A prosthetic limb and its control method

Abstract

The present invention discloses a prosthesis and a control method thereof. The prosthesis includes: a cavity having an accommodating cavity; a knee joint assembly rotatably connected to the cavity; a motion state detection assembly for detecting motion state information of the knee joint assembly; a hydraulic cylinder assembly for providing damping for the knee joint assembly; a drive assembly for adjusting the magnitude of the damping of the hydraulic cylinder assembly; a position sensor assembly for detecting position information of the drive assembly; and a main control assembly electrically connected to the motion state detection assembly, the position sensor assembly, the electromyographic signal line, and the drive assembly, respectively, for controlling the drive assembly to adjust the magnitude of the damping of the hydraulic cylinder assembly based on motion state information, electromyographic signals, and position information. The present invention adjusts the magnitude of the damping of the hydraulic cylinder assembly based on the user's current usage state, thereby adjusting the state of the prosthesis's knee joint support according to the user's walking state, thereby facilitating user use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a prosthesis and a control method thereof. Background Art

[0002] Due to factors such as illness, traffic accidents, work-related injuries, and natural disasters, the number of patients with thigh amputations continues to increase, placing a heavy burden on the patients' families and society. By installing prosthetic limbs, patients with thigh amputations can regain their mobility.

[0003] However, existing prosthetic limbs are generally mechanical prosthetic limbs, which use mechanical structure movement to allow the user to drive the prosthetic limb to move, but cannot adjust the joint state to adapt to the walking state of the wearer, resulting in inconvenience for the prosthetic limb user.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a prosthesis and a control method thereof to solve the problem of inconvenience in movement for prosthesis users caused by the inability of existing prostheses to adjust joint states to adapt to the walking state of the wearer.

[0006] The technical solutions of the present invention are as follows:

[0007] A prosthesis comprising:

[0008] A cavity having a receiving cavity;

[0009] a knee joint assembly, located in the accommodating cavity and rotatably connected to the cavity;

[0010] a motion state detection component, provided on the knee joint component and used for detecting motion state information of the knee joint component;

[0011] a hydraulic cylinder assembly, located in the accommodating cavity and connected to the cavity and the knee joint assembly, respectively, for providing damping for the knee joint assembly;

[0012] A driving assembly is located in the accommodating cavity and is connected to the cavity and the hydraulic cylinder assembly respectively, and is used to adjust the damping of the hydraulic cylinder assembly;

[0013] a position sensor assembly, disposed on the drive assembly and configured to detect position information of the drive assembly;

[0014] The main control component is arranged on the cavity and is electrically connected to the motion state detection component, the position sensor component, the electromyographic signal line and the drive component respectively, and is used to control the drive component to adjust the damping size of the hydraulic cylinder component according to the motion state information, the electromyographic signal and the position information.

[0015] The present invention further provides that the knee joint assembly comprises:

[0016] a bearing, disposed on the cavity;

[0017] a first rotating shaft passing through the bearing to be rotatably connected to the cavity; wherein the motion state detection component is arranged on the first rotating shaft;

[0018] a knee joint support, located in the accommodating cavity and connected to the first rotating shaft;

[0019] An installation shaft is provided, wherein the installation shaft passes through the knee joint support.

[0020] The present invention further provides that the hydraulic cylinder assembly includes:

[0021] a hydraulic cylinder located in the accommodating cavity and connected to the cavity;

[0022] A piston rod is arranged on the hydraulic cylinder and connected to the mounting shaft.

[0023] The present invention is further provided that the drive assembly comprises:

[0024] A driving motor is arranged in the accommodating cavity;

[0025] A transmission member is arranged on the driving motor and connected to the hydraulic cylinder; wherein the position sensor assembly is arranged on the transmission member.

[0026] The present invention further provides that the prosthesis further includes: a first limiting block, which is relatively arranged on the cavity and located below the knee joint component.

[0027] The present invention further provides that the prosthesis further includes: a second limiting block, which is arranged on the knee joint support and located between the knee joint support and the cavity.

[0028] The present invention further provides that the motion state detection component includes: a first magnet, a first bracket, a first circuit board, and an inertial measurement unit; the first bracket is arranged on the first rotating shaft; the first magnet is arranged in the first bracket; the first circuit board is arranged on the cavity; the inertial measurement unit is arranged on the knee joint bracket;

[0029] The position sensor assembly includes: a second magnet, a second bracket and a second circuit board; the second bracket is arranged on the transmission member; the second magnet is arranged on the second bracket; and the second circuit board is arranged on the cavity.

[0030] The present invention further provides that the knee joint assembly further includes: a sleeve, which is sleeved on the first rotating shaft and located between the knee joint support and the cavity.

[0031] The present invention further provides that the knee joint support is provided with a limiting groove, and the end of the piston rod connected to the knee joint support is accommodated in the limiting groove.

[0032] The present invention further provides that the prosthesis also includes: a shell and a charging plate assembly, the shell is arranged on the cavity, and the charging plate assembly is arranged on the shell and is electrically connected to the main control assembly.

[0033] Based on the same inventive concept, the present invention further provides a prosthetic control method, using any of the above prosthetics, comprising:

[0034] The motion state detection component obtains the motion state information of the knee joint component, and the main control component obtains the electromyographic signal of the user's thigh to determine the user's motion intention;

[0035] Determining the user's current usage status based on the motion state information of the knee joint assembly and the user's thigh motion intention;

[0036] Adjust the damping of the hydraulic cylinder assembly according to the user's current usage status.

[0037] The present invention provides a prosthesis and a control method thereof, wherein the prosthesis includes: a cavity having a receiving cavity; a knee joint assembly located in the receiving cavity and rotatably connected to the cavity; a motion state detection assembly arranged on the knee joint assembly and used to detect motion state information of the knee joint assembly; a hydraulic cylinder assembly located in the receiving cavity and respectively connected to the cavity and the knee joint assembly and used to provide damping for the knee joint assembly; a driving assembly located in the receiving cavity and respectively connected to the cavity and the hydraulic cylinder assembly and used to adjust the damping size of the hydraulic cylinder assembly; a position sensor assembly arranged on the driving assembly and used to detect the position information of the driving assembly; a main control assembly arranged on the cavity and respectively electrically connected to the motion state detection assembly, the position sensor assembly, the electromyographic signal line and the driving assembly, and used to control the driving assembly to adjust the damping size of the hydraulic cylinder assembly according to the motion state information, the electromyographic signal and the position information. The present invention obtains the motion state information of the knee joint component through the motion state detection component, and obtains the user's electromyographic signal through the main control component to determine the user's motion intention. Thereafter, the user's current usage state is determined based on the motion state information of the knee joint component and the user's motion intention, and the damping size of the hydraulic cylinder component is adjusted according to the user's current usage state to adjust the state of the prosthetic knee joint bracket according to the user's walking state, thereby facilitating user use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0039] Figure 1 It is a schematic diagram of the partial structure of the prosthesis in the present invention.

[0040] Figure 2 It is a schematic diagram of the connection between the knee joint component and the motion state detection component in the present invention.

[0041] Figure 3 It is a schematic diagram of the connection between the drive assembly and the hydraulic cylinder assembly in the present invention.

[0042] Figure 4 It is a schematic diagram of the installation of the first limit block in the present invention.

[0043] Figure 5 It is a schematic diagram of the installation of the second limit block in the present invention.

[0044] Figure 6It is a schematic diagram of the overall structure of the prosthesis in the present invention.

[0045] Figure 7 It is a flow chart of the prosthesis control method of the present invention.

[0046] The marks in the accompanying drawings are: 1. cavity; 2. knee joint assembly; 21. bearing; 22. first rotating shaft; 23. knee joint bracket; 24. mounting shaft; 25. bushing; 26. limit groove; 3. motion state detection assembly; 31. first magnet; 32. first bracket; 33. first circuit board; 4. hydraulic cylinder assembly; 41. hydraulic cylinder; 42. piston rod; 5. drive assembly; 51. drive motor; 52. transmission part; 6. position sensor assembly; 61. second magnet; 62. second bracket; 63. second circuit board; 7. main control assembly; 8. first limit block; 9. second limit block; 10. outer shell; 11. charging board assembly. DETAILED DESCRIPTION

[0047] The present invention provides a prosthesis and a control method thereof. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0048] In the embodiments and patent claims, unless otherwise specified herein, the words "a," "an," "the," and "the" may include plural forms. If the embodiments of the present invention include descriptions of "first," "second," etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features.

[0049] It should be further understood that the term "comprising" as used in the description of the present invention refers to the presence of the stated features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intermediate elements. In addition, "connected" or "coupled" as used herein can include wireless connections or wireless couplings. The term "and / or" as used herein includes all or any units and all combinations of one or more associated listed items.

[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0051] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] Please also see Figures 1 to 6 , the present invention provides a preferred embodiment of a prosthesis.

[0053] like Figures 1 to 3 As shown, the present invention provides a prosthesis, which includes: a cavity 1, a knee joint component 2, a motion state detection component 3, a hydraulic cylinder component 4, a drive component 5, a position sensor component 6 and a main control component 7. In which, the cavity 1 has a accommodating cavity; the knee joint component 2 is located in the accommodating cavity and is rotatably connected to the cavity 1; the motion state detection component 3 is arranged on the knee joint component 2, for detecting the motion state information of the knee joint component 2; the hydraulic cylinder component 4 is located in the accommodating cavity and is respectively connected to the cavity 1 and the knee joint component 2, for providing damping for the knee joint component 2; the driving component 5 is located in the accommodating cavity and is respectively connected to the cavity 1 and the hydraulic cylinder component 4, for adjusting the damping size of the hydraulic cylinder component 4; the position sensor component 6 is arranged on the driving component 5 for detecting the position information of the driving component 5; the main control component 7 is arranged on the cavity 1 and is respectively electrically connected to the motion state detection component 3, the position sensor component 6, the electromyographic signal line and the driving component 5, for controlling the driving component 5 to adjust the damping size of the hydraulic cylinder component 4 according to the motion state information, the electromyographic signal and the position information.

[0054] Specifically, the interior of the cavity 1 is hollowed out to form a receiving cavity, and the knee joint assembly 2, the hydraulic cylinder assembly 4, the drive assembly 5, the motion state detection assembly 3, and the position sensor assembly 6 are all installed in the receiving cavity formed by the cavity 1. The knee joint assembly 2 is located above the cavity 1 and can rotate on the cavity 1 to adapt to different walking states of the user. The knee joint assembly 2 is connected to the upper receiving cavity by using a connector, and the bottom of the prosthesis is connected to the calf through a connector, wherein the connector can be a structure such as a tetrahedron. In addition, the electromyographic signal line connected to the main control assembly 7 is connected to the wire on the receiving cavity to obtain the electromyographic signal of the user's thigh.

[0055] The motion state detection component 3 determines the user's current motion state information by detecting the rotation direction and rotation angle of the knee joint component 2. The drive component 5 can adjust the size of the damping of the hydraulic cylinder component 4 by adjusting the opening size of the throttle valve of the hydraulic cylinder component 4, and the position sensor component 6 can detect the position of the drive component 5 according to the angle the drive component 5 has rotated, thereby accurately adjusting the size of the throttle valve opening. The main control component 7 is connected to the electromyographic signal line to determine the flexion and extension signal of the user's thigh to determine the motion state of the thigh and thus determine the user's intention. Then, the user's current motion state information detected by the motion state detection component 3 and the user's intention information obtained according to the thigh electromyographic signal can be used to determine whether the user is in a state of walking on flat ground, going up and down slopes, going up and down stairs, standing or sitting, and the information detected by the position sensor component 6 can be combined to control the drive component 5 to adjust the size of the damping of the hydraulic cylinder component 4.

[0056] It can be seen that the present invention can obtain the motion state information of the knee joint component 2 through the motion state detection component 3, and obtain the user's electromyographic signal through the main control component 7 to determine the user's motion intention, and then determine the user's current usage status based on the motion state information of the knee joint component 2 and the user's motion intention, and adjust the damping size of the hydraulic cylinder component 4 according to the user's current usage status to adjust the state of the prosthetic knee joint bracket according to the user's walking state, thereby facilitating the user's use.

[0057] See also Figure 1 In a further embodiment, the knee joint assembly 2 includes a bearing 21, a first rotation shaft 22, a knee joint support 23, and a mounting shaft 24. The bearing 21 is disposed on the cavity 1; the first rotation shaft 22 is passed through the bearing 21 to be rotatably connected to the cavity 1. The motion state detection component 3 is disposed on the first rotation shaft 22; the knee joint support 23 is located in the accommodating cavity and connected to the first rotation shaft 22; and the mounting shaft 24 is passed through the knee joint support 23.

[0058] Specifically, through holes for installing the bearings 21 are provided on both sides of the cavity 1. The bearings 21 are respectively installed in the through holes on both sides of the cavity 1. The two ends of the first rotating shaft 22 are respectively connected to the two bearings 21, so that the first rotating shaft 22 can rotate on the cavity 1. The mounting shaft 24 is provided through the knee joint bracket 23 to provide a mounting position for the drive assembly 5.

[0059] See also Figure 2 Furthermore, the motion state detection component 3 includes: a first magnet 31, a first bracket 32, a first circuit board 33 and an inertial measurement unit (IMU) (not shown in the figure). The first bracket 32 is mounted on the first rotating shaft 22, and the first magnet 31 is arranged in the first bracket 32. When the knee joint bracket 23 rotates around the first rotating shaft 22, it can drive the first magnet 31 to rotate synchronously, and the first circuit board 33 is arranged on the cavity 1, and the inertial measurement unit is arranged on the knee joint bracket 23. During the rotation of the first magnet 31, the first circuit board 33 can receive the magnetic field change, thereby generating relevant signals to obtain the current rotation direction and rotation angle of the knee joint bracket 23. The inertial measurement unit obtains the posture information of the knee joint bracket 23, thereby being able to judge the current walking state of the user.

[0060] The first bracket 32 is made of plastic. During installation, the first magnet 31 is first fixed to the plastic first bracket 32, and then the first bracket 32 is installed on the first rotating shaft 22. After the knee joint bracket 23 and the first magnet 31 are both installed on the first rotating shaft 22, the knee joint bracket 23 and the first rotating shaft 22 are fixed together using a tailless screw (to avoid interference with other components). In this way, when the first rotating shaft 22 rotates, the knee joint bracket 23 can rotate synchronously with the first rotating shaft 22.

[0061] See also Figure 2 In a further implementation of an embodiment, the knee joint assembly 2 further includes: a sleeve 25, which is sleeved on the first rotating shaft 22 and located between the knee joint support 23 and the cavity 1.

[0062] Specifically, the sleeve 25 is made of POM, copper, nylon + glass fiber, PTEF, or PEEK, and is highly wear-resistant. The knee support 23 is connected to the cavity 1 via the bearing 21, which reduces friction between the knee support 23 and the cavity 1, thereby extending the service life and improving the user experience. Adding the sleeve 25 between the knee support 23 and the cavity 1 not only reduces noise during movement between the knee support 23 and the cavity 1, but also eliminates assembly errors and improves comfort.

[0063] See also Figure 1 and Figure 3 In a further implementation of an embodiment, the hydraulic cylinder assembly 4 includes: a hydraulic cylinder 41 and a piston rod 42, the hydraulic cylinder 41 is located in the accommodating cavity and connected to the cavity 1, and the piston rod 42 is arranged on the hydraulic cylinder 41 and connected to the mounting shaft 24.

[0064] Specifically, the piston rod 42 is sleeved on the mounting shaft 24. When the knee joint support 23 rotates, the hydraulic cylinder 41 can prevent the knee joint support 23 from moving further under the damping effect, thereby achieving a buffering effect to improve the user's comfort.

[0065] For example, when the user is in the process of sitting down from standing, the main control component controls the drive component 5 to increase the damping of the hydraulic cylinder 41 so that the user can sit down slowly. When the user is completely seated, the main control component 7 controls the drive component 5 to reduce the damping of the hydraulic cylinder 41. When the user is in the process of standing up from sitting down, the main control component 7 controls the drive component 5 to increase the damping of the hydraulic cylinder 41 so that the user can stand up slowly. Therefore, when the user is walking, the user's movement state can be judged by judging the rotation angle and rotation direction of the knee joint support 23 and the user's thigh electromyographic signal to judge the user's movement intention, so as to control the size of the hydraulic cylinder 41 damping according to the user's walking state, so that the state of the prosthetic knee joint support 23 can be adjusted according to the user's walking state, which is convenient for the user.

[0066] See also Figure 2 In a further implementation of an embodiment, the knee joint support 23 is provided with a limiting groove 26 , and one end of the piston rod 42 connected to the knee joint support 23 is accommodated in the limiting groove 26 .

[0067] Specifically, after the piston rod 42 of the hydraulic cylinder 41 is installed on the mounting shaft 24, it is placed in the limiting groove 26 of the knee joint bracket 23. During the rotation of the knee joint bracket 23, the limiting groove 26 has a limiting function, which can prevent the piston rod 42 from slipping on the mounting shaft 24, so that the piston rod 42 is located in the middle position of the mounting shaft 24, so that the knee joint bracket 23 is subjected to more uniform force during the rotation process, thereby improving the user's comfort during walking.

[0068] See also Figure 3 In a further embodiment, the drive assembly 5 includes a drive motor 51 and a transmission member 52. The drive motor 51 is disposed within the accommodating chamber; the transmission member 52 is disposed on the drive motor 51 and connected to the hydraulic cylinder 41. The position sensor assembly 6 is disposed on the transmission member 52.

[0069] Specifically, the drive motor 51 can be a servo motor, and the transmission member 52 can be a transmission shaft. The drive motor 51 can drive the transmission shaft connected to it to rotate synchronously. Since the transmission shaft is connected to the throttle valve of the hydraulic cylinder 41, it can control the size of the opening of the throttle valve of the hydraulic cylinder 41, and thus control the size of the damping of the hydraulic cylinder 41.

[0070] The position sensor assembly 6 includes a second magnet 61, a second bracket 62, and a second circuit board 63. The second bracket 62 is disposed on the transmission member 52, the second magnet 61 is disposed on the second bracket 62, and the second circuit board 63 is disposed on the cavity 1. The second bracket 62 is made of plastic material, and the second magnet 61 is placed within the second bracket 62. After the second magnet 61 is fixed to the second bracket 62, the second bracket 62 is mounted on the transmission shaft, and the second circuit board 63 is disposed on the cavity 1. During the rotation of the second magnet 61, the second circuit board 63 can receive changes in the magnetic field, thereby generating a relevant signal to the main control assembly 7 to control the size of the throttle valve opening of the hydraulic cylinder 41, thereby completing the precise adjustment of the damping size of the hydraulic cylinder 41.

[0071] See also Figure 4 In a further implementation of an embodiment, the prosthesis further includes: a first limiting block 8, which is relatively arranged on the cavity 1 and located below the knee joint component 2.

[0072] Specifically, two first limit blocks 8 are provided, which are oppositely arranged on both sides of the cavity 1 and located below the knee joint support 23. When the knee joint support 23 rotates clockwise to the first limit blocks 8, the first limit blocks 8 limit the position, thereby preventing the hydraulic cylinder 41 from being unable to return to its original position when the knee joint assembly 2 rotates to the lowest end.

[0073] See also Figure 5 In a further implementation of an embodiment, the prosthesis further includes: a second limiting block 9, which is arranged on the knee joint support 23 and located between the knee joint support 23 and the cavity 1.

[0074] Specifically, the second limit block 9 is installed above the knee joint support 23 and is located between the knee joint support 23 and the cavity 1. When the knee joint support 23 rotates counterclockwise to the highest position, it can limit the further rotation of the knee joint support 23, thereby preventing the user from leaning forward and improving the usability and installation.

[0075] See also Figure 6 In a further embodiment, the prosthesis further comprises: a housing 10 and a charging plate assembly 11. The housing 10 is disposed on the cavity 1 and protects the cavity 1 and the components therein. The charging plate assembly 11 is disposed on the housing 10 and electrically connected to the main control assembly 7 for charging the main control assembly 7.

[0076] See also Figure 7 Based on the same inventive concept, the present invention also provides a prosthetic control method, using the prosthetic as described above, comprising the steps of:

[0077] S100. Obtain the motion state information of the knee joint component through the motion state detection component, and obtain the electromyographic signal of the user's thigh through the main control component to determine the user's motion intention; the details are as described in an embodiment of a prosthesis and will not be repeated here.

[0078] S200, judging the user's current usage status based on the motion status information of the knee joint assembly and the user's thigh motion intention; the details are as described in an embodiment of a prosthesis and will not be repeated here.

[0079] S300: Adjust the damping of the hydraulic cylinder assembly according to the current state of use of the user. The details are as described in the embodiment of the prosthesis and will not be repeated here.

[0080] In summary, the prosthesis and its control method provided by the present invention can obtain the motion state information of the knee joint component through the motion state detection component, and obtain the user's electromyographic signal through the main control component to determine the user's motion intention. Thereafter, the user's current usage status is determined based on the motion state information of the knee joint component and the user's motion intention, and the damping size of the hydraulic cylinder component is adjusted according to the user's current usage status to adjust the state of the prosthesis's knee joint bracket according to the user's walking state, thereby facilitating user use.

[0081] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A prosthesis, characterized in that: include: A cavity having a receiving cavity; a knee joint assembly, located in the accommodating cavity and rotatably connected to the cavity; a motion state detection component, provided on the knee joint component and used for detecting motion state information of the knee joint component; a hydraulic cylinder assembly, located in the accommodating cavity and connected to the cavity and the knee joint assembly, respectively, for providing damping for the knee joint assembly; A driving assembly is located in the accommodating cavity and is connected to the cavity and the hydraulic cylinder assembly respectively, and is used to adjust the damping of the hydraulic cylinder assembly; a position sensor assembly, disposed on the drive assembly and configured to detect position information of the drive assembly; a main control component, disposed on the cavity and electrically connected to the motion state detection component, the position sensor component, the electromyographic signal line, and the drive component, for controlling the drive component to adjust the damping of the hydraulic cylinder component according to the motion state information, the electromyographic signal, and the position information; The knee joint assembly comprises: a bearing, disposed on the cavity; a first rotating shaft passing through the bearing to be rotatably connected to the cavity; wherein the motion state detection component is arranged on the first rotating shaft; a knee joint support, located in the accommodating cavity and connected to the first rotating shaft; An installation shaft is provided through the knee joint support; The hydraulic cylinder assembly comprises: a hydraulic cylinder located in the accommodating cavity and connected to the cavity; a piston rod, disposed on the hydraulic cylinder and connected to the mounting shaft; The drive assembly includes: A driving motor is arranged in the accommodating cavity; A transmission member is provided on the drive motor and connected to the hydraulic cylinder assembly; the transmission member is a transmission shaft, and the transmission shaft is connected to the throttle valve of the hydraulic cylinder; The position sensor assembly includes: a second magnet, a second bracket and a second circuit board; the second bracket is arranged on the transmission member; the second magnet is arranged on the second bracket; the second circuit board is arranged on the cavity; during the rotation of the second magnet, the second circuit board can receive the magnetic field changes, thereby generating relevant signals to the main control assembly to control the size of the throttle valve opening of the hydraulic cylinder.

2. The prosthesis according to claim 1, wherein The prosthesis also includes: a first limit block and a second limit block; the first limit block is relatively arranged on the cavity and located below the knee joint component; the second limit block is arranged on the knee joint support and located between the knee joint support and the cavity.

3. The prosthesis according to claim 1, wherein The motion state detection component includes: a first magnet, a first bracket, a first circuit board and an inertial measurement unit; the first bracket is arranged on the first rotating axis; the first magnet is arranged in the first bracket; the first circuit board is arranged on the cavity; and the inertial measurement unit is arranged on the knee joint bracket.

4. The prosthesis according to claim 1, wherein The knee joint assembly further includes a shaft sleeve, which is sleeved on the first rotating shaft and located between the knee joint support and the cavity.

5. The prosthesis according to claim 1, wherein The knee joint support is provided with a limiting groove, and one end of the piston rod connected to the knee joint support is accommodated in the limiting groove.

6. The prosthesis according to claim 1, wherein The prosthesis further includes: a shell and a charging plate assembly, wherein the shell is arranged on the cavity, and the charging plate assembly is arranged on the shell and electrically connected to the main control assembly.

7. A prosthetic limb control method, characterized in that: The prosthesis according to any one of claims 1 to 6, comprising: The motion state detection component obtains the motion state information of the knee joint component, and the main control component obtains the electromyographic signal of the user's thigh to determine the user's motion intention; Determining the user's current usage status based on the motion state information of the knee joint assembly and the user's thigh motion intention; Adjust the damping of the hydraulic cylinder assembly according to the user's current usage status.

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