Knee joint linkage control ankle joint prosthesis

Abstract

The knee joint linkage control ankle joint prosthesis comprises a base and a joint head, the base is connected with a foot plate piece, a hinge shaft is hinged to the base, the hinge shaft extends in the length direction perpendicular to the foot plate piece, the joint head is connected with a support, the supporting end of the support is connected with the hinge shaft, and a hinge piece is hinged to the support. The hinge piece is arranged close to the joint head and extends in the length direction perpendicular to the foot plate piece, a joint motor is hinged to the base, an output shaft of the joint motor is connected with a threaded rod, the threaded rod extends in the length direction perpendicular to the hinge piece, and the threaded rod is in threaded connection with a through hole in the hinge piece. A driving piece is connected between the shank piece and the thigh connecting piece, the shank piece is driven by the driving piece to rotate, and a controller on the shank piece is connected with the joint motor and the driving piece. The motion performance of the artificial limb is optimized through knee and ankle joint linkage control, proper supporting force and motion resistance are provided, the dynamic response capacity is improved, and therefore the walking stability and comfort of a patient are enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an ankle joint prosthesis with knee joint linkage control. Background Art

[0002] Prosthetic limbs, as engineering devices designed to provide functional restoration for amputees or those with partial limb loss, have been widely used to help patients improve their quality of life. One of the core goals of modern prosthetic design is to restore natural walking function, reduce the burden on patients, and improve comfort. However, existing prosthetic limbs are often affected by gravity and ground reaction forces during walking, especially during ankle movement. These problems not only cause the prosthesis to generate excessive reaction forces during use, but also easily cause pain or discomfort at the amputation site, affecting the patient's overall walking experience.

[0003] Many prosthetic ankle joints currently on the market utilize elastic components designed to mitigate ground impact forces through cushioning. A common structure in these designs includes two front and rear elastic components, which adjust the elastic force to optimize the comfort and stability of the prosthesis. For example, the front elastic component is typically located near the toe end of the pivot axis to absorb impact forces from the ground, thereby reducing the reaction force on the amputated part; the rear elastic component is located at the heel end, providing support and stability for posterior movement. This prosthetic design can improve walking comfort to a certain extent and help patients regain daily walking function.

[0004] However, existing prosthetic ankle joint devices still have some limitations, mainly manifested in the inability to precisely control the anterior and posterior resistance of the ankle joint during movement. Since the current design relies on elastic components, the propulsion force of these components on the ankle joint during walking is often relatively limited, resulting in the inability of the ankle joint to move in conjunction with the knee joint, and the control accuracy is low. When the patient walks, the movement of the ankle joint is still somewhat passive, which not only affects the walking efficiency, but may also lead to a decrease in the patient's comfort and walking stability. Due to the lack of an effective linkage control mechanism, prostheses still have significant deficiencies in coordination with the natural movement of the human body. Summary of the Invention

[0005] The present invention provides an ankle joint prosthesis with knee joint linkage control, which is used to solve the existing technical problems.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is: The cam is connected to the support frame of the base and the support frame of the base is connected with the support frame of the base, and the support frame of the base is connected with the support frame of the base.

[0007] As a further improvement of the above technical solution: The base is provided with a front limiting surface and a rear limiting surface. The front limiting surface is close to the front end of the foot plate and abuts against the front side of the support end. The rear limiting surface is close to the rear end of the foot plate and abuts against the rear side of the support end.

[0008] The bracket is provided with a front limit block, and the front limit block abuts against the upper front end of the base.

[0009] The bracket is provided with a U-shaped groove, the hinge is located in the U-shaped groove, and the two ends of the front limit block are firmly connected to the U-shaped groove wall.

[0010] The thigh connector is connected to the prosthetic limb receiving cavity, and a plurality of muscle pressure sensors are provided on the inner wall of the prosthetic limb receiving cavity, each of the muscle pressure sensors being in contact with the residual limb muscle, and the controller is connected to the plurality of muscle pressure sensors. A mounting box is hingedly connected to the base, and the joint motor is disposed within the mounting box.

[0011] The driving member includes a driving motor, a screw and a slider. The driving motor is hinged to the calf member. The output shaft of the driving motor is connected to the screw. The screw is threadedly connected to the slider and drives the calf member to rotate through the rotation of the screw.

[0012] The front side of the calf member is provided with a front deformation zone, in which a toe pressure sensor is provided, and the toe pressure sensor is squeezed by the deformation of the front deformation zone. The rear side of the calf member is provided with a rear deformation zone, in which a heel pressure sensor is provided, and the heel pressure sensor is squeezed by the deformation of the rear deformation zone. The controller is connected to the drive motor, the toe pressure sensor and the heel pressure sensor respectively.

[0013] The driving member includes a swing hydraulic cylinder, which is arranged at the bottom of the thigh connecting member. The calf member is connected to the rotating shaft of the swing hydraulic cylinder and rotates around the rotating shaft through the rotation of the rotating shaft.

[0014] The rotating shaft is connected with an angle sensor, the controller is provided with an inclination sensor, and the controller is connected with the swing hydraulic cylinder, the angle sensor and the inclination sensor respectively.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By designing an ankle joint that is linked to the knee joint, the problems of insufficient ankle joint motion control accuracy and the inability to accurately adjust the front and rear resistance in existing prosthetic technologies have been solved. The design combines key components such as the base, joint head, bracket, articulated shaft, and joint motor, and achieves coordinated movement of the ankle and knee joints through an intelligent control system. The controller precisely controls the movement of the joint motor and can flexibly adjust the rotation angle and speed of the ankle joint, thereby improving the ankle joint's response flexibility and accuracy during walking. Through precise control, the ankle and knee joints maintain higher synchronization and coordination, ensuring stability and comfort during movement; Unlike traditional elastic component designs, the control system of this embodiment can not only monitor the status of the ankle joint in real time, but also dynamically adjust the output of the joint motor according to walking needs, thereby achieving precise motion control of the ankle joint. Through this intelligent control method, the ankle joint of the prosthesis can avoid the discomfort and stability problems caused by the passive nature of movement in traditional designs, thereby greatly improving the patient's walking efficiency and comfort. In addition, the linkage design of key components such as the base, joint head, bracket, and articulated shaft enables the system to accurately adjust the angle and range of motion during movement, providing better functional support for the joint. At the same time, the setting of the drive component enables the calf component to rotate flexibly under control, and the combination of the controller and battery ensures the long-term stable operation of the equipment; This improves joint control precision, enhances the comfort and stability of the prosthesis, and addresses several deficiencies in existing technologies. Ultimately, this design can provide patients with a more natural and smooth walking experience, significantly improving the applicability and comfort of the prosthesis in daily life. In summary, the present invention realizes linkage control with the knee joint, and through this linkage mechanism, it can not only optimize the motion performance of the prosthesis, but also effectively provide appropriate support force and motion resistance during walking, improve the dynamic response ability of the prosthesis, thereby simulating the natural gait to a greater extent and enhancing the patient's walking stability and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 1 is a side view schematic diagram of the ankle joint prosthesis with knee joint linkage control according to Example 1; Figure 2 1 is a schematic side cross-sectional structural diagram of the ankle joint prosthesis with knee joint linkage control according to Example 1; Figure 3 This is a schematic diagram of the three-dimensional structure of the ankle joint prosthesis with knee joint linkage control in Example 1. Figure 1 ; Figure 4 This is a schematic diagram of the three-dimensional structure of the ankle joint prosthesis with knee joint linkage control in Example 1. Figure 2 ; Figure 5 is a schematic side view of the knee joint of Example 1; Figure 6 It is a side view structural diagram of the knee joint of the second embodiment.

[0018] Legend: 1. Base; 11. Front limit surface; 12. Rear limit surface; 13. Mounting box; 2. Joint head; 3. Foot plate; 4. Articulated shaft; 5. Bracket; 51. Support end; 52. Front limit block; 6. Articulated part; 7. Joint motor; 71. Threaded rod; 100. Calf part; 101. Controller; 102. Battery; 103. Toe pressure sensor; 104. Heel pressure sensor; 105. Angle sensor; 106. Inclination sensor; 200. Thigh connector; 300. Drive motor; 301. Screw; 302. Slider; 400. Swing hydraulic cylinder; 401. Rotating shaft. DETAILED DESCRIPTION

[0019] To facilitate understanding of the present invention, the present invention will be described in more comprehensive and detailed form below in conjunction with the accompanying drawings and preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0020] Unless otherwise defined, all technical terms used hereinafter have the same meanings as those generally understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0021] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0022] Example 1: Figure 1-Figure 5 As shown, the ankle joint prosthesis with knee joint linkage control in this embodiment includes a base 1 and a joint head 2, the base 1 is connected to the foot plate 3, the joint head 2 is connected to the calf part 100, the calf part 100 is hinged to the thigh connecting part 200, the base 1 is hinged with a hinge shaft 4, the hinge shaft 4 extends in a direction perpendicular to the length of the foot plate 3, the joint head 2 is connected to a bracket 5, the support end 51 of the bracket 5 is connected to the hinge shaft 4, the bracket 5 is hinged with a hinge part 6, the hinge part 6 is arranged close to the joint head 2 and extends in a direction perpendicular to the foot plate The base 1 extends in the longitudinal direction of the hinge 6. The base 1 is hingedly connected to a joint motor 7. The output shaft of the joint motor 7 is connected to a threaded rod 71. The threaded rod 71 extends in a direction perpendicular to the longitudinal direction of the hinge 6 and is threadedly connected to a through-hole in the hinge 6. A driving member is connected between the lower leg member 100 and the thigh connecting member 200, and is driven to rotate by the driving member. The lower leg member 100 is provided with a controller 101 and a battery 102. The controller 101 is connected to the joint motor 7, the driving member, and the battery 102, respectively. To address the problems of insufficient ankle joint motion control precision and the inability to accurately adjust the anterior and posterior resistance in existing prosthetic technologies, an ankle joint capable of interlocking with the knee joint is designed. The design combines key components such as the base 1, the joint head 2, the bracket 5, the articulation shaft 4, and the joint motor 7, and adopts an intelligent control method to achieve coordinated movement of the ankle and knee joints. In particular, the controller 101 can flexibly adjust the rotation angle and speed of the ankle joint by precisely controlling the movement of the joint motor 7. The maximum angle of ankle dorsiflexion is 40 degrees, thereby improving the flexibility and precision of the ankle joint's response during movement. Through the linkage design of key components such as the base 1, the joint head 2, the bracket 5, and the hinge shaft 4, efficient coordinated control of the ankle joint and the knee joint is achieved. The hinged structure between the base 1 and the foot plate 3, the calf part 100 and the thigh connecting part 200 enables the entire system to accurately adjust the angle and range of motion during exercise. The setting of the driving part enables the calf part 100 to rotate under drive, and the combination of the controller 101 and the battery 102 provides intelligent control and long-term work support, ensuring the efficient operation of the equipment. The entire design not only improves joint function, but also optimizes control accuracy and comfort, and can effectively solve the problems of inaccurate joint control and insufficient flexibility in the prior art.

[0023] Unlike traditional elastic component designs, the controller 101 of this embodiment not only monitors the state of the ankle joint in real time but also dynamically adjusts the output of the joint motor according to walking needs, thereby achieving precise motion control of the ankle joint. This allows the prosthetic ankle joint to maintain greater synchronization and coordination with the knee joint during walking, greatly improving the patient's walking stability, comfort, and efficiency, and avoiding the discomfort and stability issues caused by the passive nature of ankle joint movement in existing technologies. Through the optimization of the intelligent control system, patients can experience a more natural and smooth walking experience, improving the applicability and comfort of the prosthesis in daily life.

[0024] In this embodiment, a front limiting surface 11 and a rear limiting surface 12 are provided on the base 1. The front limiting surface 11 is close to the front end of the foot plate member 3 and abuts the front side of the support end 51. The rear limiting surface 12 is close to the rear end of the foot plate member 3 and abuts the rear side of the support end 51. By providing the front limiting surface 11 and the rear limiting surface 12 on the base 1, the range of motion of the ankle joint is effectively controlled, ensuring that the ankle joint can maintain an appropriate motion angle and stability during walking. The front limiting surface 11 is located near the front end of the foot plate member 3 and contacts the front side of the support end 51, thereby limiting excessive forward bending of the ankle joint and avoiding discomfort or potential damage caused by excessive movement. The rear limiting surface 12 is located at the rear end of the base 1 and contacts the rear side of the support end 51, limiting excessive backward rotation of the ankle joint. This design can effectively prevent excessive movement of the prosthetic ankle joint, improve the structural stability of the prosthesis, and at the same time improve the comfort and safety during walking. Through the precise design of the limiting surface, the rotation range of the ankle joint can be better controlled, ensuring that the dynamic control of the joint during prosthetic movement is more natural and less prone to discomfort or damage.

[0025] In this embodiment, a front limit block 52 is provided on the bracket 5, and the front limit block 52 abuts against the upper front end of the base 1. When the front side of the support end 51 abuts against the front limit surface 11, the front limit block 52 also abuts against the upper front end of the base 1, thereby further strengthening the precise control of the range of motion of the ankle joint. The function of the front limit block 52 is to limit the forward movement of the bracket 5, thereby avoiding excessive bending or forward tilt of the ankle joint, and preventing discomfort or damage to the prosthetic structure caused by excessive movement. Through this design, the ankle joint of the prosthesis can maintain appropriate stability during walking, avoid overextension or deviation, and improve the comfort and safety of the user when walking. This limiting mechanism plays a key role in ensuring the efficient operation of the prosthesis under dynamic loads, and can improve the reliability and durability of the prosthesis.

[0026] In this embodiment, the bracket 5 is provided with a U-shaped groove, the hinge 6 is located in the U-shaped groove, and the two ends of the front limit block 52 are firmly connected to the wall of the U-shaped groove. The stability and movement accuracy of the hinge 6 are effectively improved. The U-shaped groove provides a restricted movement trajectory for the hinge 6, ensuring that it can rotate according to the predetermined path in the bracket 5, thereby avoiding the hinge 6 from being offset or unstable during the movement. At the same time, the firm connection between the front limit block 52 and the wall of the U-shaped groove can effectively prevent excessive rotation or forward and backward displacement of the hinge 6, further ensuring the stability and durability of the prosthetic structure. This structural design not only improves the movement accuracy of the prosthetic joint, but also improves the comfort and safety of the patient during use, avoiding discomfort or injury caused by excessive or inaccurate movement.

[0027] In this embodiment, the through-hole passes through the axis of the hinge 6. This optimizes the connection between the hinge 6 and other components, ensuring precise docking and stability during movement. By aligning the through-hole with the axis of the hinge 6, the hinge maintains a stable axial position during rotation, avoiding jamming or uneven movement due to deviation. This design helps improve the movement accuracy and flexibility of the joint, allowing the prosthesis to respond more naturally to the user's movements during use, thereby improving the overall performance and comfort of the prosthesis. In addition, this structure reduces friction or misalignment that may occur during movement, extending the service life of the prosthesis.

[0028] In this embodiment, a mounting box 13 is hinged on the base 1, and the joint motor 7 is arranged in the mounting box 13. The joint motor 7 can be stably fixed in the mounting box, thereby avoiding the problem of position change or loosening of the motor during movement. By centrally installing the motor in a special box, not only the overall structural stability of the device is improved, but also the connection between the motor and other components is made tighter and more reliable. This design helps to improve the precise control and responsiveness of the prosthetic joint, and ensure the efficient operation of the joint motor 7 during work. In addition, the mounting box 13 can also effectively protect the joint motor 7 from external impact or wear, extend the service life of the motor, and facilitate later maintenance and replacement.

[0029] In this embodiment, the thigh connector 200 is connected to the prosthetic receiving cavity, and a plurality of muscle pressure sensors are provided on the inner wall of the prosthetic receiving cavity. Each muscle pressure sensor is in contact with the residual limb muscle, and the controller 101 is connected to the plurality of muscle pressure sensors. The plurality of muscle pressure sensors are in contact with the residual limb muscle and monitor the contraction state of the muscle in real time, thereby generating electromyographic signals. The controller 101 accurately controls the bending and extension of the knee joint and ankle joint according to these signals, making the movement of the prosthesis more natural and flexible, and can be personalized according to the user's muscle intention. This design improves the adaptability, comfort and controllability of the prosthesis, reduces the complexity of mechanical operation, and provides a smoother and more intuitive user experience.

[0030] In this embodiment, the drive member includes a drive motor 300, a screw rod 301 and a slider 302. The drive motor 300 is hinged to the shank member 100. The output shaft of the drive motor 300 is connected to the screw rod 301. The screw rod 301 is threadedly connected to the slider 302 and drives the shank member 100 to rotate through the rotation of the screw rod 301. By combining the drive motor 300 with the screw rod 301 and the slider 302, accurate and stable rotation of the shank member 100 is achieved. The rotation of the screw rod 301 drives the slider 302 to move along the screw rod axis, thereby pushing the shank member 100 to rotate and provide the required mechanical motion. Compared with traditional drive systems, the design using a screw rod and a slider can effectively improve transmission efficiency, reduce energy loss, and ensure more accurate motion control through the threaded connection. The installation method of the drive motor 300 enables the shank member 100 to respond to control signals more flexibly and realize the linkage control between the ankle joint and the knee joint. Furthermore, the articulated mounting of the drive motor 300 improves system stability, reducing the impact of vibration or shock from movement on the motor, thereby enhancing the comfort and service life of the prosthesis. This drive system better meets the walking needs of amputees, providing efficient control and reliable performance.

[0031] In this embodiment, the front side of the shank member 100 is provided with a front deformation zone, within which a toe pressure sensor 103 is located. The deformation of the front deformation zone compresses the toe pressure sensor 103. The rear side of the shank member 100 is provided with a rear deformation zone, within which a heel pressure sensor 104 is located. The deformation of the rear deformation zone compresses the heel pressure sensor 104. The controller 101 is connected to the drive motor 300, the toe pressure sensor 103, and the heel pressure sensor 104, respectively. By providing deformation zones at the front and back of the shank member 100 and incorporating pressure sensors 103 and 104, the force applied to the prosthetic foot during walking can be monitored in real time. The toe pressure sensor 103 and the heel pressure sensor 104 can accurately sense the ground pressure of the prosthetic limb at different stages. Specifically, during the gait cycle, the deformation of the front and rear deformation zones can promptly reflect the foot's contact conditions. This is very important for optimizing the motion state of the prosthesis and avoiding excessive reaction force. By receiving data from the toe and heel pressure sensors, the controller 101 can adjust the output of the drive motor 300 in real time to optimize the motion state of the prosthesis. For example, the controller can adjust the angle and posture of the calf component 100 according to the pressure changes of the foot, improving the smoothness and comfort of the gait. By accurately sensing and adjusting the foot pressure, the system can achieve a more natural gait transition, reduce unnecessary impact, enhance the user's comfort and stability when walking, and simulate the real foot movement pattern. The real-time data provided by the pressure sensor helps to accurately control the movement of the ankle joint and calf component, reducing the pain and discomfort caused by excessive impact and protecting the patient's amputation site. Through this flexible feedback mechanism, the prosthesis can be dynamically adjusted according to the real-time feedback during the user's walking process, significantly improving the adaptability of the prosthesis and the user experience.

[0032] Example 2: Figure 6As shown, the driving element of this embodiment includes a swinging hydraulic cylinder 400, which is located at the bottom of the thigh connector 200. The shank member 100 is connected to the rotating shaft 401 of the swinging hydraulic cylinder 400 and rotates around the rotating shaft 401 through the rotation of the rotating shaft 401. In this embodiment, the driving element includes a swinging hydraulic cylinder 400, which is located at the bottom of the thigh connector 200. The shank member 100 is connected to the rotating shaft 401 of the swinging hydraulic cylinder 400 and rotates around the rotating shaft 401 through the rotation of the rotating shaft 401. Using the swinging hydraulic cylinder 400 as the driving element enables smoother and more precise motion control. The hydraulic cylinder provides a smooth and continuous force, avoiding the sudden shocks or rapid acceleration that may occur with traditional motors, thereby improving the motion stability of the prosthesis, especially during walking. Hydraulic systems generally have higher durability and less mechanical wear than electric drive systems, making them more suitable for long-term use. Especially when it comes to prosthetic parts with a larger range of motion, the hydraulic system can withstand higher loads and does not require frequent maintenance, thus extending the service life of the prosthesis. Since the hydraulic cylinder can provide a larger thrust, the swinging hydraulic cylinder 400 can flexibly rotate the lower leg part 100 around the rotation axis 401, increasing the range of motion and adaptability of the prosthesis. When the user is walking or doing other activities, the prosthesis can flexibly adjust the foot posture to make the gait closer to natural walking. The hydraulic system can adjust the pressure according to the different load conditions during walking, thereby accurately controlling the speed and force of rotation to meet the needs of different patients. This flexible control method is very important for switching between different gaits, such as the dynamic changes from walking to climbing, going up and down stairs. Hydraulic drive is generally more efficient than electric drive and consumes less energy, especially under high load conditions. Through this design, the prosthesis can not only be driven efficiently, but also work continuously with low energy consumption, extending the battery life and improving the user's overall experience; because the hydraulic system can more accurately control the movement of each joint, this structure is more suitable for coping with different terrains, such as uneven roads or ramps, making the prosthesis more stable and safe in complex environments; through the design of this swinging hydraulic cylinder, this embodiment provides a smoother, more durable and adaptable prosthesis drive solution, which is particularly suitable for scenarios requiring flexible movement and high load support, further improving the comfort and stability of the prosthesis.

[0033] In this embodiment, the rotating shaft 401 is connected to an angle sensor 105, and the controller 101 is equipped with a tilt sensor 106. The controller 101 is connected to the swing hydraulic cylinder 400, the angle sensor 105, and the tilt sensor 106, respectively. The angle sensor 105 can monitor the angular changes of the rotating shaft 401 in real time, providing accurate angle data. This enables the controller 101 to precisely adjust the operation of the swing hydraulic cylinder 400 based on real-time data, ensuring that the rotation angle of the prosthesis meets the user's needs and achieving more refined movement control. The tilt sensor 106 can detect the overall tilt angle of the prosthesis and provide feedback on the user's current walking or standing posture. Combined with the data from the angle sensor 105, the controller 101 can adjust the movement of the prosthesis in real time during walking, allowing the prosthesis to better adapt to different gaits, slopes, or uneven terrain, thereby improving walking comfort and stability. By coordinating the controller 101 with multiple sensors, the system can sense and respond to changes in the user's posture and gait in real time. As the user walks or changes position, the real-time data provided by the sensors is processed and converted into control commands, automatically adjusting the hydraulic cylinder's operating state to ensure the prosthesis's movements always conform to natural walking patterns and avoid excessive mechanical strain. The combined use of tilt and angle sensors enables real-time monitoring of the prosthesis's dynamic posture, preventing falls or instability caused by improper angles or postures. Based on sensor feedback, the controller can make timely fine-tuning adjustments, enabling the prosthesis to provide additional support in unstable situations and enhancing the user's walking safety. Through precise angle sensing, the controller 101 can adjust the hydraulic system's operating state according to different stages of gait. For example, as the user walks, the controller can control the pressure and speed of the hydraulic cylinder based on the specific needs of the gait, making the prosthesis' gait more natural and avoiding stiff or uncoordinated movements. This design, through the collaboration of angle and tilt sensors, enables the prosthesis to more intelligently adapt to the user's needs, further improving comfort, stability, and flexibility. Especially in complex environments, users can more freely perform activities such as walking, climbing stairs, and climbing slopes without being plagued by low prosthesis control accuracy. This embodiment realizes a more intelligent, accurate and safe prosthesis control system by combining angle sensors and tilt sensors, which can effectively improve the flexibility and stability of the prosthesis and the user experience.

Claims

1. An ankle joint prosthesis with knee joint linkage control, comprising a base (1) and a joint head (2), wherein the base (1) is connected to a foot plate (3), the joint head (2) is connected to a calf part (100), and the calf part (100) is hinged to a thigh connecting part (200), characterized in that: The base (1) is hinged with a hinge shaft (4), the hinge shaft (4) extending in a direction perpendicular to the length of the foot plate (3), the joint head (2) is connected to a bracket (5), the support end (51) of the bracket (5) is connected to the hinge shaft (4), the bracket (5) is hinged with a hinge member (6), the hinge member (6) is arranged close to the joint head (2) and extends in a direction perpendicular to the length of the foot plate (3), the base (1) is hinged with a joint motor (7), the output of the joint motor (7) The shaft is connected to a threaded rod (71), the threaded rod (71) extending in a longitudinal direction perpendicular to the hinge (6), the threaded rod (71) being threadedly connected to a through hole on the hinge (6), a driving member being connected between the calf member (100) and the thigh connecting member (200), and rotating under the drive of the driving member, the calf member (100) being provided with a controller (101) and a battery (102), the controller (101) being connected to the joint motor (7), the driving member and the battery (102) respectively.

2. The ankle joint prosthesis with knee joint linkage control according to claim 1, characterized in that: The base (1) is provided with a front limiting surface (11) and a rear limiting surface (12), wherein the front limiting surface (11) is close to the front end of the foot plate member (3) and abuts against the front side of the support end (51), and the rear limiting surface (12) is close to the rear end of the foot plate member (3) and abuts against the rear side of the support end (51).

3. The ankle joint prosthesis with knee joint linkage control according to claim 2, characterized in that: The bracket (5) is provided with a front limit block (52), and the front limit block (52) abuts against the upper front end of the base (1).

4. The ankle joint prosthesis with knee joint linkage control according to claim 3, characterized in that: The bracket (5) is provided with a U-shaped groove, the hinge (6) is located in the U-shaped groove, and both ends of the front limit block (52) are firmly connected to the wall of the U-shaped groove.

5. The ankle joint prosthesis with knee joint linkage control according to claim 1, characterized in that: A mounting box (13) is hingedly connected to the base (1), and the joint motor (7) is arranged in the mounting box (13).

6. The ankle joint prosthesis with knee joint linkage control according to claims 1-5, characterized in that: The thigh connector (200) is connected to the prosthetic receiving cavity, a plurality of muscle pressure sensors are provided on the inner wall of the prosthetic receiving cavity, each of the muscle pressure sensors is in contact with the residual limb muscle, and the controller (101) is connected to the plurality of muscle pressure sensors.

7. The ankle joint prosthesis with knee joint linkage control according to any one of claims 1 to 5, characterized in that: The driving member comprises a driving motor (300), a screw rod (301) and a slider (302); the driving motor (300) is hinged to the calf member (100); the output shaft of the driving motor (300) is connected to the screw rod (301); the screw rod (301) is threadedly connected to the slider (302); and the calf member (100) is driven to rotate by the rotation of the screw rod (301).

8. The ankle joint prosthesis with knee joint linkage control according to claim 7, characterized in that: The front side of the calf member (100) is provided with a front deformation zone, a toe pressure sensor (103) is provided in the front deformation zone, and the toe pressure sensor (103) is squeezed by the deformation of the front deformation zone; the rear side of the calf member (100) is provided with a rear deformation zone, a heel pressure sensor (104) is provided in the rear deformation zone, and the heel pressure sensor (104) is squeezed by the deformation of the rear deformation zone; the controller (101) is respectively connected to the drive motor (300), the toe pressure sensor (103) and the heel pressure sensor (104).

9. The ankle joint prosthesis with knee joint linkage control according to any one of claims 1 to 5, characterized in that: The driving member comprises a swing hydraulic cylinder (400), the swing hydraulic cylinder (400) being arranged at the bottom of the thigh connecting member (200), the calf member (100) being connected to the rotating shaft (401) of the swing hydraulic cylinder (400) and rotating around the rotating shaft (401) through the rotation of the rotating shaft (401).

10. The ankle joint prosthesis with knee joint linkage control according to claim 9, characterized in that: The rotating shaft (401) is connected to an angle sensor (105), the controller (101) is provided with an inclination sensor (106), and the controller (101) is respectively connected to the swing hydraulic cylinder (400), the angle sensor (105), and the inclination sensor (106).

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