. The artificial limb knee joint has continuous damping force, adjustable negative and positive damping, wide adjustment range and rapid response, and can better simulate the bending action of the knee joint under the control of a microprocessor; and the magneto rheological damper and the artificial limb knee joint are integrated, therefore, the four-bar linkage artificial limb knee joint has small occupation space and more compact structure, and an artificial limb which has more attractive appearance than the traditional structure is designed based on the four-bar linkage artificial limb knee joint.

Description

technical field [0001] The invention relates to a prosthetic knee joint for a disabled person and a double-leg robot knee joint for simulating normal people's gait, in particular to a four-link prosthetic knee joint based on the magneto-rheological effect. Background technique [0002] In modern society, the number of patients with physical disabilities caused by diseases or accidents is increasing year by year. For patients with lower limb disabilities, traditional assistive devices such as crutches and wheelchairs can no longer meet the needs of patients. In order to allow patients with lower limb disabilities to regain the ability to walk normally, prosthetic technology has become the focus of medical device research. On the other hand, in order to develop a robot with two legs, the prosthetic knee joint is also one of the key technologies. Among them, the structure of the prosthetic knee joint is the most important prosthetic structure. In order to make the motion of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/64A61F2/68
Inventor 王代华徐磊付强
Owner CHONGQING UNIV
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