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Control method of passive hydraulic knee joint prosthesis

A control method and technology for knee joints, applied in prosthesis, medical science, artificial legs, etc., can solve problems such as high energy consumption, abnormal gait, and inability to change speed, and achieve the effect of reducing energy consumption

Active Publication Date: 2020-07-17
上海理工资产经营有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention aims at improving the control of prostheses, and proposes a control method for passive hydraulic knee prostheses, which solves the problems of abnormal gait, non-variable speed, and high energy consumption in traditional lower limb prostheses, and makes the gait of amputee patients tend to normal gait

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  • Control method of passive hydraulic knee joint prosthesis
  • Control method of passive hydraulic knee joint prosthesis
  • Control method of passive hydraulic knee joint prosthesis

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Embodiment Construction

[0015] The entire control system consists of a gait phase recognition module, a road condition recognition module, a pace detection module, and a power detection module. Gait phase recognition is the control basis of the entire control system. Only when different damping controls are performed under specific gait phases can the swing of the prosthetic knee joint conform to the law of the lower limbs of normal people, thus matching the walking on the healthy side. The purpose of road condition recognition is that under different road conditions, the gait of the lower limbs is also different. For the prosthetic knee joint, it is necessary to implement the corresponding gait mode to meet the needs of walking under various road conditions. The pace detection module is used to detect the current walking pace and provide the servo position control system with the target position where the motor needs to run, which is the basis for the realization of the pace adaptive function. The p...

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Abstract

The invention relates to a control method of a passive hydraulic knee joint prosthesis, which realizes gait phase recognition by obtaining a combination of a pressure signal and a calf inclination angle signal, and divides a complete gait cycle T into a support period and a swing period, and then controls the support According to the characteristics of different state stages, the control scheme is specified; the extension motor control scheme is fixed, and the damping value in the swing and buckling process is modified to change the swing and buckling time to meet the needs of the pace; establish asynchronous The corresponding relationship between the speed and the absolute running position of the swing buckling motor, the current pace is represented by the gait cycle time, the corresponding relationship of the damping opening at different speeds is obtained through iterative learning control, and the knowledge base of the pace is established. The absolute number of running steps, that is, the absolute running position of the motor, represents the opening of the needle valve. Solve the problems of abnormal gait, non-variable speed, and high energy consumption of lower limb prostheses, so that the gait of amputee patients tends to be that of normal people.

Description

technical field [0001] The invention relates to a prosthesis control technology, in particular to a control method of a passive hydraulic knee joint prosthesis. Background technique [0002] In today's society, millions of people are forced to amputate due to diseases, industrial injuries, wars, traffic accidents and some accidental injuries. With the acceleration of modernization, this number is growing at an alarming rate. According to the survey, there are about 60 million physically disabled people in my country, and there is little hope in the near future to completely rely on foreign products to meet the needs of domestic disabled people. In the second half of the 20th century, prosthetic technology has achieved rapid development. Prosthetic knee joints play an important role in improving the quality of life and reintegration of thigh amputee patients. Traditional prosthetic knee joints have problems such as poor gait symmetry and inability to adapt to changes in pa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/64A61F2/70A61F2/74
CPCA61F2/64A61F2/68A61F2/70A61F2/74
Inventor 徐垠焮喻洪流赵伟亮杨洁孙金悦蓝贺喻贝贝孟巧玲
Owner 上海理工资产经营有限公司
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