Bionic prosthetic foot plate with self-powered motion monitoring

Abstract

The present application belongs to the technical field of artificial artificial foot plate manufacturing and electronic technology, and relates to a bionic artificial foot plate design with self-powered motion monitoring, comprising an elastic foot plate, a sole reinforcing rib plate, a transducer, an energy management unit, an MCU microprocessor, and a receiving cavity connector. The elastic foot plate of the present application can reduce the impact force during the process of foot bottom touching by using elastic deformation, and at the same time, the energy recovery is released to push the human body forward in the late standing stage. The sole reinforcing rib plate is used to improve the stiffness of the elastic foot plate in the vertical direction, while the elastic foot plate deforms in the horizontal direction. The transducer converts the mechanical deformation part of the foot plate into electrical energy, and by analyzing and processing the output circuit and voltage of the transducer, the motion mode and motion state of the artificial foot plate can be detected. In addition, the recovered electrical energy can power electronic devices such as wireless communication modules, GPS, pedometers, etc., so as to obtain the motion trajectory of the artificial limb and other information, which can be wirelessly transmitted to smart devices such as mobile phones for display and analysis.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of artificial prosthetic foot plate manufacturing and electronic technology, and particularly relates to a bionic prosthetic foot plate with self-powered motion monitoring. BACKGROUND

[0002] Amputation caused by diseases, traffic, accidents and other reasons not only brings physical pain to patients, but also causes great inconvenience to their daily life, and the quality of life of amputees is seriously affected. The social participation of amputees is limited, the employment opportunities are reduced, and the mental health is also challenged. Therefore, solving the practical problems of amputees has become the focus of social attention. Effective prosthetic devices can partially compensate for the lost limb function of patients, thereby improving their quality of life. In the current design field of prosthetic foot plates, the traditional design method mainly focuses on simulating the skeletal structure of the human foot. Although this design idea considers the simulation of skeletal distribution, it often ignores the foot muscle group, especially the important role of the plantar muscle in the walking process. The plantar muscle not only has a significant impact on walking movements, but also stores and releases energy like a spring through elastic deformation during movement, playing a key role in supporting body weight and pushing the body forward. The thrust of the foot almost entirely depends on the function of these muscles. Therefore, in order to more comprehensively simulate the function and efficiency of the natural foot, when designing a new type of bionic prosthetic foot plate, not only the distribution characteristics of the human foot skeleton should be considered, but also the characteristics of the plantar muscle should be valued and integrated to achieve a higher level of biological simulation and user experience.

[0003] At the same time, the traditional design of prosthetic foot plates ignores the monitoring of the daily motion state of the wearer of the prosthetic limb, however, recording the motion data of the prosthetic limb user during activities is crucial for improving the design of the prosthetic limb and enhancing the user experience. By collecting data, doctors and engineers can better understand the performance of the prosthetic limb in actual use and how to adapt to the specific needs of different users. The collection of motion data helps to analyze the dynamics of the prosthetic limb and the gait pattern of the user. Such information is crucial for optimizing the structure of the prosthetic limb, improving its adaptability, stability and efficiency. For example, by analyzing the data, designers can adjust the elastic properties of the prosthetic foot plate to simulate the biomechanical behavior of the natural foot, thereby improving the naturalness and comfort of walking. In addition, monitoring motion data also helps to detect potential use problems in advance and prevent long-term complications such as pain in the residual limb or skin damage. Finally, recording motion data not only improves the performance of the prosthetic limb, but also greatly improves the quality of life and independent living ability of patients. Therefore, it is necessary to establish a system that can monitor the motion state of amputees.

[0004] In recent years, the use of energy recovery technology to recover human energy for low-power wearable electronic products has attracted widespread attention, reducing the dependence on external power supply and improving the working life, continuous working time, etc. Application of energy recovery technology to bionic prosthetic foot plate can convert the elastic deformation generated during walking into electrical energy, thereby providing power for portable electronic products such as GPS, energy management circuit, etc. to solve the power supply problem of such electronic products. GPS electronic products can be used for walking path tracking of prosthetic wearers, and can be used for rescue positioning in special cases. In addition, the transducer used for energy recovery can be used to obtain electrical energy, and according to the output of the transducer, the data such as the force between the bionic foot plate and the ground, the step number, the movement time and the movement speed can be indirectly detected. According to these data, doctors can establish better evaluation data for the adaptability of prostheses and amputees, and timely adjust the design of prostheses and treatment plans. SUMMARY

[0005] To solve the above technical problems, the present application provides a bionic prosthetic foot plate with self-powered motion monitoring, which simulates the action of human foot plantar muscle by connecting the elastic carbon fiber foot plate to the contact connecting rib plate, meeting the requirements of bionic design of prosthetic foot plate. At the same time, the prosthetic foot plate has an energy recovery device that can recover the excess energy generated by the amputee during walking, which can be used to monitor the walking state of the amputee. The bionic prosthetic foot plate can also be customized according to the individual differences of different patients. By adjusting the elastic properties of the spring steel sheet, the prosthetic foot plate can better adapt to the gait needs of the patient.

[0006] The technical solution of the present application to solve the above problems is: a bionic prosthetic foot plate with self-powered motion monitoring, used to assist lower limb amputees to walk and record the motion of lower limb amputees, characterized in that it comprises:

[0007] Elastic foot plate, the elastic foot plate includes forefoot elastic foot plate, rear heel elastic foot plate, foot plate connector, the forefoot elastic foot plate and the rear heel elastic foot plate are respectively connected and fixed to the foot plate connector, the rear heel elastic foot plate generates deformation during the heel bottoming process to reduce the ground impact force, the carbon fiber forefoot elastic foot plate generates deformation to store energy in the middle of standing, and releases the stored energy to push the human body forward in the late standing process;

[0008] Forefoot reinforcing rib plate, the forefoot reinforcing rib plate is used to strengthen the stiffness of the elastic foot plate in the vertical direction, while limiting the length deformation of the elastic foot plate in the horizontal direction;

[0009] Transducer, the transducer converts part of the mechanical deformation of the elastic foot plate and the foot plate reinforcing rib plate during walking into electrical energy;

[0010] An energy management unit capable of regulating and managing the unstable AC or DC voltage output generated by the transducer into a stable DC voltage output and a small fluctuation DC voltage output, thereby providing power for mobile low-power electronic products;

[0011] An MCU microprocessor for controlling and managing the working mode of the entire circuit device, including analyzing and processing the output voltage and output current from the transducer for detecting the working state and mode of the bionic prosthetic foot plate, and controlling and managing the working mode of the energy management unit;

[0012] A receiving cavity connector for connecting the bionic prosthetic foot plate with the residual limb of an amputee.

[0013] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the forefoot elastic foot plate and the rear heel elastic foot plate in the elastic foot plate can be integrally processed.

[0014] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the receiving cavity connector can be integrally processed with the foot plate connector.

[0015] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that, in order to reduce the contact friction between the elastic foot plate and the instep reinforcing rib plate, a rolling bearing is added between the instep reinforcing rib plate and the elastic foot plate.

[0016] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the front end of the forefoot elastic foot plate is raised at a certain angle with the ground, promoting the forward turning action of the foot plate when walking, and more in line with human gait.

[0017] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the forefoot elastic foot plate and the rear heel elastic foot plate can be carbon fiber plates, resin plates, rubber plates, glass fiber plates, composite material plates, etc.

[0018] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the stiffness adjustment of the bionic prosthetic foot plate can be achieved by changing the shape, thickness and material of the forefoot elastic foot plate and the rear heel elastic foot plate, to meet the requirements of different weight amputees for different impact forces and different motion demands.

[0019] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the instep reinforcing rib plate is made of high-strength and high-toughness metal material.

[0020] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the rolling bearing can be connected with the instep reinforcing rib plate by welding, pin connection, threaded connection, etc.

[0021] The bionic prosthetic foot plate with self-powered motion monitoring system, characterized in that the rigidity adjustment of the bionic prosthetic foot plate can be realized by changing the shape, length, thickness and material of the instep reinforcing rib plate.

[0022] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the elastic foot plate and the instep reinforcing rib plate can be integrally processed and formed by vacuum forming, extrusion forming, casting forming, numerical control processing, machining, 3D printing, etc.

[0023] The bionic prosthetic foot plate with self-powered motion monitoring, characterized in that the transducer can be a piezoelectric ceramic transducer, a friction power generation transducer, an electromagnetic transducer, etc.

[0024] When the transducer is a piezoelectric ceramic transducer or a friction power generation transducer, the transducer can be pasted on the elastic foot plate and the instep reinforcing rib plate, for converting the elastic deformation of the elastic foot plate and the instep reinforcing rib plate during walking into electrical energy.

[0025] When the transducer is an electromagnetic transducer, one end of the transducer is connected with the forefoot elastic foot plate, and the other end is connected with the rear heel elastic foot plate. The relative displacement of the forefoot elastic foot plate and the rear heel elastic foot plate during walking will drive the electromagnetic transducer to generate electrical energy.

[0026] The MCU microprocessor can detect the mechanical deformation of the elastic foot plate by processing the voltage and current output by the transducer, thereby measuring the ground impact force, walking steps, walking time, walking speed, etc. of the bionic prosthetic foot plate.

[0027] When the output voltage of the transducer is lower than a set threshold for a long time, the MCU microprocessor can be in sleep mode to reduce system energy consumption. When the output voltage of the transducer is higher than the threshold, the MCU microprocessor is awakened.

[0028] The electrical energy obtained by the transducer can be used to power the energy management circuit, storage unit, GPS, chip, microcomputer unit, etc.

[0029] The bionic artificial footboard also has a wireless transmission module, which can be a Bluetooth, Wi-Fi, low-power wide-area network, etc. The wireless communication module can realize low-power data wireless transmission, and can be wirelessly connected with a smart mobile device such as a mobile phone. The motion state of the intelligent bionic artificial footboard can be analyzed and displayed in real time through a mobile phone APP, including steps, standing time, motion mode, motion trajectory, and motion time.

[0030] The energy management unit comprises:

[0031] An impedance matching circuit is connected with the transducer, and the energy recovery efficiency of the energy management unit is maximized through impedance matching;

[0032] A rectifier circuit is connected with the output end of the impedance matching circuit, and is used for rectifying and converting the alternating voltage signal generated by the transducer into direct current;

[0033] An energy storage unit is used for storing the recovered electric energy;

[0034] A maximum power point tracker (MPPT) is connected with the output end of the energy storage unit, and the output end of the maximum power point tracker (MPPT) is connected with the input end of the impedance matching circuit, which is used for adjusting the load to match the maximum power to charge the energy storage unit;

[0035] A feedback control module is connected with the output end of the energy storage unit, which controls the on-off of the converter and reduces the energy loss of the energy storage capacitor;

[0036] A converter is connected with the feedback control output end, which is used for raising and stabilizing the output voltage of the energy storage unit;

[0037] An analog-to-digital conversion module is connected with the output end of the preamplifier circuit, which is used for collecting the piezoelectric signal and converting the analog signal into a digital signal.

[0038] The energy management unit further comprises a preamplifier circuit connected with the output end of the transducer, which is used for improving the output voltage.

[0039] The impedance matching circuit can adjust the equivalent input resistance by adjusting the inductance value of the secondary circuit of the transformer, so that the transducer and the energy management unit are impedance matched, and the charging power of the energy storage unit is always kept at the maximum power.

[0040] The rectifier circuit is composed of a full-wave rectifier circuit, which improves the utilization efficiency of the output voltage of the energy recovery device, including but not limited to diode rectification, MOS tube cross rectification, etc.

[0041] The rectifier circuit can prevent the energy storage unit from backflowing when the transducer is not working.

[0042] The maximum power point tracker (MPPT) detects the direct current voltage and output current of the energy storage unit, calculates the output power of the transducer, and adjusts the load and energy recovery device impedance matching to maintain the output power of the energy recovery device to the maximum.

[0043] The maximum power point tracker (MPPT) can adjust the switching duty cycle through the power detection circuit and the PWM control loop, change the impedance matching circuit resistance, realize impedance matching, and complete the maximum power point tracking.

[0044] The energy storage unit includes super capacitors, lithium batteries and the like.

[0045] The converter adopts a DC-DC boost circuit to match the voltage requirements between the energy storage unit and different electronic loads.

[0046] The preamplifier circuit is composed of a voltage amplifier and is mainly used to improve the drift performance of the signal acquisition module.

[0047] The beneficial effects of the present application are:

[0048] 1. The present application combines the characteristics of human foot bottom muscles, adopts bionic structure design, so that the designed bionic foot plate can help patients to get better support and elastic buffering and elastic rebound power during walking, thereby improving the wearing experience of amputee patients and improving the walking gait of the wearer.

[0049] 2. The flexible piezoelectric conversion transducer is installed on the prosthetic foot plate, which is used to convert the mechanical energy generated by the elastic deformation of the foot plate during walking into electrical energy, which is used to power wearable electronic devices (such as GPS and pedometers, etc.), to monitor the user's movement, and at the same time, the output of the flexible piezoelectric conversion device can be processed to analyze the ground reaction force generated during walking. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 It is a whole schematic diagram of the embodiment of the present application;

[0051] Figure 2 It is an isometric view (rear right direction) of the embodiment of the present application;

[0052] Figure 3 It is an isometric view (front right direction) of the embodiment of the present application;

[0053] Figure 4 It is a physical diagram of the bionic prosthetic foot plate of the embodiment of the present application (rear right direction).

[0054] Figure 5 Structure diagram of a coil connector of an embodiment of the present application;

[0055] Figure 6 Structure diagram of a magnet connector of an embodiment of the present application;

[0056] Figure 7 Structure diagram of a coil of an embodiment of the present application;

[0057] Figure 8 Structure diagram of a magnet of an embodiment of the present application;

[0058] Figure 9 Structure diagram of a coil cylinder of an embodiment of the present application;

[0059] Figure 10 Overall force loading stress analysis of an embodiment of the present application;

[0060] Figure 11 Overall force loading deformation analysis of an embodiment of the present application;

[0061] Figure 12 Dorsiflexion deformation test diagram of a prosthetic foot plate of an embodiment of the present application;

[0062] Figure 13 Plantar flexion deformation test diagram of a prosthetic foot plate of an embodiment of the present application;

[0063] Figure 14 Self-powered motion monitoring system diagram of a bionic prosthetic foot plate of an embodiment of the present application;

[0064] Figure 15 Human experiment diagram of a bionic prosthetic foot plate of an embodiment of the present application;

[0065] Figure 16 Ground force change diagram of a prosthetic foot in one gait cycle of an embodiment of the present application;

[0066] Figure 17 Ankle joint angle change diagram of a prosthetic foot in one gait cycle of an embodiment of the present application;

[0067] Figure 18 Transducer open-loop voltage output diagram of an embodiment of the present application;

[0068] Figure 19 Principle framework diagram of an embodiment of the present application;

[0069] Figure 20 Circuit principle diagram of an embodiment of the present application;

[0070] Shown in the figure:

[0071] 1. Connecting assembly, 2. Receiving cavity connector, 3. Connector, 4. Rib plate, 5. Connecting assembly, 6. Roller, 7. Heel elastic carbon fiber, 8. Forefoot elastic carbon fiber plate, 9. Flexible piezoelectric transducer, 10. Magnet connector, 11. Connecting assembly, 12. Magnet, 13. PCB, Circuit board, 14. Coil, 15. Coil cylinder, 16. Coil connector, 17. Connecting assembly, 10a. Arc plate, 10b. Plug, 10c. Plug hole, 10d. Positioning platform, 12a. Fixing ring, 12b. Fixing boss, 12c. Magnet post, 15a. Fixing ring, 15b. Winding post, 15c. Boss, 16a. Positioning platform, 16b. Angled surface, 16c. Plug hole, 16d. Plug Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0073] The following is in conjunction with the appendix Figure 1 To be continued Figure 9 The present invention describes a bionic prosthetic footplate with self-powered motion monitoring.

[0074] like Figure 1 As shown, the present invention mainly utilizes a transducer to convert the mechanical deformation of the bionic prosthetic foot plate into electrical energy, and uses an energy management circuit to store the energy in an energy storage unit. The storage unit supplies power to electronic devices via a microprocessor (MCU), regulates the energy management circuit, and analyzes the transducer's electrical signals to obtain the wearer's motion information.

[0075] Specifically, such as Figure 2 and Figure 3As shown, the bionic prosthetic foot plate with self-powered motion monitoring comprises connecting components 1, 5, 11, 17, a receiving cavity connector 2, a connector 3, a muscle plate 4, a roller 6, a rear heel elastic carbon fiber plate 7, a forefoot elastic carbon fiber plate 8, a flexible piezoelectric transducer 9, a magnet connector 10, a magnet 12, a pcb board 13, a coil 14, a coil cylinder 15, a coil connector 16, and a connecting component 17. The forefoot elastic carbon fiber plate 8 is connected to the side of the connector 3, the rear heel carbon fiber plate 7 is connected to the opposite side of the connector 3, the receiving cavity connector 2 is fixed to the upper end of the connector 3, the top end of the muscle plate 4 is connected to the roller 6 and the connector 3, the roller 6 is in contact with the forefoot elastic carbon fiber plate and the rear heel elastic carbon fiber plate, and the flexible piezoelectric transducer 9 is connected to the forefoot elastic carbon fiber plate 8, the rear heel elastic carbon fiber plate 7, or the muscle plate. The magnet connector 10 is connected to the forefoot elastic carbon fiber plate 8 and then connected to the magnet 12. The coil connector 14 is connected to the rear heel elastic carbon fiber plate 7 and then connected to the coil cylinder 15, and the coil 14 is wound on the coil cylinder 15.

[0076] The magnet connector 10, the magnet 12, the coil 14, the coil cylinder 15, and the coil connector 16 constitute an electromagnetic transducer. As shown in the figure, Figure 5 As shown, the coil connector 16 is composed of a positioning table 16a, an inclined surface 16b, a plug hole 16c, and a plug 16d. The positioning table 16a is embedded in the positioning hole of the rear heel elastic carbon fiber plate 7 and is fixed by glue. The inclined surface 16b is attached to the rear heel elastic carbon fiber plate 7. As shown in the figure, Figure 9 As shown, the magnet is composed of a fixed ring 15a, a winding column 15b, and a fixed boss 15c. The fixed ring 15a is concentric with the coil connector plug hole 16c and is connected by a connecting component bolt and nut to form a rotating link. The coil winding column 15b is wound with a coil. As shown in the figure, Figure 6 As shown, the magnet connector 10 is composed of an arc plate 10a, a plug 10b, a plug hole 10c, and a positioning table 10d. The arc plate 10a is attached to the circular arc segment of the forefoot elastic carbon fiber plate 8. The positioning table 10d is embedded in the positioning hole of the rear heel elastic carbon fiber plate 8 and is fixed by glue. As shown in the figure, Figure 8 As shown, the magnet is composed of a fixed ring 12a, a fixed boss 12b, and a magnet column 12c. The fixed ring 12a is concentric with the magnet connector plug hole 10c and is connected by a connecting component bolt and nut to form a rotating link. The magnet column 12c is inserted into the coil cylinder 15b for cutting the coil.

[0077] As shown in the figure, Figure 10 As shown, the force loading of the whole prosthetic foot plate is 400N, and the stress distribution of the prosthetic foot plate is simulated when the prosthetic foot plate is completely in contact with the ground and stands up.

[0078] As shown in the figure, Figure 11The figure shows the force loading on the entire prosthetic footplate, with a loading force of 400N. The simulation shows the deformation of the prosthetic footplate when the prosthetic footplate is fully in contact with the ground while standing.

[0079] like Figure 12 The image shows the dorsiflexion deformation test results of the prosthetic footplate under a 400N vertical load. Table 2 shows the deformation test results. As can be seen from Table 2, the dorsiflexion deformation of the prosthetic footplate is 17.13mm. Compared with the requirements for dorsiflexion deformation of foot and ankle components in GB14723-2008, the minimum requirement is 20mm. The results of all three tests are less than the reference value in the standard. This indicates that the manufactured prosthetic footplate is too stiff and lacks sufficient comfort. To address this issue, we will optimize the thickness of the forefoot elastic carbon fiber plate and adjust its stiffness.

[0080] Table 1. Test results of prosthetic footplate dorsiflexion deformation

[0081]

[0082] like Figure 13 The figure shows the plantar flexion deformation test results of the prosthetic footplate under a vertical load of 400N. The average plantar flexion deformation of the prosthetic footplate is 6.72mm, which is greater than the minimum plantar flexion deformation of 6mm required by GB14723-2008 for the determination of plantar flexion deformation of ankle components.

[0083] Table 2. Test results of plantar flexion deformation of prosthetic footplate

[0084]

[0085] like Figure 15 The image shows a test diagram of a patient wearing the prosthetic foot plate energy recovery device. In the initial stage of the experiment, an oscilloscope was directly connected to the output of the prosthetic foot plate energy recovery device to display the open-loop output voltage signal. The patient wore the prosthetic foot plate energy recovery device, affixed the dynamic capture system markers, and walked at a speed of 4 km / h on a force measuring platform.

[0086] like Figures 16-18As shown, the patient wears the prosthetic foot plate energy recovery device, the ankle angle, the ground reaction force and the energy recovery device output voltage diagram when walking at a speed of 4km / h. In the normal walking cycle, the initial stage of heel strike, the ankle keeps the neutral position. Then, the foot slowly enters the plantar flexion state to ensure that the sole is fully in contact with the ground. Then, the tibia starts to move forward around the ankle joint, making the ankle gradually turn from plantar flexion to dorsiflexion. When the heel leaves the ground, the toes are about to leave the ground, the ankle returns to the plantar flexion position and reaches the maximum angle (about 20 degrees). During the swing phase, the degree of plantar flexion of the ankle gradually decreases and finally returns to the neutral position, preparing for the next gait cycle. The maximum vertical ground reaction force on the amputated side in one gait cycle is 743N, which is greater than the weight of the subject (700N). The stance phase accounts for about 61% of a gait cycle, and the swing phase accounts for about 39% of a gait cycle. The peak-to-peak voltage of the energy recovery device during movement can reach 200v. When the heel touches the ground, the prosthetic foot plate starts to deform in plantar flexion, and the transducer starts to generate voltage. As the sole is fully in contact with the ground, the voltage generated by the transducer continues to generate, and as the forefoot elastic foot plate pushes away from the ground, the voltage value starts to decrease, and the MFC sheet of the transducer returns to its original state, and the voltage reversely increases. By analyzing the amplitude, peak-to-peak value, period and other characteristics of the output voltage signal of the energy recovery device, the motion state, motion speed, ground reaction force and other information of the subject can be identified.

[0087] As shown in Figures 19-20 The self-powered motion monitoring system proposed by the application comprises an energy recovery device, an energy collection circuit, a power supply circuit, a GPS module, a signal acquisition module, an MCU module, a wireless communication module and an application program.

[0088] The energy recovery device is composed of the bionic prosthetic foot plate and the transducer.

[0089] As a preferred embodiment of the application, the transducer is a flexible piezoelectric composite fiber.

[0090] Specifically, the transducer can be directly pasted on one or more of the forefoot elastic carbon fiber plate, the rear heel elastic carbon fiber plate and the muscle plate, and the elastic deformation of the parts is converted into electrical energy by piezoelectric effect.

[0091] As a preferred embodiment of the application, the transducer is a linear electromagnetic induction energy recovery device.

[0092] Specifically, the transducer is composed of a magnet holder, a coil holder, a magnet, a coil and a coil cylinder. The magnet holder fixes the magnet on one side of the bionic prosthetic foot plate, the coil holder fixes the coil cylinder on the other side of the bionic prosthetic foot plate, and the coil is wound on the coil cylinder. The transducer converts the elastic deformation of the bionic prosthetic foot plate into the linear reciprocating motion of the magnet and the coil cylinder, generates electromagnetic induction, and generates electric energy.

[0093] As a preferred example of the present application, the flexible piezoelectric transducer is equivalent to an AC power source in parallel with a resistance and an inductance.

[0094] Specifically, the transducer can be a flexible piezoelectric composite fiber, or a material or device with the same function of converting mechanical deformation into electric energy such as piezoelectric ceramic.

[0095] As a preferred example of the present application, the energy harvesting circuit is composed of an impedance matching circuit, a rectifier circuit, an energy storage unit and a maximum power point tracker (MPPT).

[0096] As a preferred example of the present application, the impedance matching circuit is composed of a switch, an inductance, a resistance, a transformer and a secondary loop inductance. The equivalent input resistance and the equivalent input inductance are controlled by the switch to match the impedance changing with the capacitance during the charging process.

[0097] As a preferred example of the present application, the rectifier circuit adopts a full-wave rectifier circuit built with four low-power switching diodes.

[0098] Specifically, the rectifier circuit can adopt MOS tube rectification, cross rectification and active rectification, etc.

[0099] As a preferred example of the present application, the energy storage unit adopts a large-capacitance super capacitor and a small-capacitance super capacitor. The small-capacitance super capacitor is used as an auxiliary power source to start the circuit and power the amplifiers, comparators, etc. in the circuit. When the small-capacitance super capacitor is fully charged, the switch is opened and the super capacitor continues to be charged.

[0100] Specifically, the energy storage unit can adopt electrolytic capacitors, lithium batteries and other energy storage devices that can be charged and discharged repeatedly and have fast charging and discharging speed.

[0101] As a preferred example of the present application, the maximum power point tracker (MPPT) is composed of a power detection circuit and a PWM feedback control circuit. By detecting the charging power of the super capacitor, feedback control is performed to output a duty cycle adjustable square wave to control the on-off time of the switch in the impedance matching circuit, so as to adjust the equivalent input resistance and the equivalent input inductance, and realize operation at the maximum power point.

[0102] Specifically, the energy collection circuit can adopt an inductance-based parallel synchronous switching hand circuit (P-SSHI), an energy collection chip LTC3588-1, etc.

[0103] As an optimized example of the application, the feedback control module adopts a voltage monitoring module composed of an LTC2935 chip to monitor the voltage across the energy storage capacitor, and uses a hysteresis characteristic to access the AD7689 enable end to control the working time of the DC-DC module.

[0104] Specifically, the feedback control module can also adopt a control loop composed of a Schmitt trigger and a timer, or other methods to control the conduction of the DC-DC module.

[0105] As an optimized example of the application, the transducer adopts a DC-DC boost circuit composed of a TPS61022 chip to match the power supply requirements of the load.

[0106] Specifically, the DC-DC boost circuit can also adopt a DC-DC boost circuit composed of an LTC3106 chip, etc.

[0107] As a preferred example of the application, the signal acquisition module is composed of a preamplifier circuit and an AD7689 analog-to-digital conversion circuit. The preamplifier circuit is used to improve the drift performance of the analog-to-digital conversion circuit and acquire stable piezoelectric signals. If the energy output device outputs weak piezoelectric signals, a pre-charge amplification circuit needs to be used to facilitate data acquisition.

[0108] Specifically, the preamplifier circuit can adopt AD8605, AD8031 chips, etc. The analog-to-digital conversion circuit can adopt AD7689, AD7682 chips, etc. The SDO, SCK, DIN, CNV ends are connected to the corresponding pins of the MCU to complete communication.

[0109] As a preferred example of the application, the GPS adopts an ATGM332D chip with an active antenna. RXD1, TXD1 are connected to the corresponding pins of the MCU to complete communication.

[0110] Specifically, the GPS can adopt a low-power and small-size GPS composed of Air530, ATGM332D chips, etc.

[0111] As a preferred example of the application, the MCU adopts an STM32 chip with ultra-low power consumption and rich pins, which can process system data and communicate with multiple data units.

[0112] Specifically, the MCU can also adopt an Arduino microprocessor, etc.

[0113] As a preferred example of the present application, the Bluetooth transmission is built by using WL9981.

[0114] Specifically, the wireless transmission module can adopt Zigbee-based wireless transmission, Wi-Fi transmission and other low-power wide-area network communication technologies.

[0115] In summary, the present application provides a bionic prosthetic foot plate with a self-powered motion monitoring system. Through energy recovery technology, the energy during the movement of the bionic prosthetic foot plate is recovered through circuit design to power wearable electronic devices and other devices, achieving self-powering. The collected information is fed back to the mobile phone APP for the user to view. In specific implementation, an impedance matching circuit is designed, the equivalent input resistance and the equivalent input inductance are adjusted, a maximum power point tracking (MPPT) module is designed to detect the charging power of the energy storage unit, a variable duty cycle signal is output using the signal, the impedance matching circuit switch conduction time is controlled, the equivalent input resistance and the equivalent input inductance are adjusted, and the energy recovery efficiency is improved. An AC signal is converted into a DC signal by a rectifier circuit for energy storage. A rechargeable battery is selected to power the amplifier and other components in the circuit, and a super capacitor is used as an energy storage capacitor, which improves the system life and work efficiency. A DC-DC circuit is added to the back end of the super capacitor to increase the output voltage of the super capacitor to meet the voltage requirements of the load. A feedback control module is added to the enable end of the DC-DC circuit to control the working time of the DC-DC, reducing the energy loss of the energy storage capacitor. The output end of the energy recovery device is connected to a buffer and an analog-to-digital converter to collect the voltage signal output by the energy recovery device, improve the drift performance, and stabilize the work.

[0116] The above is only an embodiment of the present application, not to limit the protection scope of the present application, any equivalent structure or equivalent flow conversion using the content of the present application specification and drawings, or directly or indirectly applied in other related system fields, are also included in the protection scope of the present application.

Claims

1. A bionic prosthetic foot plate with self-powered motion monitoring for assisting a lower limb amputee to walk and recording the motion condition of the lower limb amputee, characterized in that, The bionic artificial foot comprises: a) elastic foot plates, including forefoot elastic foot plates and rear heel elastic foot plates, which are connected to the foot plate connector, the rear heel elastic foot plates are deformed during the heel touching the ground, thereby reducing the ground impact force, the forefoot elastic foot plates are deformed during the standing period, thereby storing energy, and the stored energy is released to push the human body forward during the later standing period; b) a forefoot reinforcing plate, which is used to strengthen the vertical stiffness of the elastic foot plates and limit the length deformation of the elastic foot plates in the horizontal direction; c) a transducer, which converts part of the mechanical deformation of the elastic foot plates and the forefoot reinforcing plate into electrical energy during walking; d) an energy management unit, which adjusts and manages the unstable AC or DC voltage output of the transducer into a stable DC voltage output and a small fluctuation DC voltage output, thereby providing power for mobile low-power electronic products; e) an MCU microprocessor, which is used to control and manage the working mode of the entire circuit device, including analyzing and processing the output voltage and output current from the transducer to detect the working state and mode of the bionic artificial foot plate, and controlling and managing the working mode of the energy management unit; f) a receiving cavity connector, which is used to connect the bionic artificial foot plate with the residual limb of an amputee; The energy management unit comprises: 1) an impedance matching circuit, which is connected with the transducer, and the energy recovery efficiency of the energy management unit is at the maximum power point through impedance matching; 2) a rectifier circuit, which is connected with the output end of the impedance matching circuit, and is used to rectify and convert the AC voltage signal generated by the transducer into DC; 3) an energy storage unit, which is used to store the recovered electrical energy; 4) a maximum power point tracker, which is connected with the output end of the energy storage unit, and the output end of the maximum power point tracker is connected with the input end of the impedance matching circuit, which is used to adjust the load to match the maximum power for charging the energy storage unit; 5) a feedback control module, which is connected with the output end of the energy storage unit, controls the on-off of the converter, and reduces the energy loss of the energy storage capacitor; 6) a converter, which is connected with the feedback control output end, and is used to raise and stabilize the output voltage of the energy storage unit; 7) an analog-to-digital conversion module, which is connected with the output end of the preamplifier circuit, and is used to collect the piezoelectric signal and convert the analog signal into a digital signal.

2. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The forefoot elastic foot plates and the rear heel elastic foot plates in the elastic foot plates can be integrally processed.

3. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The receiving cavity connector can be integrally processed with the foot plate connector.

4. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: Rolling bearings are added between the forefoot reinforcing plate and the elastic foot plates, which are used to reduce the contact friction between the elastic foot plates and the forefoot reinforcing plate.

5. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The front end of the forefoot elastic foot plate is raised to form an angle with the ground, which promotes the forefoot turning action during walking and makes it more consistent with human gait.

6. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The forefoot elastic foot plate and the rear heel elastic foot plate can be carbon fiber plates, resin plates, rubber plates, glass fiber plates or composite material plates.

7. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The stiffness adjustment of the bionic prosthetic foot plate can be achieved by changing the shape, thickness and material of the forefoot elastic foot plate and the rear heel elastic foot plate to meet the requirements of amputees of different weights for different impact forces and different movement needs.

8. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The forefoot reinforcing rib plate is made of high-strength and high-toughness metal material.

9. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 4, characterized in that: The rolling bearing can be connected with the forefoot reinforcing rib plate by welding, pin connection or screw connection.

10. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The stiffness adjustment of the bionic prosthetic foot plate can be achieved by changing the shape, length, thickness and material of the forefoot reinforcing rib plate.

11. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The elastic foot plate and the forefoot reinforcing rib plate can be integrally processed and formed by one of vacuum forming method, extrusion forming method, casting forming, numerical control processing, machining or 3D printing.

12. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The transducer can be a piezoelectric ceramic transducer, a friction power generation transducer or an electromagnetic transducer.

13. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 12, characterized in that: When the transducer is a piezoelectric ceramic transducer or a friction power generation transducer, the transducer can be attached to the elastic foot plate and the forefoot reinforcing rib plate to convert the elastic deformation of the elastic foot plate and the forefoot reinforcing rib plate during walking into electrical energy.

14. A bionic prosthetic foot plate with self-powered motion monitoring according to claim 12, characterized in that: When the transducer is an electromagnetic transducer, one end of the transducer is connected with the forefoot elastic foot plate and the other end is connected with the rear heel elastic foot plate. The relative displacement of the forefoot elastic foot plate and the rear heel elastic foot plate during walking will drive the electromagnetic transducer to generate electrical energy.

15. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The MCU microprocessor can detect the mechanical deformation of the elastic foot plate by processing the voltage and current output by the transducer, thereby measuring the ground impact force, walking steps, walking time and walking speed of the bionic prosthetic foot plate.

16. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: When the output voltage of the transducer is lower than a set threshold for a long time, the MCU microprocessor can be in sleep mode to reduce system energy consumption; when the output voltage of the transducer is higher than the threshold, the MCU microprocessor is awakened.

17. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The electrical energy obtained by the transducer can be used to power the energy management circuit, the storage unit, the GPS, the chip or the microcomputer unit.

18. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The bionic prosthetic foot plate also has a wireless transmission module, which can be Bluetooth, Wi-Fi, low-power wide-area network to realize wireless data transmission, and can be wirelessly connected with a mobile phone smart mobile device. Through the mobile phone APP, the motion status of the bionic prosthetic foot plate, including the number of steps, standing time, movement mode, movement trajectory and movement time, can be analyzed and displayed in real time.

19. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The energy management unit also includes a preamplifier circuit connected with the output end of the transducer to improve the output voltage.

20. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The impedance matching circuit can adjust the inductance value of the secondary circuit of the transformer to adjust the equivalent input resistance and inductance value, so that the transducer and the energy management unit are impedance matched, and the charging power of the energy storage unit is always maintained at the maximum power.

21. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The rectifier circuit is composed of a full-wave rectifier circuit, which improves the utilization efficiency of the output voltage of the energy recovery device, including but not limited to diode rectification and MOS tube cross rectification.

22. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The rectifier circuit can prevent the energy of the energy storage unit from flowing back when the transducer is not working.

23. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The maximum power point tracker detects the direct current voltage and output current of the energy storage unit, calculates the output power of the transducer, adjusts the impedance matching between the load and the energy recovery device, and realizes that the output power of the energy recovery device is always maintained to the maximum.

24. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The maximum power point tracker can adjust the switching duty ratio through the power detection circuit and the PWM control loop, change the resistance of the impedance matching circuit, realize impedance matching, and complete the maximum power point tracking.

25. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The energy storage unit includes a super capacitor or a lithium battery.

26. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The converter adopts a DC-DC boost circuit to match the voltage requirements between the energy storage unit and different electronic loads.

27. The bionic prosthetic foot plate with self-powered motion monitoring according to claim 1, characterized in that: The preamplifier circuit is composed of a voltage amplifier, which is used to improve the drift performance of the signal acquisition module.

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