Active-passive hybrid hydraulic knee-joint prosthesis, and control method and applications thereof

Abstract

The invention discloses an active-passive hybrid hydraulic knee-joint prosthesis, and a control method and applications thereof, and belongs to the technical field of rehabilitation assistive devices.The prosthesis includes a supporting assembly, a driving assembly, a damping adjustment assembly, a hydraulic cylinder assembly, an energy storage assembly and a hydraulic manifold block. Under a passive driving mode, a servo motor is adopted to control the valve core of a rotating valve to continuously and precisely adjust damping; and under an active driving mode, the servo motor drives a hydraulic pump to drive a hydraulic cylinder, so that the active stretching of knee joints can be realized. The integration of the driving assembly, the damping adjustment assembly and the hydraulic cylinder assembly can be realized; the prosthesis is small in size and light in weight; the switching of the active and passive driving modes is smooth and easy to control; and through the energy storage assembly, the energy consumption of the prosthesis can be reduced, endurance time can be prolonged, so that the prosthesis can be applied to a high torque motion mode and a horizontal walking motion mode.

Description

technical field [0001] The invention relates to the technical field of rehabilitation aids, in particular to an active-passive hybrid hydraulic knee joint prosthesis and its control method and application. Background technique [0002] Lower limb prosthesis is an artificial prosthesis specially designed and manufactured to compensate for lower limb amputees. The knee joint is the most important joint for human walking, and the research and development of knee prostheses has always been the focus and difficulty of lower limb prosthesis research. [0003] Knee joint prostheses are divided into passive prostheses, active prostheses, and active-passive hybrid prostheses according to the driving mode. Passive prosthetics realize horizontal walking of amputee through fixed damping or adjustable damping structure, but for high-torque motion modes such as climbing stairs, amputee consumes a lot of energy or cannot go upstairs; active prosthetics can control knee joint flexion and e...

AI Technical Summary

Problems solved by technology

[0005] The clutch device is added, and the active and passive switching can only be realized at a specific position, the structure is cumbersome, the active and passive drive modes are not connected smoothly, and the control is complicated;

[0006] The separate layout of the passive damping cylinder and the active drive parts results in a larger overall size of the prosthesis, increased weight, and inconvenient use;

[0007] The energy storage and utilization in the flexed position of the knee joint cannot be realized, and the battery life still needs to be improved

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