A hip joint component and a dynamic hip disarticulation prosthesis

Abstract

This application belongs to the field of medical prosthetic structure design technology, specifically disclosing a hip joint assembly and a powered hip disarticulation prosthesis. The hip joint assembly includes an arc-shaped slide rail, a hinge, a slider, a thigh motor, and a linkage structure. The arc-shaped slide rail is fixed to the lower part of the residual limb receiving cavity, with its arc-shaped opening facing upwards. The first part of the hinge is fixedly connected to the outer side of the residual limb receiving cavity. The slider is slidably disposed on the arc-shaped slide rail. The housing of the thigh motor is fixedly connected to the slider. One end of the linkage structure is connected to the second part of the hinge, and the other end is driven and connected to the output shaft of the thigh motor. This application forms a remote motion center that approximately coincides with the actual acetabulum position, enabling the prosthetic thigh to move around a rotation center close to the anatomical position of the human acetabulum, thereby improving gait naturalness and control performance, and solving gait deformity and compensatory movement problems.

Description

Technical Field

[0001] This application belongs to the field of medical prosthetic structure design technology, and more specifically, relates to a hip joint component and a dynamic hip disarticulation prosthesis. Background Technology

[0002] Most existing hip disarticulation prostheses are represented by passive "Canadian-type" prostheses. These prostheses typically have the hip joint rotation center located in the anterior and inferior part of the acetabulum, with the free hip, knee, and ankle joints and the peripelvic band bearing the weight. Because the rotation center of the prosthesis's hip joint is significantly asymmetrical with the healthy hip joint, users often need to use exaggerated pelvic swinging and trunk compensation to drive the prosthesis's swinging, resulting in gait deformities, poor symmetry, high energy consumption, and poor comfort during long-term wear.

[0003] To address the issue of hip joint rotation center asymmetry, existing literature has proposed a hip disarticulation prosthesis structure based on the Remote Center of Motion (RCM). This structure utilizes a double parallelogram mechanism and a sliding rail mechanism to allow the prosthetic thigh to rotate around the remote center of motion, which is located close to the anatomical acetabulum. Furthermore, the structural dimensions have been optimized to improve gait symmetry and comfort to some extent.

[0004] While existing technologies have made some progress in optimizing the position of the hip joint rotation center, driving single-joint powered prostheses, and gait phase recognition and impedance control, gait deformities and compensatory movements caused by misalignment of the hip joint rotation center still exist. Summary of the Invention

[0005] In response to the deficiencies or improvement needs of the prior art, this application provides a hip joint component and a dynamic hip disarticulation prosthesis to solve the gait deformity and compensatory movement problems caused by the misalignment of the hip joint rotation center in the prior art hip disarticulation prosthesis.

[0006] This application provides a hip joint assembly including an arc-shaped slide rail, a hinge, a slider, a thigh motor, and a linkage structure. The arc-shaped slide rail is fixed to the lower part of the residual limb receiving cavity, with the arc-shaped opening of the slide rail facing upward. The first part of the hinge is fixedly connected to the outer side of the residual limb receiving cavity. The slider is slidably disposed on the arc-shaped slide rail. The housing of the thigh motor is fixedly connected to the slider. One end of the linkage structure is connected to the second part of the hinge, and the other end is drivenly connected to the output shaft of the thigh motor.

[0007] As a further preferred embodiment, the linkage structure includes a first linkage, a second linkage, and a third linkage. The first linkage is driven and connected to the output shaft of the thigh motor. The upper ends of the second linkage and the third linkage are both hinged to the second part of the hinge, and the lower ends are both hinged to the first linkage. The hinge joint of the second linkage and the first linkage is coaxially arranged with the output shaft. The lengths of the second linkage and the third linkage are equal.

[0008] As a further preferred embodiment, the second link and the third link are length-adjustable rods.

[0009] This application also provides a powered hip disarticulation prosthesis, which includes the hip joint assembly as described above, as well as a thigh segment, a knee joint assembly, a lower leg segment, an ankle joint assembly, and a foot. The arc-shaped slide rail is connected to the upper end of the thigh segment, the lower leg segment is hinged to the lower end of the thigh segment, the upper end of the knee joint assembly is fixedly connected to the thigh motor and the lower end is hinged to the lower leg segment, the foot is connected to the lower end of the lower leg segment, and the ankle joint assembly is mounted on the lower leg segment and connected to the foot.

[0010] As a further preferred embodiment, the knee joint assembly includes a series elastic actuator and a knee joint connector, wherein the upper end of the series elastic actuator is fixedly connected to the thigh motor and the lower end is hinged to the upper end of the knee joint connector, and the lower end of the knee joint connector is hinged to the lower leg segment.

[0011] As a further preferred embodiment, the ankle joint assembly includes an ankle joint motor, a motor connector, a lower leg link, and an ankle joint connector. The ankle joint motor is mounted on the lower leg segment. One end of the motor connector is driven and connected to the output shaft of the ankle joint motor, and the other end is hinged to the upper end of the lower leg link. The lower end of the lower leg link is hinged to the rear end of the ankle joint connector, and the front end of the ankle joint connector is hinged to the lower end of the lower leg segment.

[0012] As a further preferred embodiment, the ankle joint motor is located at the location of the gastrocnemius muscle in the lower leg segment.

[0013] As a further preferred embodiment, the powered hip disarticulation prosthesis also includes a sensor assembly and an active control system. The sensor assembly includes a thigh IMU disposed on the thigh segment, a lower leg IMU disposed on the lower leg segment, and a torque sensor disposed on the series elastic actuator. The active control system is used to acquire the user's gait phase in real time based on the sensing signals of the thigh IMU, lower leg IMU, and torque sensor, and to perform hybrid control of the thigh motor, series elastic actuator, and ankle motor according to the gait phase using a preset hybrid control strategy.

[0014] As a further preferred embodiment, the powered hip disarticulation prosthesis also includes a gait detection belt configured to be worn on the user's waist, and the sensor assembly further includes at least two belt IMUs evenly spaced along the circumference of the gait detection belt, the active control system predicting the user's lower limb movement angle based on information fed back from the belt IMUs.

[0015] As a further preferred embodiment, the sensor assembly also includes a six-dimensional force sensor disposed on the foot, and the active control system identifies the user's foot support status based on the information fed back by the six-dimensional force sensor.

[0016] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages: 1. A structural design using an arc-shaped slide rail fixed to the lower part of the residual limb socket, a hinge connecting to the outside of the residual limb socket, and a slider sliding within the slide rail, along with a linkage connecting the thigh motor and the hinge, allows the geometric center of the arc-shaped slide rail to be pushed outward to form a remote motion center. The arc-shaped slide rail is customized according to the patient's actual needs, ensuring that the aforementioned remote motion center approximately coincides with the actual acetabulum position. This enables the prosthetic thigh to move around a rotational center close to the anatomical acetabulum position, thereby improving gait naturalness and control performance, and resolving gait deformities and compensatory movement problems. Furthermore, existing powered prostheses typically place the drive motor in the distal hip joint region near the knee, resulting in large rotational inertia in the lower leg and foot, and difficulty in swing control. This design places the thigh motor at the lower end of the arc-shaped slide rail via a slider, achieving a proximal placement of the thigh motor, reducing distal mass distribution, and thus lowering the overall rotational inertia, giving the prosthesis higher response speed and control stability during the swing phase.

[0017] 2. The equal-length design of the second and third links ensures the symmetry of the movement trajectory, reduces pelvic compensatory swaying caused by center misalignment, and thus improves gait symmetry. The adjustable length of the second and third links allows for fine-tuning according to the user's residual limb length and pelvic shape, improving the consistency of the connection between the prosthesis and the socket, reducing fatigue during long-term wear, and ensuring the stability of the hip joint in the swing and support phases.

[0018] 3. Based on the above-mentioned hip joint components, this dynamic hip disarticulation prosthesis integrates the hip joint components with the thigh, knee, lower leg, ankle, and foot segments to form a complete lower limb power system, solving the technical problems of insufficient driving capability and large rotational inertia in existing technologies.

[0019] 4. The knee joint assembly utilizes a series elastic actuator (SEA), with the upper end fixed to the thigh motor and the lower end hinged to the lower leg segment via a knee joint connector. This structure provides energy absorption and cushioning during the support phase and angle tracking control during the swing phase, combined with an internal torque sensor. This results in the prosthesis having a flexibility similar to a biological knee joint at the knee joint, further enhancing wearing comfort.

[0020] 5. The ankle joint component is positioned at the corresponding location of the gastrocnemius muscle in the calf via an ankle joint motor. This not only optimizes mass distribution and improves gait smoothness by placing the ankle joint motor proximally, but also fully simulates the function of the gastrocnemius muscle in actual biological tissue. Its power is driven by the calf linkage to drive the ankle joint connector, enabling active dorsiflexion / plantarflexion (tiptoeing), coordinating with the hip and knee joints, and improving overall movement continuity and biocompatibility.

[0021] 6. By setting up thigh IMU, calf IMU and torque sensors, reliable input is provided for the control strategy. The active control system acquires the user's gait phase in real time based on the sensor signals. In addition, four belt IMUs on the gait detection belt are distributed around the waist and can capture pelvic posture and movement trends in real time. The active control system predicts the user's lower limb movement angle based on the sensor signals of the belt IMUs to realize a hybrid control strategy: the support phase uses impedance control to achieve compliant support, and the swing phase uses trajectory tracking control. This phased coordinated control can adapt to variable speed and multi-terrain scenarios. Attached Figure Description

[0022] Figure 1 This is a schematic diagram illustrating the usage state of a dynamic hip amputation prosthesis provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the usage of a gait detection belt in a dynamic hip disarticulation prosthesis, as provided in an embodiment of this application. Figure 3 This is a schematic diagram of the motion capture reference for calibrating the position of the hip joint rotation center in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a hip joint assembly provided in an embodiment of this application; Figure 5 A hip joint assembly provided in this application embodiment is relative to Figure 3 A structural diagram from another perspective; Figure 6 This application provides a schematic diagram of the structure of a knee joint assembly in a dynamic hip disarticulation prosthesis. Figure 7 The knee joint assembly in a dynamic hip disarticulation prosthesis provided in this application embodiment is relative to... Figure 6 A structural diagram from another perspective; Figure 8This application provides a schematic diagram of the ankle joint assembly in a dynamic hip disarticulation prosthesis. Figure 9 This is a control logic block diagram of an active control system in a powered hip amputation prosthesis provided in an embodiment of this application.

[0023] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 10. Dynamic hip disarticulation prosthesis; 11. Hip joint assembly; 111. Arc-shaped slide rail; 112. Hinge; 113. Slider; 114. Thigh motor; 115. Linkage structure; 1121. Side mounting plate; 1111. Base; 1151. First link; 1152. Second link; 1153. Third link; 12. Thigh section; 13. Knee joint assembly; 131. Tandem elastic actuator; 132. Knee joint connector; 14. Lower leg segment; 15. Ankle joint assembly; 151. Ankle joint motor; 152. Motor connector; 153. Lower leg link; 154. Ankle joint connector; 16. Feet; 171. Thigh IMU; 172. Lower leg IMU; 173. Torque sensor; 174. Gait detection belt; 1741. Belt IMU; 175. Six-dimensional force sensor; 18. Active control system. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] like Figure 1 , Figure 2 and combined Figure 4 and Figure 5 As shown, this application discloses a hip joint assembly 11, which includes an arc-shaped slide rail 111, a hinge 112, a slider 113, a thigh motor 114, and a linkage structure 115.

[0026] The arc-shaped slide rail 111 is fixed to the lower part of the residual limb receiving cavity with its arc-shaped opening facing upward. Specifically, bases 1111 are provided on the front and rear sides of the lower part of the residual limb receiving cavity, and the two ends of the arc-shaped slide rail 111 are fixedly connected to the bases 1111. The first part of the hinge 112 is used to be fixedly connected to the outside of the residual limb receiving cavity. The slider 113 is slidably disposed on the arc-shaped slide rail 111. The housing of the thigh motor 114 is fixedly connected to the slider 113. One end of the connecting rod structure 115 is connected to the second part of the hinge 112, and the other end is driven to the output shaft of the thigh motor 114.

[0027] The limb is fixed to the lower part of the stump receiving cavity by an arc-shaped slide rail 111. The hinge 112 is a mechanical device used to connect two solids and allow relative rotation between them. Device The device has a first part and a second part that can rotate relative to each other. The first part of the hinge 112 is connected to the outside of the residual limb receiving cavity. The slider 113 slides in the slide rail. The structure design and the connection of the thigh motor 114 and the hinge 112 through the linkage structure 115 make the geometric center of the arc slide rail 111 push outward to form a remote motion center. The arc slide rail 111 is customized according to the actual needs of the patient, so that the above-mentioned remote motion center is approximately coincident with the position of the real acetabulum. This allows the prosthetic thigh to move around the rotation center that is close to the position of the human anatomical acetabulum, thereby improving the naturalness of gait and control performance. In addition, existing powered prostheses generally place the drive motor in the distal area of ​​the hip joint near the knee, resulting in large rotational inertia of the lower leg and foot and difficulty in swing control. In this solution, the thigh motor 114 is set at the lower end of the arc slide rail 111 through the slider 113, realizing the proximal placement of the thigh motor 114, reducing the distal mass distribution, thereby reducing the overall rotational inertia, and making the prosthesis have a higher response speed and control stability in the swing phase.

[0028] After determining the hip joint rotation center by designing the corresponding arc-shaped slide rail 111, it is necessary to calibrate the position of the remote motion center surface, i.e., the hip joint rotation center. As an optional method, this application adopts the following calibration method: A gait detection belt 174 is worn on the waist of the subject. The gait detection belt 174 has at least two belt IMUs 1741 evenly distributed around the circumference. To ensure data accuracy, in this embodiment, four belt IMUs 1741 are provided on the gait detection belt 174, located directly in front, behind, to the left, and to the right of the subject, respectively. The position of the hip joint center is estimated by combining the belt IMUs 1741 and optical marker data.

[0029] Specifically, such as Figure 3As shown, the three-dimensional coordinates of the anterior superior iliac spine (ASIS, denoted as point a), the posterior superior iliac spine (PSIS, denoted as point b), and the lateral thigh marker (denoted as point c) were measured using a motion capture system. Based on existing human statistical models, the anterior-posterior direction vector d of the subject's pelvis was constructed, and its calculation formula is as follows: (1); Based on this, and through statistical conclusions and relationships of existing human data, the hip joint center h can be defined as the result of the PSIS point b offset by 0.37 times in direction d and offset downwards by 0.045 m in the vertical direction. Its expression is as follows: (2); In Equation (2), 0.045 m corresponds to the average vertical offset of the existing human acetabulum center relative to PSIS. Introducing this value can improve the accuracy of hip joint rotation center estimation.

[0030] It is understood that, by utilizing the above calculation process, the present invention can also perform real-time calculation of the hip joint rotation center when the user wears the above-mentioned hip joint component and gait detection belt, thereby achieving dynamic matching between the position of the hip joint drive axis and the user's anatomical features.

[0031] After obtaining the hip joint center h, this invention further defines the thigh vector, and obtains the spatial direction of the thigh through the vector relationship between the outer thigh marker point c and the hip joint center h. Its expression is: (3); The pelvic plane is formed by points a, b, and h. To describe the orientation of this pelvic plane, this invention obtains the normal vector of the pelvic plane by the cross product of the forward pelvic vector d and the vertical unit vector z. : (4); Where z is the matrix transpose of [0, 0, 1]. To further calculate the swing angle of the thigh relative to the pelvic plane, the thigh vector and the pelvic plane normal vector need to be normalized. The normalization expression is as follows: (5); (6); Through unit thigh vector With unit pelvic normal vector The angle between the two sides can be used to obtain the thigh swing angle, providing a key state quantity for the control of the hip joint components.

[0032] Through the above calculation process, this invention enables the hip joint assembly to calculate the pelvic posture and estimate the lower limb direction through the lumbar IMU even without a high-precision motion capture system, thereby realizing the kinematic calculation of the powered prosthesis.

[0033] This remote motion center design can significantly improve the "hip center misalignment" problem commonly found in traditional prostheses for patients with hip amputations. Through this structural design, the lateral pelvic swing during walking is significantly reduced, compensatory movements on the prosthetic side are significantly decreased, and gait symmetry is significantly improved.

[0034] Preferably, in an embodiment of this application, the linkage structure 115 includes a first linkage 1151, a second linkage 1152, and a third linkage 1153. The first linkage 1151 is driven to the output shaft. The upper ends of the second linkage 1152 and the third linkage 1153 are both hinged to the second part of the hinge 112, and the lower ends are both hinged to the first linkage 1151. The hinge joint between the second linkage 1152 and the first linkage 1151 is coaxially arranged with the output shaft. The lengths of the second linkage 1152 and the third linkage 1153 are equal.

[0035] The hinge 112 is responsible for adapting to the sagittal axis tilt angle of the installation point. It is installed on the outside of the residual limb receiving cavity through the lateral mounting plate 1121. The equal length design of the second link 1152 and the third link 1153 ensures the symmetry of the movement trajectory, reduces the pelvic compensatory sway caused by center misalignment, and thus improves gait symmetry.

[0036] In a more preferred embodiment, the second link 1152 and the third link 1153 are length-adjustable rods; wherein, the length-adjustable feature of the second link 1152 and the third link 1153 allows for fine-tuning according to the user's residual limb length and pelvic shape, improving the connection consistency between the prosthesis and the socket, reducing fatigue from long-term wear, and ensuring the stability of the hip joint in the swing and support phases.

[0037] The adjustable design of the second link 1152 and the third link 1153 can be achieved in various ways. The following is an example of one method: the second link 1152 includes a telescopic section and a containment section. The upper end of the containment section is hinged to the hinge 112, and the lower part consists of two spaced-apart pads that can be clamped and locked. The upper end of the telescopic section is movably inserted into the gap between the two pads, and the lower end of the telescopic section is hinged to the first link 1151. When it is necessary to adjust the length of the second link 1152, the locking of the two pads is released, the insertion depth of the telescopic end into the gap is adjusted, and then it is locked again. This locking method can include, but is not limited to, bolt through-locking, friction pressing lock, etc.

[0038] Based on the above-mentioned hip joint component 11, combined with Figure 1 and Figures 4-8 As shown in the embodiments of this application, a powered hip disarticulation prosthesis 10 is also disclosed, which includes the above-mentioned hip joint component 11, as well as thigh segment 12, knee joint component 13, lower leg segment 14, ankle joint component 15, and foot 16.

[0039] To understand the mechanism of action of this application, it is necessary to introduce the concept of gait phase, which is used to describe and analyze the temporal coordination relationship between joints and body parts during walking. Gait phase refers to a specific phase in the gait cycle that describes the state of limb movement. In robotics and sports biomechanics, the analysis of gait phase can help quantify movement patterns.

[0040] The core classification of gait phases includes the support phase and the swing phase (also known as the takeoff phase). The support phase refers to the period when the foot 16 contacts the ground and supports the body weight, and usually includes sub-phases such as heel strike, full foot strike, forward shift of the body's center of gravity, and heel liftoff. The swing phase refers to the period when the foot 16 lifts off the ground and swings forward in the air, preparing for the next strike. This division is the basis of gait analysis. In a gait cycle, the support phase accounts for about 60%, and the swing phase accounts for about 40%.

[0041] Based on this, the power-operated hip disarticulation prosthesis 10 is designed as follows: the arc-shaped slide rail 111 is connected to the upper end of the thigh segment 12, the lower leg segment 14 is hinged to the lower end of the thigh segment 12, the upper end of the knee joint assembly 13 is fixedly connected to the thigh motor 114 and the lower end is hinged to the lower leg segment 14, the foot 16 is connected to the lower end of the lower leg segment 14, and the ankle joint assembly 15 is installed on the lower leg segment 14 and connected to the foot 16.

[0042] In the embodiments of this application, the thigh segment 12 and the lower leg segment 14 are both fixed structures with a certain length (equivalent to the length of the corresponding human bone). They can be designed into different shapes according to the user's needs, and are generally similar to the human skeletal structure. The arc-shaped slide rail 111 is connected to the lower end of the thigh segment 12 to simulate the connection between the hip joint and the thigh. The lower leg segment 14 is hinged to the lower end of the thigh segment 12, and the hinge point corresponds to the human knee joint. The knee joint component 13 is used to assist the hinge point in realizing the function of the human knee joint. The ankle joint component 15 connects the lower leg segment 14 and the foot 16 to realize the function of the human ankle joint.

[0043] Specifically, the knee joint assembly 13 includes a series elastic actuator (SEA) 131 and a knee joint connector 132. The upper end of the series elastic actuator 131 is fixedly connected to the thigh motor 114 and the lower end is hinged to the upper end of the knee joint connector 132. The lower end of the knee joint connector 132 is hinged to the lower leg segment 14.

[0044] The knee joint assembly 13 is controlled by a series elastic actuator 131, which controls the simulated impedance movement of the joint in the form of impedance parameters. Specifically, passive impedance control is used when the prosthetic foot 16 is on the ground, and active angle control is used to track the joint angle when it is in the air.

[0045] The series elastic actuator 131 is a relatively mature technology in the prior art. It consists of a drive motor, an elastic element, a torque sensor 173, and an output shaft. The elastic element enables the knee joint to absorb impact with a compliance similar to that of a biological knee joint during the support phase, while achieving natural knee flexion and swing through angle tracking control during the swing phase. In addition, compared with the existing rigid transmission structure, the knee joint of this application can effectively reduce the peak impact at the moment of foot contact, thereby improving gait stability. The elastic deformation can also serve as a natural "force sensing" input, providing additional information for gait recognition, thereby reducing vibration of the prosthesis during the support phase, lowering the peak impact of the lower limb, improving gait stability, and substantially improving walking comfort and safety.

[0046] The ankle joint assembly 15 includes an ankle joint motor 151, a motor connector 152, a lower leg connecting rod 153, and an ankle joint connector 154. The ankle joint motor 151 is mounted on the lower leg segment 14. One end of the motor connector 152 is driven and connected to the output shaft of the ankle joint motor 151, and the other end is hinged to the upper end of the lower leg connecting rod 153. The lower end of the lower leg connecting rod 153 is hinged to the rear end of the ankle joint connector 154, and the front end of the ankle joint connector 154 is hinged to the lower end of the lower leg segment 14.

[0047] As a preferred embodiment, the ankle joint is driven by a circular motor. This application improves the ankle joint driving mode from the traditional passive driving mode to an active driving mode. Combined with the driving of the hip and knee joints, it provides users with active assistance from the hip to the ankle, so that users can more easily adapt to complex terrain and multi-task scenarios (such as going up and down slopes, stairs, etc.).

[0048] In a preferred embodiment of this application, the ankle joint motor 151 is positioned at the location of the gastrocnemius muscle on the lower leg segment 14. This placement of the ankle joint motor 151 at the proximal end optimizes mass distribution and improves gait smoothness. Furthermore, it fully simulates the function of the gastrocnemius muscle in actual biological tissue. Its power is transmitted through the lower leg link 153 to drive the ankle joint connector 154, enabling active dorsiflexion / plantarflexion (tiptoeing) and coordinated work with the hip and knee joints, enhancing overall movement continuity and biocompatibility. Specifically, this application uses the ankle joint motor 151 to drive the lower leg link 153 to pull or push the ankle joint connector 154, corresponding to the contraction and extension of human muscles. This makes the powered hip disarticulation prosthesis 10 closer to the original human structure, improving its adaptability to different residual limb shapes and making assembly and adjustment more convenient.

[0049] In the embodiments of this application, combined with Figure 9 As shown, the powered hip disarticulation prosthesis 10 also includes a sensor assembly and an active control system 18. The sensor assembly includes a thigh IMU (Inertial Measurement Unit) 171 disposed on the thigh segment 12, a lower leg IMU 172 disposed on the lower leg segment 14, and a torque sensor 173 disposed on the series elastic actuator 131. The active control system 18 is used to acquire the user's gait phase in real time based on the sensing signals of the thigh IMU 171, the lower leg IMU 172 and the torque sensor 173, and to perform hybrid control of the thigh motor 114, the series elastic actuator 131 and the ankle motor 151 according to the gait phase using a preset hybrid control strategy.

[0050] Specifically, an IMU is a device that uses sensors such as accelerometers and gyroscopes to measure the angular velocity, acceleration, and attitude (such as pitch and roll angle) of an object in three-dimensional space in real time. It is widely used in the fields of robot structure design or simulation structure design. In this embodiment, the thigh IMU 171 is used to sense the angle, attitude, and angular velocity of the thigh segment 12 in real time, the lower leg IMU 172 is used to sense the angle, attitude, and angular velocity of the lower leg segment 14 in real time, and the torque sensor 173 of the series elastic actuator 131 is used to sense the torque between the thigh segment 12 and the lower leg segment 14 in real time. The active control system 18 comprehensively analyzes the angle, attitude, and angular velocity of the thigh, the angle, attitude, and angular velocity of the lower leg, and the torque between the thigh segment 12 and the lower leg segment 14 to obtain the user's gait phase, and uses a preset hybrid control strategy to perform hybrid control on the thigh motor 114, the series elastic actuator 131, and the ankle motor 151 based on the gait phase.

[0051] It is understandable that the above comprehensive analysis includes, but is not limited to, time synchronization, filtering, coordinate transformation and data fusion of different sensor data, so as to accurately reconstruct the user's lower limb movement state and provide reliable biomechanical information input for subsequent hybrid control strategies.

[0052] To better predict the gait during the use of the powered hip disarticulation prosthesis 10, the powered hip disarticulation prosthesis 10 also includes the aforementioned gait detection belt 174 for remote center calibration. The sensor assembly also includes at least two belt IMUs 1741 evenly spaced along the circumference of the gait detection belt 174. In this embodiment, the gait detection belt for calibrating the remote center of motion is used, that is, four belt IMUs 1741 are provided on the gait detection belt 174, respectively corresponding to the front, back, left and right sides of the user. The active control system 18 predicts the user's lower limb movement angle based on the waist posture information fed back by the four belt IMUs 1741.

[0053] To more accurately sense the foot 16 support status, the sensor assembly also includes a six-dimensional force sensor 175 disposed on the foot 16. The active control system 18 identifies the user's foot 16 support status based on the foot 16 support information fed back by the six-dimensional force sensor 175.

[0054] Based on the prediction of the user's lower limb movement angle and the acquisition of the foot 16 support state, the hybrid control strategy of the active control system 18 has more accurate and comprehensive biomechanical information input, thereby enabling more accurate analysis of the real-time gait phase during use.

[0055] As an optional hybrid control strategy, the active control system 18 controls the working state of the thigh motor 114, the series elastic actuator 131 and the ankle motor 151 during the support phase according to the real-time gait phase state, thereby adjusting the virtual stiffness and virtual damping of each joint to make the joint exhibit compliant support characteristics, thereby improving stability and reducing impact; during the swing phase (airborne phase), the desired joint angle trajectory is generated according to the velocity prediction model, and the active control system 18 enables the hip, knee and ankle joints to swing naturally through position control or torque control, so that the swing trajectory of the prosthesis is consistent with the user's hip movement.

[0056] During long-term use, this application can also introduce a human-in-the-loop (HIL) optimization strategy. By analyzing parameters such as the user's gait energy consumption, joint angle deviation, and gait consistency index, the joint impedance, assistance amplitude, and trajectory generation model parameters are gradually adjusted, allowing the prosthesis to gradually adapt to the user's individual differences during training. This enables each user to obtain a highly personalized prosthetic control experience, improving the adaptability and comfort of long-term wear.

[0057] Therefore, the powered hip disarticulation prosthesis 10 provided in this application can significantly improve the gait naturalness of the hip disarticulation prosthesis, reduce compensatory sway caused by rotation center deviation, improve stability and comfort when landing, and reduce vibration and impact sensation; achieve continuous power output from the three joints of the lower limb, making the walking rhythm more similar to the natural lower limb; and the gait recognition based on multi-source sensing is more accurate and stable, and can adapt to different walking speeds and usage environments; the multi-joint compliant drive structure design and active ankle assistance reduce the user's energy consumption and improve the endurance of long-term walking; in summary, the embodiments of this application, through the combination of structural innovation, sensor fusion and multi-mode control, make the hip disarticulation prosthesis significantly improved in terms of gait naturalness, comfort, safety and adaptability compared with the prior art.

[0058] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0059] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A hip joint assembly, characterized in that, The device includes an arc-shaped slide rail (111), a hinge (112), a slider (113), a thigh motor (114), and a linkage structure (115). The arc-shaped slide rail (111) is fixed to the lower part of the residual limb receiving cavity, and the arc-shaped opening of the arc-shaped slide rail (111) faces upward. The first part of the hinge (112) is fixedly connected to the outside of the residual limb receiving cavity. The slider (113) is slidably disposed on the arc-shaped slide rail (111). The housing of the thigh motor (114) is fixedly connected to the slider (113). One end of the linkage structure (115) is connected to the second part of the hinge (112), and the other end is driven and connected to the output shaft of the thigh motor (114).

2. The hip joint assembly according to claim 1, characterized in that, The linkage structure (115) includes a first linkage (1151), a second linkage (1152), and a third linkage (1153). The first linkage (1151) is driven and connected to the output shaft of the thigh motor (114). The upper ends of the second linkage (1152) and the third linkage (1153) are both hinged to the second part of the hinge (112), and the lower ends are both hinged to the first linkage (1151). The hinge joint of the second linkage (1152) and the first linkage (1151) is coaxially arranged with the output shaft. The lengths of the second linkage (1152) and the third linkage (1153) are equal.

3. The hip joint assembly according to claim 2, characterized in that, The second link (1152) and the third link (1153) are adjustable length members.

4. A dynamic hip disarticulation prosthesis, characterized in that, The device includes a hip joint assembly as described in any one of claims 1-3, a thigh segment (12), a knee joint assembly (13), a calf segment (14), an ankle joint assembly (15), and a foot (16). The arc-shaped slide rail (111) is connected to the upper end of the thigh segment (12), the calf segment (14) is hinged to the lower end of the thigh segment (12), the upper end of the knee joint assembly (13) is fixedly connected to the thigh motor (114) and the lower end is hinged to the calf segment (14), the foot (16) is connected to the lower end of the calf segment (14), and the ankle joint assembly (15) is mounted on the calf segment (14) and connected to the foot (16).

5. The dynamic hip amputation prosthesis according to claim 4, characterized in that, The knee joint assembly (13) includes a series elastic actuator (131) and a knee joint connector (132). The upper end of the series elastic actuator (131) is fixedly connected to the thigh motor (114) and the lower end is hinged to the upper end of the knee joint connector (132). The lower end of the knee joint connector (132) is hinged to the lower leg segment (14).

6. The dynamic hip amputation prosthesis according to claim 5, characterized in that, The ankle joint assembly (15) includes an ankle joint motor (151), a motor connector (152), a lower leg link (153), and an ankle joint connector (154). The ankle joint motor (151) is mounted on the lower leg segment (14). One end of the motor connector (152) is driven to the output shaft of the ankle joint motor (151), and the other end is hinged to the upper end of the lower leg link (153). The lower end of the lower leg link (153) is hinged to the rear end of the ankle joint connector (154), and the front end of the ankle joint connector (154) is hinged to the lower end of the lower leg segment (14).

7. The dynamic hip amputation prosthesis according to claim 6, characterized in that, The ankle joint motor (151) is located on the lower leg segment (14) corresponding to the gastrocnemius muscle.

8. The dynamic hip amputation prosthesis according to claim 6, characterized in that, The powered hip disarticulation prosthesis also includes a sensor assembly and an active control system (18). The sensor assembly includes a thigh IMU (171) disposed on the thigh segment (12), a lower leg IMU (172) disposed on the lower leg segment (14), and a torque sensor (173) disposed on the series elastic actuator (131). The active control system (18) is used to acquire the user's gait phase in real time based on the sensing signals of the thigh IMU (171), the lower leg IMU (172), and the torque sensor (173), and to perform hybrid control on the thigh motor (114), the series elastic actuator (131), and the ankle motor (151) according to the gait phase using a preset hybrid control strategy.

9. The dynamic hip disarticulation prosthesis according to claim 8, characterized in that, The powered hip disarticulation prosthesis also includes a gait detection belt (174) configured to be worn on the user's waist. The sensor assembly also includes at least two belt IMUs (1741) evenly spaced along the circumference of the gait detection belt (174). The active control system (18) predicts the user's lower limb movement angle based on information fed back from the belt IMUs (1741).

10. The dynamic hip amputation prosthesis according to claim 9, characterized in that, The sensor assembly also includes a six-dimensional force sensor (175) disposed on the foot (16), and the active control system (18) identifies the user's foot support status based on the information fed back by the six-dimensional force sensor (175).

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