Bionic artificial limb

Abstract

The invention discloses a bionic artificial limb, and belongs to the field of artificial limbs. The lower part of the leg bearing piece of the bionic artificial limb is connected with the upper part of the shank supporting piece; the sphere of the rotary joint is arranged in the spherical inner cavity, and the bottom is arranged on the base; the slip sheet is arranged on the surface of the ball body, is clamped in the through hole and can slide up and down in the through hole; the base is fixedly arranged on the foot supporting piece; the bottom of a first lifting mechanism of the first connecting part is connected with one end of a first connecting rod; the other end of the first connecting rod is in spherical hinge connection with the upper end of the second connecting rod; the lower end of the second connecting rod is in spherical hinge connection with the first spherical hinge seat; the bottom of a second lifting mechanism of the second connecting part is connected with one end of a third connecting rod; the other end of the third connecting rod is in spherical hinge connection with the upper end of the telescopic rod; the lower end of the telescopic rod is in spherical hinge connection with the second spherical hinge seat; the elastic piece sleeves the telescopic section, and two ends of the elastic piece are propped; the first spherical hinge seat and the second spherical hinge seat are arranged on the two sides of the foot supporting piece. According to the invention, complex and changeable motion states of human ankle joints can be truly simulated.

Description

Technical Field

[0001] The present application relates to the field of prostheses, and in particular to a bionic prosthesis. Background Art

[0002] Ankle prostheses belong to the field of medical rehabilitation devices and are designed to provide motor function compensation for lower limb amputees. Most of the ankle prostheses currently widely used on the market, such as patent document CN202120995807.9, are mechanical structures with single-axis rotation as the main function. This type of prosthesis is not flexible enough and can only simulate the flexion and extension (dorsiflexion, plantar flexion) of the ankle joint, but cannot achieve inversion and eversion of the ankle joint. Therefore, it is impossible to truly simulate the complex and changeable movement state of the human ankle joint. Therefore, when the wearer of the prosthesis walks on complex terrain such as slopes, stairs or uneven ground, he will lack sufficient adaptability and stability, which can easily lead to abnormal gait or imbalance of the user.

[0003] Therefore, how to truly simulate the complex and changeable movement state of the human ankle joint has become an urgent problem to be solved by technical personnel in this field. Summary of the Invention

[0004] The embodiment of the present application provides a bionic prosthesis that can solve the problem of how to realistically simulate the complex and changeable movement state of the human ankle joint.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present invention is:

[0006] An embodiment of the present invention provides a bionic prosthesis, comprising a leg support member, a calf support member, a rotational joint, a foot support member, a first connecting portion, and a second connecting portion;

[0007] The lower portion of the leg support member is connected to the upper portion of the calf support member;

[0008] The lower portion of the calf support is provided with a spherical inner cavity, and the side wall of the spherical inner cavity is provided with a through hole;

[0009] The rotary joint includes a sphere, a base, and a slide; the sphere is disposed in the spherical inner cavity and can rotate in the spherical inner cavity, and the bottom is disposed on the base; the slide is disposed on the surface of the sphere, is clamped in the through hole, and can slide up and down in the through hole; the base is fixed to the foot support;

[0010] The first connecting portion includes a first lifting mechanism, a first connecting rod, a second connecting rod and a first ball joint seat; the first lifting mechanism is arranged on a first side of the calf support member, and the bottom is connected to one end of the first connecting rod; the other end of the first connecting rod is connected to the upper end of the second connecting rod by a ball joint; the lower end of the second connecting rod is connected to the first ball joint seat by a ball joint; the first ball joint seat is arranged on the first side of the foot support member;

[0011] The second connecting part includes a second lifting mechanism, a third connecting rod, a telescopic rod, an elastic member and a second ball joint seat; the second lifting mechanism is arranged on the second side of the calf support member, and the bottom is connected to one end of the third connecting rod; the other end of the third connecting rod is connected to the upper end of the telescopic rod by a ball joint; the lower end of the telescopic rod is connected to the second ball joint seat by a ball joint; the third connecting rod includes a telescopic section, the elastic member is sleeved on the telescopic section and supported at both ends; the second ball joint seat is arranged on the second side of the foot support member, the first side and the second side are opposite, and the first side is the left side or the right side.

[0012] In a possible implementation, the elastic member is a spring.

[0013] In a possible implementation, the bionic prosthesis further includes a third connection portion;

[0014] The third connecting part includes a third lifting mechanism, a fourth connecting rod, a fifth connecting rod and a third ball joint seat;

[0015] The third lifting mechanism is arranged on the rear side of the calf support member, and the bottom is connected to one end of the fourth connecting rod; the other end of the fourth connecting rod is connected to the upper end of the fifth connecting rod by a ball joint; the lower end of the fifth connecting rod is connected to the third ball joint seat by a ball joint; the third ball joint seat is arranged on the rear side of the foot support member.

[0016] In one possible implementation, the calf support comprises a bionic tibial stem, a spherical shell, and a fixing cylinder;

[0017] The upper end of the bionic tibial rod is connected to the lower portion of the leg supporting member;

[0018] The spherical shell is arranged at the lower end of the bionic tibial rod, is provided with a spherical inner cavity, and has a through hole on its side wall;

[0019] The fixing cylinder is sleeved on the bionic tibial rod;

[0020] The upper ends of the first connecting portion and the second connecting portion are respectively disposed on the first side and the second side of the fixing tube.

[0021] In a possible implementation, the first lifting mechanism includes a drive motor, a hydraulic cylinder assembly, a guide groove, and a slider;

[0022] The output shaft of the driving motor is connected to the hydraulic cylinder assembly;

[0023] The upper portion of the hydraulic cylinder assembly is disposed on a first side of the calf support;

[0024] The guide groove is provided on a first side of the calf support and is located below the hydraulic cylinder assembly;

[0025] The sliding block is arranged at the lower end of the hydraulic cylinder assembly, is slidably arranged in the guide groove, and can slide up and down along the guide groove;

[0026] One end of the first connecting rod is connected to the slider.

[0027] In a possible implementation, the foot support includes a first plate and a second plate;

[0028] The first plate body includes a first curved sub-plate and a first flat sub-plate arranged in sequence;

[0029] The forefoot area of ​​the first curved sub-plate is a concave first curved surface adapted to the shape of the sole of the foot, with the top located in the metatarsal area of ​​the foot support member;

[0030] The second plate body includes a second planar sub-plate and a second curved sub-plate arranged in sequence;

[0031] The first planar sub-board and the second planar sub-board are fixedly connected;

[0032] The second curved sub-plate is provided with a downwardly convex second curved surface and an upwardly convex third curved surface in sequence. The second curved surface is adapted to the shape of the sole of the foot, and the third curved surface is adapted to the shape of the first curved sub-plate.

[0033] In a possible implementation manner, the first plate body and the second plate body are made of carbon fiber material.

[0034] In a possible implementation, a central axis of the calf support is perpendicular to a horizontal plane.

[0035] In one possible implementation, the bionic prosthesis further includes a shell;

[0036] The shell includes a shell, a cover plate and an inner lining plate;

[0037] The shell has a shape that matches the shape of the legs, is hollow inside, and has holes on the front and sides.

[0038] The cover plate is clamped in the housing and closes the through hole at the front end of the housing;

[0039] The lining plate is clamped in the shell and closes the through hole on the side of the shell;

[0040] The outer shell is sleeved on the calf supporting member.

[0041] In a possible implementation, the cover plate is made of polymethyl methacrylate material, and the lining plate is made of fluororubber material.

[0042] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0043] The bionic prosthesis provided in the embodiment of the present application has a spherical body of a rotary joint that can rotate freely in the spherical inner cavity at the bottom of the calf support, allowing the foot support arranged below the rotary joint to rotate around the X-axis (front-back direction), Y-axis (left-right direction) and Z-axis (vertical direction), simulating the dorsiflexion / plantar flexion (rotation around the Y-axis) and inversion / valgus (rotation around the X-axis) movements of the human ankle joint, thereby improving the naturalness of gait. The rotary joint mimics the human ankle joint, improving the flexibility and stability of the bionic prosthesis. The slide card is arranged in the through hole of the spherical inner cavity and slides up and down, limiting excessive rotation of the ball (such as Z-axis rotation), avoiding the risk of abnormal movement, and thus realizing the compound movement of the rotary joint. The lifting of the first lifting mechanism drives the lifting of the first connecting rod, and then drives the up and down movement of the second connecting rod. The ball joint connection between the second connecting rod and the first ball joint seat allows the foot support to deflect at multiple angles, providing dynamic support force. The second lifting mechanism drives the lifting of the third connecting rod, and the elastic deformation of the telescopic rod and the spring absorbs the impact of movement, and the elastic buffer mechanism adapts to the telescopic requirements of the rotation of the rotary joint. When the foot support touches the ground, the spring compresses to cushion the vibration and assists the ankle joint in resetting during rebound, achieving adaptive terrain changes. The first and second lifting mechanisms are set to drive the first and third connecting rods, respectively, and then drive the movement of the remaining components, simulating the pulling and traction of human muscles, and simultaneously driving the rotary joint to achieve multi-degree-of-freedom movement in the three axes of X, Y, and Z, improving the speed of movement response. The bionic prosthesis of the embodiment of the present application achieves three-dimensional movement through a ball-and-socket joint, breaking through the limitations of traditional single-axis prostheses. The lifting mechanism of the bilateral connection part (first connection part + second connection part) cooperates with the elastic part to form an adaptive adjustment system that combines active and passive. The elastic energy storage mechanism of the elastomer stores energy in the process of cushioning vibration, reducing the energy consumption of active drive. The setting of the ball-and-socket joint of the embodiment of the present application realizes automatic adjustment of the inversion / extension angle, allowing the foot support to fit the slope surface to prevent slipping. The elastic part expands and contracts to compensate for the height difference of the ground, maintaining gait continuity, balance, adaptability and stability when walking on complex terrain such as slopes, stairs or uneven ground. The ball-and-socket joint allows for instantaneous multi-directional deflection of the foot, enhancing mobility. The bionic prosthesis is suitable for users walking, running, and maneuvering on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. 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.

[0045] Figure 1 A schematic diagram of the overall structure of the bionic prosthesis provided in an embodiment of the present application;

[0046] Figure 2 An exploded view of an embodiment of the present application;

[0047] Figure 3 This is a schematic diagram of the internal structure of the bionic prosthesis according to an embodiment of the present application when performing ankle inversion;

[0048] Figure 4 This is a schematic diagram of the internal structure of the bionic prosthesis according to an embodiment of the present application when performing ankle eversion action;

[0049] Figure 5 This is a schematic diagram of the internal structure of the bionic prosthesis according to an embodiment of the present application when performing ankle dorsiflexion;

[0050] Figure 6 This is a schematic diagram of the internal structure of the bionic prosthesis according to an embodiment of the present application when performing ankle plantar flexion;

[0051] Figure 7 This is a three-dimensional structural diagram of the bionic prosthesis according to an embodiment of the present application, showing the three-dimensional freedom of motion of the ball joint;

[0052] Figure 8 A partial enlargement of the bionic prosthesis in this embodiment of the application Figure 1 ;

[0053] Figure 9 A partial enlargement of the bionic prosthesis in this embodiment of the application Figure 2 .

[0054] Icons: 1-leg support; 2-calf support; 21-bionic tibial rod; 22-spherical shell; 23-fixing cylinder; 3-rotating joint; 31-sphere; 32-base; 33-slide; 4-foot support; 41-first plate; 411-first curved sub-plate; 412-first flat sub-plate; 42-second plate; 421-second flat sub-plate; 422-second curved sub-plate; 5-first connecting part; 51-first lifting mechanism; 511-driving motor; 512- Hydraulic cylinder assembly; 513 - guide groove; 514 - slider; 52 - first connecting rod; 53 - second connecting rod; 54 - first ball joint; 6 - second connecting portion; 61 - second lifting mechanism; 62 - third connecting rod; 63 - telescopic rod; 64 - elastic member; 65 - second ball joint; 7 - third connecting portion; 71 - third lifting mechanism; 72 - fourth connecting rod; 73 - fifth connecting rod; 74 - third ball joint; 8 - outer shell; 81 - housing; 82 - cover plate; 83 - inner lining plate; DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0056] In the description of the embodiments of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0057] like Figures 1 to 9 As shown, an embodiment of the present invention provides a bionic prosthesis, including a leg supporting member 1, a calf supporting member 2, a rotary joint 3, a foot supporting member 4, a first connecting portion 5 and a second connecting portion 6.

[0058] The upper portion of the leg support 1 is a concave arc to adapt to the shape of the leg, making it easier to install. The lower portion of the leg support 1 is connected to the upper portion of the calf support 2. The lower portion of the calf support 2 is provided with a spherical inner cavity, and the side walls of the spherical inner cavity are provided with through holes.

[0059] Rotary joint 3 comprises a sphere 31, a base 32, and a slide 33. Sphere 31 is positioned within the spherical cavity and is capable of rotating therein. Its base is attached to base 32. Slide 33 is positioned on the surface of sphere 31, locked into a through-hole, and capable of sliding up and down within the through-hole. Base 32 is fixed to foot support 4. Rotary joint 3 functions as a ball joint and has biomimetic properties, mimicking the movements of a human ankle joint. This allows the foot support to perform dorsiflexion / plantar flexion, inversion, and inversion / eversion movements, providing excellent terrain adaptability and dynamic stability.

[0060] The through hole is shaped like a motion constraint curve, which is used to limit the range of motion of the revolute joint 3. In practice, the angles of ankle joint motion vary greatly from person to person. The overall range of dorsiflexion and plantar flexion angles is 65° to 70°. In the sagittal plane, the dorsiflexion angle ranges from 10° to 20°, and the plantar flexion angle ranges from 40° to 60°. The inversion and eversion angles range from 40° to 60°. The limiting ranges of the through hole and slide 33 are set based on this data.

[0061] When the bionic prosthesis performs back extension movement ( Figure 5 ), the slide 33 slides up along the through hole; when doing plantar flexion movement ( Figure 6 ), the slide 33 slides down the through hole, and the length of the through hole is constrained to prevent joint dislocation caused by excessive flexion and extension. If the through hole width is too large, it will lead to uncontrolled lateral movement and increase the risk of imbalance; if it is too narrow, it will limit flexibility. The through hole width design needs to balance the constraint and freedom to ensure that it can move smoothly on uneven ground (such as inversion movement). Figure 3 , eversion movement Figure 4 ) The slide 33 can move slightly laterally, but is blocked by the through-hole wall.

[0062] The through hole cannot be a simple circle or rectangle, but a curved profile (such as an ellipse or a racetrack shape) to smooth the transition movement, reduce the stagnation of the slide 33, and allow the flipping movement around the OO' axis (the line connecting the center O of the sphere 31 and the center O' of the slide 33) (simulating the oblique longitudinal axis of the subtalar joint). Table 1 below shows that the angle δ between the OO' axis and the horizontal plane changes with the dorsiflexion / plantar flexion angle. Dynamic changes (such as When δ = 10°~20°), the through-hole curve needs to adapt to this dynamic to avoid hard collision.

[0063] The slide 33 needs to be a flat or curved sheet structure (non-spherical) to fit the curve of the through hole. The slide 33 is set on the surface of the sphere 31, and the shape needs to be smooth to reduce friction and avoid jamming during sliding. The width of the slide 33 is slightly smaller than the width of the through hole, and the length is slightly shorter than the length of the through hole (leaving a sliding margin). For example, when turning inward / outward ( Figure 3 and Figure 4 ), the lateral movement of the slide 33 is limited by the width of the through hole; during dorsiflexion / plantar flexion ( Figure 5 and Figure 6 ), the sliding plate 33 is constrained by its length when sliding up and down. As a "motion limiter", the sliding plate 33 needs to be able to "slide up and down" in the through hole without falling out. The two ends of the sliding plate 33 can be designed with convex edges to prevent it from completely slipping off, while allowing elastic buffering (for example, when encountering an impact, the sliding plate 33 moves slightly to absorb energy). The shape must ensure that when the OO' axis is flipped (such as When δ=11.73°~23.52°), the slide 33 follows the deflection of the sphere 31 but does not leave the through hole.

[0064] The shape combination of the slide 33 and the through hole must adapt to the dynamic axis (such as the OO' axis), and the angle δ between them changes with the ankle joint angle (Table 1). The through hole curve and the contour of the slide 33 must allow the OO' axis to rotate, and the angle δ between them and the horizontal plane is dynamically adjusted during dorsiflexion / plantar flexion (such as δ = 12.10° to 24.27°). The through-hole is shaped like an involute curve, allowing the slide 33 to dynamically and naturally adapt to changes in δ during its upward and downward sliding motion, preventing it from getting stuck. The through-hole width is slightly larger than the slide 33 to accommodate lateral displacement during inversion / extension, but the overall shape (e.g., the curve convergence) limits the roll angle to 40° to 60°. In complex terrain, the through-hole shape forces the slide 33 to "stop" at the limit of its motion, simulating the physiological stop point of a human joint.

[0065] The rotary joint 3 acts as the joint head of the human body, is connected to the foot support, and can rotate along its own axis OO′. OO′ is represented by the oblique longitudinal axis of the subtalar joint, which is the line connecting the center O of the sphere 31 of the rotary joint 3 and the center O′ of the slide 33. The rotation of the rotary joint 3 around the Y axis represents dorsiflexion / plantar flexion movement, and drives the foot support to move around the center O of the sphere 31 within a certain angle range limited by the through hole. At the same time, the rotary joint 3 drives the foot support to rotate around the axis OO′, representing a flipping movement. In this way, the rotary joint 3 has three degrees of freedom axes, which can move in the front and back, left and right, and rotational directions, and complete multi-dimensional adjustment together with the first connecting part 5 and the second connecting part 6. The angle δ between OO′ and the horizontal plane changes dynamically, and its specific value depends on the movement state of the ankle, especially the dorsiflexion / plantar flexion angle φ, as shown in the following Table 1 for example.

[0066] Table 1

[0067]

[0068] The axis of calf support 2 coincides with the long axis of the human tibia and forms an angle of ≤10° with the Z-axis, preferably 0°. This means that the axis of calf support 2 is aligned with the Z-axis. Revolute joint 3 is a ball joint that allows for three degrees of freedom of rotation about the orthogonal X, Y, and Z axes.

[0069] The first connecting portion 5 includes a first lifting mechanism 51, a first connecting rod 52, a second connecting rod 53, and a first ball joint seat 54. The first lifting mechanism 51 is arranged on the first side of the calf support 2, and its bottom is connected to one end of the first connecting rod 52. The other end of the first connecting rod 52 is connected to the upper end of the second connecting rod 53 by a ball joint. The lower end of the second connecting rod 53 is connected to the first ball joint seat 54 by a ball joint. The first ball joint seat 54 is arranged on the first side of the foot support 4. The line connecting the end of the first connecting rod 52 connected to the first lifting mechanism 51 and the center point of the first ball joint seat 54, the first connecting rod 52 and the second connecting rod 53 form a first triangle, and the axis of the first triangle and the calf support 2 are both located on the first plane.

[0070] The second connecting portion 6 includes a second lifting mechanism 61, a third connecting rod 62, a telescopic rod 63, an elastic member 64, and a second ball joint seat 65. The second lifting mechanism 61 is arranged on the second side of the calf support member 2, and its bottom is connected to one end of the third connecting rod 62. The other end of the third connecting rod 62 is connected to the upper end of the telescopic rod 63 by a ball joint. The lower end of the telescopic rod 63 is connected to the second ball joint seat 65 by a ball joint. The third connecting rod 62 includes a telescopic section, and the elastic member 64 is mounted on the telescopic section and is supported at both ends (the telescopic section is provided with convex edges at both ends to support the ends of the elastic member 64).

[0071] The natural state referred to in this application refers to the human body in a natural state, with the ankle joint in its original position without rotation, the ankle joint not performing inversion / eversion movement around the X-axis, and not performing dorsiflexion / plantar flexion movement around the Y-axis, the axis of the calf support member 2 being perpendicular to the horizontal plane, and the front-to-back direction of the foot support member 4, the left-to-right direction of the foot support member 4, and the axis of the calf support member 2 being arranged along the X-axis, Y-axis, and Z-axis of the orthogonal axis system, respectively.

[0072] In the natural state, the ankle joint does not rotate, and the elastic member 64 is in a natural telescopic length without external force. The rotary joint 3 rotates in different directions, driving the telescopic rod 63 to swing, the elastic member 64 to compress or stretch, the telescopic section to adapt to the expansion and contraction process, and to accumulate elastic potential energy, which is released in the subsequent resetting process, playing a role of buffering and energy recovery, and providing assistance for the resetting of the rotary joint 3. The elastic member 64 of the present application expands and contracts in complex terrain and stores energy, and releases elastic potential energy to assist the resetting of the rotary joint 3 in the process of simplifying the terrain (becoming a horizontal flat ground) when the wearer walks. This allows the bionic prosthesis to have a driving force to drive the rotary joint 3 to return to its natural state without external force intervention or external force weakening, so that it can achieve inversion / valgus movement to stabilize the center of gravity when necessary, and can also avoid / reduce inversion / valgus movement as much as possible when it is not necessary, so that the body can walk in a natural state and reduce the energy consumption of maintaining stability.

[0073] A second ball joint 65 is disposed on a second side of the foot support 4, with the first side and the second side opposing each other, with the first side being the left or right side. A line connecting one end of the third connecting rod 62 connected to the second lifting mechanism 61 and the center point of the second ball joint 65, the third connecting rod 62, and the elastic rod forms a second triangle. The second triangle and the axis of the calf support 2 are both located on the second plane.

[0074] The second connection part 6 of the embodiment of the present application is generally arranged on the outside of the leg, and the elastic expansion and contraction of the elastic member 64 is used to change the length of one side of the second triangular support. Compared with the first triangular support with fixed lengths of three sides, the length of one side of the second triangle is adjustable. When rotating around the X-axis by the same angle, the change of the second triangle is more flexible, and the elongation requirement of the second connection part 6 is lower. Therefore, the range of values ​​of the rotation angle around the X-axis that can be adjusted and adapted is also larger. Therefore, the bionic prosthesis can achieve and adapt the inversion angle to be greater than the eversion angle, which conforms to the mechanical principles of human joints, adapts to the movement habits of other joints of the human body, and is beneficial to the stability of the wearer's center of gravity. Therefore, compared with the first connection part 5, the second connection part 6 has a smaller extension length to adapt to the rotation of the ankle joint, and can better adapt to the limitation of the extension amount of the second connection part 6 toward the other calf along the left and right direction of the human body caused by the two legs on the inner side of the human ankle joint being as close to each other as possible. It can avoid the second connection part 6 from interfering with the other inner leg or prosthesis, reduce the risk that the wearer has to walk with legs apart, which is uncomfortable, slow and laborious, and does not conform to the human body's force generation method, and can also match and make full use of the large space on the outside of the ankle formed by the width of the hips, shoulders and social distance (enough for the first connection part 5 to extend outward along the left and right direction of the human body).

[0075] In the bionic prosthesis provided in the embodiment of the present application, the ball 31 of the rotary joint 3 can rotate freely in the spherical inner cavity at the bottom of the calf support 2, allowing the foot support arranged below the rotary joint 3 to rotate around the X-axis (front-back direction), Y-axis (left-right direction) and Z-axis (vertical direction), simulating the dorsiflexion / plantar flexion (rotation around the Y-axis) and inversion / valgus (rotation around the X-axis) movements of the human ankle joint, thereby improving the naturalness of the gait. The rotary joint 3 mimics the human ankle joint, improving the flexibility and stability of the bionic prosthesis. The slide 33 is stuck in the through hole of the spherical inner cavity and slides up and down, limiting the excessive rotation of the ball 31 (such as Z-axis rotation), avoiding the risk of abnormal movement, and thus realizing the compound movement of the rotary joint 3. The lifting of the first lifting mechanism 51 drives the lifting of the first connecting rod 52, and then drives the up and down movement of the second connecting rod 53. The ball joint connection between the second connecting rod 53 and the first ball joint seat 54 allows the foot support 4 to deflect at multiple angles, providing dynamic support force. The second lifting mechanism 61 drives the third connecting rod 62 to move up and down, and the elastic deformation of the telescopic rod 63 and the spring absorbs the impact of movement. The elastic buffering mechanism adapts to the telescopic requirements of the rotation of the rotary joint 3. When the foot support 4 touches the ground, the spring compression buffers the vibration and assists the ankle joint to reset during rebound, achieving adaptive terrain changes. The setting of the first lifting mechanism 51 and the second lifting mechanism 61 respectively drives the first connecting rod 52 and the third connecting rod 62 to move, thereby driving the movement of the remaining components, simulating the pulling and traction action of human muscles, and simultaneously drives the rotary joint 3 to achieve multi-degree-of-freedom movement in the three axes of X, Y, and Z, thereby improving the movement response speed. The bionic prosthesis of the embodiment of the present application achieves three-dimensional movement through a ball joint joint, breaking through the limitations of traditional single-axis prostheses. The lifting mechanism of the bilateral connection part (first connection part 5 + second connection part 6) cooperates with the elastic member 64 to form an adaptive adjustment system that combines active and passive. The elastic energy storage mechanism of the elastomer stores energy in the process of buffering vibration, reducing the energy consumption of active drive. The ball-joint design of this embodiment automatically adjusts the inversion / valgus angle, allowing the foot support 4 to conform to slopes and prevent slippage. The elastic member 64 expands and contracts to compensate for ground height differences, maintaining gait continuity, balance, adaptability, and stability when walking on complex terrain such as slopes, stairs, or uneven surfaces. The ball-joint allows for instantaneous multi-directional deflection of the foot, enhancing mobility. This bionic prosthesis is suitable for walking, running, and other activities on complex terrain.

[0076] The present application does not limit the specific type of elastic member 64, as long as it can elastically expand and contract to change its length along the expansion and contraction direction, and store energy by expansion and contraction to assist in the reset movement of the rotary joint 3. The elastic member 64 can be a spring (a traditional helical mechanical spring), a rubber elastomer, a gas spring, etc.

[0077] Preferably, the elastic member 64 is a spring. Using a spring as the elastic member 64 (such as for a connecting part or a buffer mechanism) can provide an adjustable elastic restoring force to simulate the ligament function of the human ankle joint. During walking, the spring can absorb impact (such as vibration when the foot lands), reduce the impact pressure of the bionic prosthesis on the residual limb, and improve gait stability. The spring material (such as stainless steel or alloy) has high fatigue strength and durability, ensuring long-term maintenance-free use and avoiding the degradation of the bionic prosthesis performance due to elastic failure. Compared with other elastic elements (such as rubber), the linear elastic force characteristics of the spring allow more precise force control and enhance the dynamic response capability of the prosthesis. The spring can also reduce the bumpy feeling when walking, especially on uneven ground, reduce the risk of user fatigue, and improve comfort. The compression / extension of the spring can be coordinated with multi-axis rotation, making it easier for the bionic prosthesis to adapt to complex terrain such as ramps or stairs, thereby enhancing its adaptability.

[0078] Furthermore, the bionic prosthesis also includes a third connecting portion 7. The third connecting portion 7 includes a third lifting mechanism 71, a fourth connecting rod 72, a fifth connecting rod 73, and a third ball joint seat 74. The third lifting mechanism 71 is disposed on the rear side of the calf support 2, and its bottom is connected to one end of the fourth connecting rod 72. The other end of the fourth connecting rod 72 is connected to the upper end of the fifth connecting rod 73 by a ball joint. The lower end of the fifth connecting rod 73 is connected to the third ball joint seat 74 by a ball joint. The third ball joint seat 74 is disposed on the rear side of the foot support 4.

[0079] The third connection part 7 is arranged on the rear side of the calf support part 2 and is connected to the foot support part 4 through a ball joint seat, simulating the structure of the Achilles tendon and the posterior ligament of the ankle joint of the human body, providing additional support on the rear side, reducing the probability of falling, especially for elderly or low-mobility users, and improving safety. Together with the first connection part 5 and the second connection part 6, a multi-point stabilization system is formed to prevent backward imbalance during walking. The third lifting mechanism 71 can adjust the length to achieve precise control of the dorsiflexion / plantar flexion of the rotary joint 3. It improves the adaptability of the bionic prosthesis on slopes or uneven surfaces and reduces the risk of "abnormal gait" for users. The third lifting mechanism 71 cooperates with the third ball joint seat 74 to have a better dynamic response, making the gait more natural and close to real human movement.

[0080] like Figure 2 As shown, the calf support member 2 includes a bionic tibial stem 21, a spherical shell 22, and a fixed cylinder 23. The upper end of the bionic tibial stem 21 is connected to the lower portion of the leg support member 1. The spherical shell 22 is disposed at the lower end of the bionic tibial stem 21 (the spherical shell 22 and the bionic tibial stem 21 are designed as a whole). It is provided with a spherical inner cavity and a through hole on the side wall. The spherical shell 22 can serve as an ankle hole. The fixed cylinder 23 is sleeved on the bionic tibial stem 21. The upper ends of the first connecting portion 5 and the second connecting portion 6 are respectively disposed on the first side and the second side of the fixed cylinder 23. The upper end of the third connecting portion 7 is disposed on the rear side of the fixed cylinder 23.

[0081] The spherical shell 22, with its spherical interior and through-holes, serves as the core of the revolute joint 3, allowing for multi-axis rotation to achieve dorsiflexion / plantar flexion, inversion, and eversion / inversion of the foot support. The fixed cylinder 23 integrates the first, second, and third connecting parts 5, 6, and 7, optimizing the force transmission path and reducing the risk of structural loosening. The bionic tibial stem 21 aligns with the long axis of the human tibia (angle ≤ 10°), ensuring even weight distribution.

[0082] The calf support 2 enhances the flexibility and dynamic balance of the bionic prosthesis, making the bionic prosthesis compact, reducing energy loss, and making walking easier for the user. The fixing tube 23 serves as a fixing device and is also removable for easy maintenance and reduced long-term use costs.

[0083] like Figure 9 As shown, the first lifting mechanism 51 includes a drive motor 511, a hydraulic cylinder assembly 512, a guide groove 513 and a slider 514. The output shaft of the drive motor 511 is connected to the hydraulic pump of the hydraulic cylinder assembly 512 through a coupling. The hydraulic pump is connected to a plurality of small hydraulic cylinders through pipelines to form a closed-loop hydraulic control system. The upper part of the hydraulic cylinder assembly 512 is arranged on the first side of the calf support 2. The guide groove 513 is arranged on the first side of the calf support 2 and is located below the hydraulic cylinder assembly 512. The slider 514 is arranged at the lower end of the hydraulic cylinder assembly 512, and the piston rod of the hydraulic cylinder is connected to the slider 514. The flow of hydraulic oil realizes the linear telescopic movement of the piston rod, thereby controlling the movement trajectory of the slider 514. The slider is arranged in the guide groove 513 and can slide up and down along the guide groove 513. One end of the first connecting rod 52 is connected to the slider 514.

[0084] The first lifting mechanism 51 provided in the embodiment of the present application has a drive motor 511 that provides precise power, and a hydraulic cylinder assembly 512 that achieves smooth lifting motion, driving the slider 514 to lift and lower, thereby driving the first connecting rod 52 to lift and lower. The guide groove 513 and the slider 514 ensure the accuracy of linear motion. The first lifting mechanism 51 adjusts the length of the first connecting part 5 in real time, allowing the prosthesis to dynamically adapt to different gaits (such as brisk walking or jogging) and terrain. The hydraulic cylinder's buffering effect reduces impact and avoids mechanical vibration. The motor drive has a high degree of automation, and the user does not need to manually adjust it. It achieves accurate simulation of the multi-directional movement of the human ankle joint and improves flexibility. The guide groove 513 design prevents the slider 514 from derailing, ensuring stable operation in complex terrain. The first connecting rod 52 and the second connecting rod 53 simulate the pulling effect of human muscles, and achieve rapid response through the precise control of the hydraulic cylinder assembly 512. It achieves flexible up and down and multi-directional movement, mimicking the ball-and-spherical joint characteristics of the human ankle joint, while also having buffering and terrain adaptability.

[0085] The structures of the second and third lifting mechanisms 61 and 71 are identical to those of the first lifting mechanism 51 and are not further described here. The bionic prosthesis of the present invention utilizes a drive motor 511 to drive a hydraulic cylinder assembly 512, which, in conjunction with the rotary joint 3, the first connecting portion 5, the second connecting portion 6, and the third connecting portion 7, achieves highly bionic ankle joint motion. It features a compact structure, high control precision, and strong adaptability, meeting the user's needs for movement in complex terrain and significantly enhancing gait naturalness and comfort.

[0086] The first lifting mechanism 51, the second lifting mechanism 61 and the third lifting mechanism 71 can also be hydraulic / pneumatic equipment with drive shafts that are telescopic, preferably linear motors or hydraulic cylinders that drive their drive shafts to perform linear telescopic motion along their own axis directions.

[0087] like Figure 1 and Figure 2 As shown, the foot support 4 includes a first plate 41 and a second plate 42. The first plate 41 includes a first curved sub-plate 411 and a first planar sub-plate 412, which are arranged in sequence. The forefoot region of the first curved sub-plate 411 has a concave first curved surface that matches the shape of the sole of the foot, with its top located in the metatarsal region of the foot support 4. The second plate 42 includes a second planar sub-plate 421 and a second curved sub-plate 422, which are arranged in sequence. The first planar sub-plate 412 and the second planar sub-plate 421 are fixedly connected. The second curved sub-plate 422 has a downwardly convex second curved surface and an upwardly convex third curved surface. The second curved surface matches the shape of the sole of the foot, and the third curved surface matches the shape of the first curved sub-plate 411.

[0088] The first plate 41 (the first curved sub-plate 411 and the first flat sub-plate 412) adapts to the shape of the sole of the foot, and the second plate 42 (the second curved surface and the third curved surface) fits the sole of the foot and the upper structure. The double-plate design disperses the pressure on the sole of the foot, reduces local point stress (such as the metatarsal area), and prevents pain or injury. The curved sub-plate simulates the arch support and the rolling characteristics of the human toes to enhance the naturalness of the gait. The flat sub-plate ensures the stability of the connection and improves the biocompatibility of the foot support 4 as a whole. This optimizes the contact surface between the foot and the prosthesis, enhancing the natural feel and grip when walking. It reduces friction and the risk of blisters, improves comfort, and is suitable for long-term wear. In addition, on uneven surfaces (such as gravel roads), the curved design improves ground contact feedback, reduces imbalance, and enhances adaptability.

[0089] Optionally, the first plate 41 and the second plate 42 are made of carbon fiber material. Carbon fiber has low density and high tensile strength, which reduces the overall weight of the prosthesis, thereby reducing user fatigue. In addition, carbon fiber is corrosion-resistant and fatigue-resistant, which can extend the life of the foot support 4, avoid frequent replacement, reduce maintenance costs, and is economical. The material has a high elastic modulus, provides moderate rigidity without losing flexibility, supports multi-directional movement (such as inversion / eversion), and maintains structural stability. Combined with the design of the first plate 41 and the second plate 42, it improves the energy rebound efficiency of the prosthesis, simulates the real foot propulsion mechanism, and has bionic significance. The lightweight design improves freedom of movement, such as running or climbing stairs. Carbon fiber is impact-resistant, reduces the risk of accidental breakage, and is safer and more reliable.

[0090] Furthermore, the central axis of the calf support 2 is perpendicular to the horizontal plane. This optimizes weight transfer, reduces abnormal wear on the joints, reduces the risk of musculoskeletal strain with long-term use, and improves stability during standing and walking. In its natural state, the vertical axis evenly distributes force on the prosthesis, preventing imbalance caused by lateral deviation in complex terrain. The calf support 2 works in conjunction with the revolute joint 3 to enhance the coordination of multi-axial motion.

[0091] The bionic prosthesis provided in the embodiment of the present application also includes a shell 8. The shell 8 includes a shell 81, a cover plate 82, and an inner lining plate 83. The shell 8 is made of aluminum alloy and is lightweight and strong. The outer shape of the shell 81 is adapted to the shape of the leg. The interior is hollow, and there are through-holes at the front and sides. The cover plate 82 is mounted in the shell 81 and closes the through-holes at the front of the shell 81. The inner lining plate 83 is mounted in the shell 81 and closes the through-holes on the side of the shell 81. The shell 8 is mounted on the calf support 2.

[0092] Shell 81 conforms to the shape of the leg, while cover 82 seals the front openings and lining 83 seals the side openings, forming a comprehensive protective shield. Shell 81's biomimetic shape enhances its natural appearance, while its lightweight design adds no extra weight. Shell 8 fits over calf support 2, preventing dust and moisture from entering the internal mechanism and ensuring long-term reliability.

[0093] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0094] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A bionic prosthesis, characterized in that: It includes a leg support member, a calf support member, a rotation joint, a foot support member, a first connecting portion and a second connecting portion; The lower portion of the leg support member is connected to the upper portion of the calf support member; The lower portion of the calf support is provided with a spherical inner cavity, and the side wall of the spherical inner cavity is provided with a through hole; The rotary joint includes a sphere, a base, and a slide; the sphere is disposed in the spherical inner cavity and can rotate in the spherical inner cavity, and the bottom is disposed on the base; the slide is disposed on the surface of the sphere, is clamped in the through hole, and can slide up and down in the through hole; the base is fixed to the foot support; The first connecting portion includes a first lifting mechanism, a first connecting rod, a second connecting rod and a first ball joint seat; the first lifting mechanism is arranged on a first side of the calf support member, and the bottom is connected to one end of the first connecting rod; the other end of the first connecting rod is connected to the upper end of the second connecting rod by a ball joint; the lower end of the second connecting rod is connected to the first ball joint seat by a ball joint; the first ball joint seat is arranged on the first side of the foot support member; The second connecting part includes a second lifting mechanism, a third connecting rod, a telescopic rod, an elastic member and a second ball joint seat; the second lifting mechanism is arranged on the second side of the calf support member, and the bottom is connected to one end of the third connecting rod; the other end of the third connecting rod is connected to the upper end of the telescopic rod by a ball joint; the lower end of the telescopic rod is connected to the second ball joint seat by a ball joint; the third connecting rod includes a telescopic section, the elastic member is sleeved on the telescopic section and supported at both ends; the second ball joint seat is arranged on the second side of the foot support member, the first side and the second side are opposite, and the first side is the left side or the right side.

2. The bionic prosthesis according to claim 1, characterized in that The elastic member is a spring.

3. The bionic prosthesis according to claim 1, characterized in that Also comprising a third connecting portion; The third connecting part includes a third lifting mechanism, a fourth connecting rod, a fifth connecting rod and a third ball joint seat; The third lifting mechanism is arranged on the rear side of the calf support member, and the bottom is connected to one end of the fourth connecting rod; the other end of the fourth connecting rod is connected to the upper end of the fifth connecting rod by a ball joint; the lower end of the fifth connecting rod is connected to the third ball joint seat by a ball joint; the third ball joint seat is arranged on the rear side of the foot support member.

4. The bionic prosthesis according to claim 1, characterized in that The calf support comprises a bionic tibial rod, a spherical shell and a fixing cylinder; The upper end of the bionic tibial rod is connected to the lower portion of the leg supporting member; The spherical shell is arranged at the lower end of the bionic tibial rod, is provided with a spherical inner cavity, and has a through hole on its side wall; The fixing cylinder is sleeved on the bionic tibial rod; The upper ends of the first connecting portion and the second connecting portion are respectively disposed on the first side and the second side of the fixing tube.

5. The bionic prosthesis according to claim 1, characterized in that The first lifting mechanism includes a driving motor, a hydraulic cylinder assembly, a guide groove and a slider; The output shaft of the driving motor is connected to the hydraulic cylinder assembly; The upper portion of the hydraulic cylinder assembly is disposed on a first side of the calf support; The guide groove is provided on a first side of the calf support and is located below the hydraulic cylinder assembly; The sliding block is arranged at the lower end of the hydraulic cylinder assembly, is slidably arranged in the guide groove, and can slide up and down along the guide groove; One end of the first connecting rod is connected to the slider.

6. The bionic prosthesis according to claim 1, characterized in that The foot support comprises a first plate and a second plate; The first plate body includes a first curved sub-plate and a first flat sub-plate arranged in sequence; The forefoot area of ​​the first curved sub-plate is a concave first curved surface adapted to the shape of the sole of the foot, with the top located in the metatarsal area of ​​the foot support member; The second plate body includes a second planar sub-plate and a second curved sub-plate arranged in sequence; The first planar sub-board and the second planar sub-board are fixedly connected; The second curved sub-plate is provided with a downwardly convex second curved surface and an upwardly convex third curved surface in sequence. The second curved surface is adapted to the shape of the sole of the foot, and the third curved surface is adapted to the shape of the first curved sub-plate.

7. The bionic prosthesis according to claim 6, characterized in that: The first plate body and the second plate body are made of carbon fiber material.

8. The bionic prosthesis according to claim 1, characterized in that: The central axis of the calf support is perpendicular to the horizontal plane.

9. The bionic prosthesis according to claim 1, characterized in that: Also includes the housing; The shell includes a shell, a cover plate and an inner lining plate; The shell has a shape that matches the shape of the legs, is hollow inside, and has holes on the front and sides. The cover plate is clamped in the housing and closes the through hole at the front end of the housing; The lining plate is clamped in the shell and closes the through hole on the side of the shell; The outer shell is sleeved on the calf supporting member.

10. The bionic prosthesis according to claim 9, characterized in that: The cover plate is made of polymethyl methacrylate material, and the lining plate is made of fluororubber material.

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