A kind of prosthetic knee joint control method

Abstract

The invention discloses a prosthetic knee joint control method, which is characterized in that the processor establishes a simplified model of the prosthetic leg, collects ground support reaction force data according to a pressure sensor installed on the prosthetic foot, and then according to the angle of the knee joint installed on the prosthetic leg The sensor obtains knee joint rotation angle data; according to the support reaction force data and the knee joint rotation angle data, compared with the data in the gait database, the processor performs gait cycle identification and motion state identification; the processor according to Motion state recognition, control the damping size of the hydraulic cylinder, and change the action of the prosthesis. The invention overcomes the shortcoming of insufficient moment when the pneumatic cylinder supports the phase, and proposes a control method for the user of the prosthesis in different motion states, so that the user can move more naturally.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method for controlling a prosthetic knee joint. Background technique [0002] According to the data, due to factors such as diseases, traffic accidents, work-related injuries, and natural disasters, the number of thigh amputee patients has increased year by year, which has caused a great burden on the patient's family and society. The installation of artificial limbs can restore the mobility of thigh amputee patients. The prosthetics currently on the market are generally mechanical prostheses. By providing fixed damping, it is very inconvenient to use the mechanical structure to drive the prosthetics to move. With the development of electronic information technology, in order to make the movement of prosthesis users more convenient, smart prostheses that use control elements to dynamically adjust joint dynamics to adapt to the wearer's walking state have emerged. [000...

AI Technical Summary

Problems solved by technology

However, the control method using the Hall sensor needs to collect the user's gait information first, then install the sensor, and then control it, which is inconvenient to use.

The damper it uses is a cylinder damper. Since the gas is relatively easy to compress, it cannot provide a high moment, and it is difficult to achieve the desired effect during the support phase.

Moreover, the control method provided is only a control method with different speeds on flat ground, and does not consider other typical motion states such as uphill and downhill, etc.

Images