Active type ankle artificial limb mechanism with functions of linkage energy storage and barycenter self-regulation

Abstract

The invention designs an active type ankle artificial limb mechanism with functions of linkage energy storage and barycenter self-regulation. A basic structure comprises a driving motor, a base, a series spring system of a muscle-like three-loop linkage mechanism, a parallel spring system of a muscle-like smooth crank slider mechanism, a pressure sensor, a carbon fiber artificial foot, a heel buffer spring system, a barycenter self-regulating block system, an angle transducer and a driving shaft. The two linkage type spring systems can achieve energy storage and energy release continuously, provide energy for the artificial limb mechanism, and reduce energy output of the motor. Moreover, the linkage mechanism has the advantages of simple structure, easy manufacturing, low production cost and the like. Biological joints are non-uniform geometry, thereby showing nonstationarity of ankle flexion-extension rotating axes; the barycenter self-regulating block system can achieve such functionand the function of self-regulation of human body barycenter and the ankle artificial limb mechanism, conforms to the movement characteristic of ankles, improves the comfort level of the artificial limb mechanism during walking, and prolongs the service life of the ankle artificial limb mechanism.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation medical robots, in particular to an active ankle joint prosthesis mechanism with connecting rod energy storage and center of gravity self-adjustment. Background technique [0002] According to the data analysis of the second national census of the disabled, the number of amputee patients in China has reached about 24.12 million, accounting for about one-third of the total number of disabled people in China. Prosthetics can compensate for the lost limbs of amputee patients. Therefore, the research and development and manufacture of prosthetic devices still have great domestic and foreign market prospects. However, the existing prostheses on the market are all passive or active-passive. In addition, the development of ankle prostheses in the domestic market is still in its infancy, far behind the development of knee prostheses. Based on this, scholars have conducted research on the mechanism...

AI Technical Summary

Problems solved by technology

[0003] The technical problem of the present invention is to design an active ankle joint prosthesis mechanism with connecting rod energy storage and self-adjustment of the center of gravity, which solves the problem of the high structural instability of the spring device in the active ankle joint prosthesis mechanism that needs to be solved urgently. Poor adaptability between energy storage device and ankle joint prosthesis and incoordination between ankle joint and human center of gravity

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