Active knee ankle joint artificial limb mechanism based on metamorphic parallel mechanism

Abstract

The invention discloses an active knee ankle joint artificial limb mechanism based on a metamorphic parallel mechanism. The mechanism mainly comprises a fixed platform, two active branched chains, a metamorphic branched chain, a movable platform and an active ankle prosthesis and achieves a multi-degree-of-freedom rotation function of the knee and ankle joints. In the designed metamorphic parallelmechanism, ball screws are adopted as driving moving pairs of the active branched chains to simulate the extension and flexion motion of the shank skeletal muscle groups. Since the internal and external rotation motion of the human knee joints does not happen all the time and is activated only when the knee joints are flexed and there is little dependency on the internal and external rotation motion in life, when metamorphic moving pairs are fixed, under the coupling of the metamorphic branched chain and the two active branched chains, the movable platform can only realize flexion and extension of the knee joints and the inward and outward turning motion of the ankle joints. When the metamorphic moving pairs are driving rotation pairs, the movable platform can also realize the internal and external rotation motion of the knee joints. The artificial limb mechanism relates to a medical rehabilitation robot and has the advantages of being high in bearing capacity and rigidity, simple instructure, easy to machine and manufacture, low in production cost and the like.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation robot technology and artificial intelligence equipment, and particularly relates to an active knee-ankle joint prosthesis mechanism based on a metamorphic parallel mechanism, which can compensate for the loss of knee-ankle joint mobility of knee-ankle amputee patients and restore the knee joint to the patient. Multi-degree-of-freedom motion characteristics and activities of daily living of joints and ankles. Background technique [0002] According to the second national census data on the number of persons with disabilities released in 2006, the number of persons with disabilities has reached 82.42 million person-times, accounting for about 6.34% of the total population. person-times. In recent years, with the increase of natural disasters, traffic accidents, diseases and other accidents, the number of patients with different degrees of amputation has increased year by year. increase the bu...

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is to design an active knee-ankle joint prosthesis mechanism based on metamorphic parallel mechanism, which solves the problems of complex structure, large volume, heavy weight, high energy consumption, Problems such as high stability and insufficient carrying capacity

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