An intelligent knee joint with magneto-controlled damping buffer

Abstract

The present invention provides an intelligent knee joint with magneto-controlled damping buffer, which includes a prosthetic knee joint and a damping control system; the prosthetic knee joint is connected to the human body and is used to assist the human body in moving. An articular cartilage with magnetorheological elastomer damping buffer is provided inside the prosthetic knee joint for providing a buffering force during the movement of the prosthetic knee joint; the damping control system includes a pressure sensor, a power supply and a control device. The pressure sensor is installed in the articular cartilage. The pressure sensor is electrically connected to the power supply, and the control device is electrically connected to the power supply. The control device receives the pressure data of the articular cartilage fed back by the pressure sensor and adjusts the damping of the magnetorheological elastomer in the articular cartilage. The control device adjusts the output damping of the articular cartilage in real time according to the received pressure value data, so that the articular cartilage can evenly distribute the acting force during actual use, support and buffer the pressure of the knee joint, and improve the use experience.

Description

Technical Field

[0001] The present invention relates to rehabilitation medical prosthetic devices, and specifically, discloses an intelligent knee joint with magneto-controlled damping buffer. Background Art

[0002] Prosthetic device technology has always been a research hotspot in the field of rehabilitation medicine. Currently, with the increase in the number of amputees or people with incomplete limbs, enabling such people to regain certain self-care and working abilities is the focus of our work. The main function of a prosthetic limb is to replace some of the functions of the lost limb. For the knee joint, in the early stage, it simply completed the support and standing actions with a mechanical structure. Later, it began to combine hydraulic, pneumatic, or motor drive to achieve more complex human actions. Now, this kind of mechatronic prosthetic limb is no longer sufficient to meet the market demand. Summary of the Invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides an intelligent knee joint with magneto-controlled damping buffer.

[0004] An intelligent knee joint with magneto-controlled damping buffer includes a prosthetic knee joint and a damping control system;

[0005] The prosthetic knee joint is connected to the human body and is used to assist the human body in moving. Inside the prosthetic knee joint, there is articular cartilage with magnetorheological elastomer damping buffer, which is used to provide a buffering force during the movement of the prosthetic knee joint;

[0006] The damping control system includes a pressure sensor, a power supply, and a control device. The pressure sensor is installed in the articular cartilage. The pressure sensor is electrically connected to the power supply, and the control device is electrically connected to the power supply. The control device receives the pressure data of the articular cartilage fed back by the pressure sensor and adjusts the output damping in the articular cartilage.

[0007] In this technical solution, the prosthetic knee joint is installed at the limb defect to assist the user in moving. During the user's use of the prosthetic knee joint, the pressure sensor constantly detects the pressure inside the knee joint and feeds the detected data back to the control device. The control device adjusts the output damping of the articular cartilage in real time according to the received pressure value data, so that the articular cartilage can evenly distribute the acting force during actual use, support and buffer the pressure of the knee joint, and improve the use experience.

[0008] Based on the above solution and as a preferred solution of the above solution: The prosthetic knee joint includes a lower thigh, a connecting joint, and a lower leg. The lower thigh drives the lower leg to move through the connecting joint. One end of the connecting joint is connected to the lower thigh, and the other end is connected to the lower leg. The articular cartilage is arranged between the lower thigh and the connecting joint.

[0009] In this technical solution, a structure of a prosthetic knee joint has one end of the connecting joint hinged to the lower large limb and the other end hinged to the lower small limb. During the movement process, the lower large limb can drive the lower small limb to move through the connecting joint.

[0010] Based on the above solution and as a preferred solution of the above solution: The connecting joint includes an upper joint, a left joint, a right joint and a lower joint. One end of the left joint is hinged to the joint cartilage, and the other end is hinged to the lower joint. One end of the right joint is hinged to the joint cartilage, and the other end is hinged to the lower joint. The left joint and the right joint are arranged in parallel, and the lower joint is fixedly installed on the lower small limb.

[0011] In this technical solution, a specific structure of the connecting joint is that the upper joint is fixedly connected to the lower large limb, and the lower joint is fixedly connected to the lower small limb. During the process of the lower large limb driving the lower small limb to swing, the left joint and the right joint make the lower small limb swing while moving during the process of the lower large limb driving the lower small limb to move, improving the actual experience effect of the prosthetic knee joint; the left joint and the right joint arranged in parallel ensure the stable relative movement between the upper joint and the lower joint, so that the lower large limb can stably drive the lower small limb to move.

[0012] Based on the above solution and as a preferred solution of the above solution: A synchronous joint is provided between the upper joint and the lower joint. One end of the synchronous joint is hinged to the upper joint, and the other end is hinged to the lower joint.

[0013] In this technical solution, a synchronous joint is also provided between the upper joint and the lower joint, which is used to assist in supporting the upper joint and the lower joint and improve the stability during the process of the lower large limb driving the lower small limb to move.

[0014] Based on the above solution and as a preferred solution of the above solution: The joint cartilage includes an excitation bracket, an excitation coil, a guide post and a magneto-variable elastomer. The top of the excitation bracket is fixedly connected to the bottom of the lower large limb. The lower surface of the excitation bracket is provided with an installation groove for placing the magneto-variable elastomer. The bottom of the installation groove is provided with a guiding hole extending to the upper surface of the excitation bracket for the movement of the guide post. The bottom of the guide post is fixedly connected to the magneto-variable elastomer. The excitation coil is arranged inside the excitation bracket and is located around the magneto-variable elastomer. The connecting joint is fixedly installed on the lower surface of the excitation bracket and covers the installation groove. The bottom of the magneto-variable elastomer is fixedly connected to the connecting joint.

[0015] In this technical solution, for a specific structure of articular cartilage, during actual use, the excitation coil generates different magnetic fields according to different currents given by the power supply. Under the action of the different magnetic fields generated by the excitation coil, the magnetorheological elastomer deforms under the action of electromagnetic force, causing the guide post to move in the guiding hole, and buffering the pressure on the lower limb in the lower part of the prosthetic knee joint, thereby improving the comfort of the actual use of the prosthetic knee joint.

[0016] Based on the above solution and as a preferred solution of the above solution: The magnetorheological elastomer sequentially includes a shallow-layer magnetorheological elastomer, a middle-layer magnetorheological elastomer, and a deep-layer magnetorheological elastomer from top to bottom. The top of the shallow-layer magnetorheological elastomer is fixedly connected to the guide post, and the bottom of the deep-layer magnetorheological elastomer is fixedly connected to the connecting joint.

[0017] In this technical solution, the magnetorheological elastomer has a three-layer structure, which is a shallow-layer magnetorheological elastomer, a middle-layer magnetorheological elastomer, and a deep-layer magnetorheological elastomer from top to bottom. The power supply changes the current supplied to the excitation coil, which acts on the magnetorheological elastomer, and all three layers of the magnetorheological elastomer change. Among them, the shallow-layer magnetorheological elastomer in the upper layer changes the most and has a buffering and lubricating effect. The middle-layer magnetorheological elastomer in the middle changes generally and has a supporting and buffering effect. The deep-layer magnetorheological elastomer at the bottom provides a certain degree of compressive resistance.

[0018] Based on the above solution and as a preferred solution of the above solution: The volume ratio of the shallow-layer magnetorheological elastomer in the magnetorheological elastomer is 10%-20%, the volume ratio of the middle-layer magnetorheological elastomer in the magnetorheological elastomer is 40%-60%, and the volume ratio of the deep-layer magnetorheological elastomer in the magnetorheological elastomer is 30%.

[0019] In this technical solution, the proportion of each layer in the magnetorheological elastomer to the total volume of the magnetorheological elastomer is disclosed, so that each layer generates different amounts of deformation under the action of the excitation coil, and then the guide post moves up / down following the magnetorheological change, realizing the buffering and support of the prosthetic knee joint.

[0020] Based on the above solution and as a preferred solution of the above solution: The core raw material of the shallow-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 5%.

[0021] In this technical solution, a specific composition component of the raw material for making the shallow-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 5%.

[0022] Based on the above solution and as a preferred solution of the above solution: The core raw material of the middle-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 10%.

[0023] In this technical solution, a specific composition of the raw materials for making the middle-layer magnetorheological elastomer is 10% nano-ferroferric oxide or nano-copper oxide powder.

[0024] Based on the above solution and as a preferred solution of the above solution: The core raw material of the deep-layer magnetorheological elastomer is 20% nano-ferroferric oxide or nano-copper oxide powder by specification.

[0025] In this technical solution, a specific composition of the raw materials for making the deep-layer magnetorheological elastomer is 20% nano-ferroferric oxide or nano-copper oxide powder.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] 1. The magnetorheological elastomer in the present invention is divided into a shallow-layer magnetorheological elastomer, a middle-layer magnetorheological elastomer, and a deep-layer magnetorheological elastomer. Through the combined action of an externally applied current and an excitation coil, it undergoes shape changes. Among them, the shallow-layer magnetorheological elastomer has the largest change and is located at the uppermost section, playing a role in buffering and lubricating joints; the middle-layer magnetorheological elastomer has a general change and is located in the middle section, playing a role in support and buffering; the deep-layer magnetorheological elastomer has the smallest change and is located at the lowermost section, providing the maximum compressive capacity.

[0028] 2. The intelligent knee joint in the present invention mainly controls the change of the magnetorheological elastomer-like cartilage inside under the change of an externally applied magnetic field and current, playing a role in damping buffering and support, making the prosthetic limb move more flexibly, and being able to adapt to different types of sites. Especially when walking on a hard ground, it can absorb excess impact force and reduce joint damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the combined structure of articular cartilage and the upper joint;

[0032] Figure 3 It is a schematic diagram of the internal structure of the cartilage of the present invention;

[0033] Figure 4 It is a schematic diagram showing the decomposition state of the movement process of the prosthetic knee joint of the present invention;

[0034] Figure 5 It is a schematic diagram of the working of the damping control system of the present invention.

[0035] 11. Lower thigh; 12. Lower leg; 131. Upper joint; 1311. Connecting block; 1312. First upper connection hole; 132. Lower joint; 133. Left joint; 1331. Upper left connection hole; 1332. Lower left connection hole; 134. Right joint; 135. Synchronous joint; 2. Articular cartilage; 21. Excitation bracket; 211. Installation groove; 22. Excitation coil; 23. Guide post; 24. Magneto-variable elastomer; 241. Shallow-layer magnetorheological elastomer; 242. Intermediate-layer magnetorheological elastomer; 243. Deep-layer magnetorheological elastomer. Detailed implementation mode

[0036] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0037] As used herein, the term "including" and its variants mean open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least regionally based on". The terms "one exemplary embodiment" and "one embodiment" mean "at least one exemplary embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0038] See Figure 1 As shown, an intelligent knee joint with magneto-controlled damping buffer includes a prosthetic knee joint and a damping control system; the prosthetic knee joint is connected to the human body and is used to assist the human body in moving. An articular cartilage 2 with magnetorheological elastomer damping buffer is provided inside the prosthetic knee joint, which is used to provide a buffering force for the movement process of the prosthetic knee joint; the damping control system includes a pressure sensor, a power supply and a control device. The pressure sensor is installed in the articular cartilage 2. The pressure sensor is electrically connected to the power supply, and the control device is electrically connected to the power supply. The control device receives the pressure data of the articular cartilage fed back by the pressure sensor and adjusts the output damping in the articular cartilage 2. During actual use, the prosthetic knee joint is installed at the limb defect to assist the user in moving. During the user's use of the prosthetic knee joint, the pressure sensor constantly detects the pressure inside the knee joint and feeds the detected data back to the control device. The control device adjusts the output damping of the articular cartilage 2 according to the received pressure value data in real time, so that the articular cartilage 2 can evenly distribute the acting force during actual use, support and buffer the pressure of the knee joint, and improve the use experience.

[0039] See Figure 1As shown, in this embodiment, the prosthetic knee joint includes a lower large limb 11, a connecting joint, and a lower small limb 12. The lower large limb 11 drives the lower small limb 12 to move through the connecting joint. One end of the connecting joint is connected to the lower large limb 11, and the other end is connected to the lower small limb 12. The articular cartilage 2 is arranged between the lower large limb 11 and the connecting joint. In a structure of the prosthetic knee joint, one end of the connecting joint is hinged to the lower large limb 11, and the other end is hinged to the lower small limb 12. During the movement process, the lower large limb 11 can drive the lower small limb 12 to move through the connecting joint.

[0040] See Figure 1 As shown, in a specific example of this embodiment, the connecting joint includes an upper joint 131, a left joint 133, a right joint 134, and a lower joint 132. One end of the left joint 133 is hinged to the articular cartilage 2, and the other end is hinged to the lower joint 132. One end of the right joint 134 is hinged to the articular cartilage 2, and the other end is hinged to the lower joint 132. The left joint 133 and the right joint 134 are arranged in parallel. The lower joint 132 is fixedly installed on the lower small limb 12. It should be noted that a synchronous joint 135 is provided between the upper joint 131 and the lower joint 132. One end of the synchronous joint 135 is hinged to the upper joint 131, and the other end is hinged to the lower joint 132. In actual use, the upper joint 131 is fixedly connected to the lower large limb 11, and the lower joint 132 is fixedly connected to the lower small limb 12. During the process of the lower large limb 11 driving the lower small limb 12 to swing, the left joint 133 and the right joint 134 enable the lower small limb 12 to swing while moving during the process of the lower large limb 11 driving the lower small limb 12 to move, improving the actual experience effect of the prosthetic knee joint; the parallel arrangement of the left joint 133 and the right joint 134 ensures the stable relative movement between the upper joint 131 and the lower joint 132, and further enables the lower large limb 11 to stably drive the lower small limb 12 to move. The synchronous joint 135 is used to assist in supporting the upper joint 131 and the lower joint 132, improving the stability during the movement process of the lower large limb 11 driving the lower small limb 12.

[0041] See Figure 1-2, in a specific example of this embodiment, the upper joint 131 is fixedly installed on the upper surface of the lower thigh 11. A connecting block 1311 is obliquely provided at the bottom of the upper joint 131. The connecting block 1311 has a first upper connecting hole 1312 and an upper placement groove. The left joint 133 has an upper left connecting hole 1331 and a lower left connecting hole 1332. The right joint 134 has an upper right connecting hole and a lower right connecting hole. The lower joint 132 has a first lower connecting hole and a lower placement groove. During installation, the upper left connecting hole 1331 of the left joint 133 and the upper right connecting hole of the right joint 134 are correspondingly placed on both sides of the first upper connecting hole 1312. A pin sequentially passes through the upper left connecting hole 1331, the first upper connecting hole 1312, and the upper right connecting hole. The lower left connecting hole 1332 of the left joint 133 and the lower right connecting hole of the right joint 134 are placed on both sides of the first lower connecting hole. A pin sequentially passes through the lower left connecting hole 1332, the first lower connecting hole, and the lower right connecting hole, so that the upper halves of the left joint 133 and the right joint 134 are rotatably connected to the upper joint 131, and the lower halves are rotatably connected to the lower joint 132. The top of the synchronous joint 135 is placed in the upper placement groove, and a pin passes through the upper joint 131 and the synchronous joint 135 in the upper placement groove, so that the synchronous assembly is rotatably connected to the upper joint 131. The bottom of the synchronous joint 135 is placed in the lower placement groove, and a pin passes through the lower joint 132 and the synchronous joint 135 in the lower placement groove, so that the synchronous joint 135 is rotatably connected to the lower joint 132.

[0042] See Figure 2-3 As shown, in a specific example of this embodiment, the articular cartilage 2 includes an excitation bracket 21, an excitation coil 22, a guide post 23, and a magneto-variable elastomer 24. The top of the excitation bracket 21 is fixedly connected to the bottom of the lower thigh 11. An installation groove 211 for placing the magneto-variable elastomer is provided on the lower surface of the excitation bracket 21. A guiding hole extending to the upper surface of the excitation bracket 21 is provided at the bottom of the installation groove 211 for the movement of the guide post 23. The bottom of the guide post 23 is fixedly connected to the magneto-variable elastomer 24. The excitation coil is arranged inside the excitation bracket 21 and is located around the magneto-variable elastomer 24. The connecting joint is fixedly installed on the lower surface of the excitation bracket 21 and covers the installation groove 211. The bottom of the magneto-variable elastomer 24 is fixedly connected to the connecting joint. It should be noted that in this embodiment, the lower surface of the excitation bracket is connected to the upper joint.

[0043] During the actual use process, the excitation coil 22 generates different magnetic fields according to different currents given by the power supply. Under the action of the different magnetic fields generated by the excitation coil 22, the magneto-variable elastomer 24 deforms under the action of electromagnetic force, so that the guide post 23 moves in the guiding hole, and buffers the pressure received by the lower thigh 11 in the lower limb knee joint of the prosthetic limb, improving the comfort of the actual use of the prosthetic limb knee joint.

[0044] See Figure 3As shown, in a specific example of this embodiment, the magneto-variable elastomer 24 includes a shallow-layer magneto-rheological elastomer 241, an intermediate-layer magneto-rheological elastomer 242, and a deep-layer magneto-rheological elastomer 243 from top to bottom. The top of the shallow-layer magneto-rheological elastomer 241 is fixedly connected to the guide post 23, and the bottom of the deep-layer magneto-rheological elastomer 243 is fixedly connected to the connecting joint. The magneto-variable elastomer 24 has a three-layer structure, which is the shallow-layer magneto-rheological elastomer 241, the intermediate-layer magneto-rheological elastomer 242, and the deep-layer magneto-rheological elastomer 243 from top to bottom. The power supply changes the current supplied to the excitation coil 22, which acts on the magneto-variable elastomer 24, and all three layers of the magneto-variable elastomer 24 change. Among them, the shallow-layer magneto-rheological elastomer 241 in the upper layer changes the most and has the function of buffering and lubrication. The intermediate-layer magneto-rheological elastomer 242 in the middle changes generally and has the functions of support and buffering. The deep-layer magneto-rheological elastomer 243 at the bottom provides a certain degree of compressive resistance.

[0045] In a specific example of this embodiment, the volume ratio of the shallow-layer magneto-rheological elastomer 241 in the magneto-variable elastomer 24 is 10%, the volume ratio of the intermediate-layer magneto-rheological elastomer 242 in the magneto-variable elastomer 24 is 60%, and the volume ratio of the deep-layer magneto-rheological elastomer 243 in the magneto-variable elastomer 24 is 30%. The core raw material of the shallow-layer magneto-rheological elastomer 241 is nano-ferroferric oxide or nano-copper oxide powder with a specification of 5%, the core raw material of the intermediate-layer magneto-rheological elastomer 242 is nano-ferroferric oxide or nano-copper oxide powder with a specification of 10%, and the core raw material of the deep-layer magneto-rheological elastomer 243 is nano-ferroferric oxide or nano-copper oxide powder with a specification of 20%. The proportion of each layer in the magneto-variable elastomer 24 to the total volume of the magneto-variable elastomer 24 is disclosed, so that each layer produces different deformations under the action of the excitation coil 22, and then the guide post 23 moves up / down following the magneto-variable, realizing the buffering and support of the prosthetic knee joint. It is worth mentioning that in this technical solution, the volume ratios of the shallow-layer magneto-rheological elastomer 241, the intermediate-layer magneto-rheological elastomer 242, and the deep-layer magneto-rheological elastomer 243 in the magneto-variable elastomer 24 are not limited to the ratios disclosed in the above embodiments. In other embodiments, in actual use, according to requirements, the volume ratio of each layer in the three layers of the magneto-variable elastomer 24 is set. The volume ratio of the shallow-layer magneto-rheological elastomer 241 in the magneto-variable elastomer 24 ranges from 10% to 20%, the volume ratio of the intermediate-layer magneto-rheological elastomer 242 in the magneto-variable elastomer 24 ranges from 40% to 60%, and the volume ratio of the deep-layer magneto-rheological elastomer 243 in the magneto-variable elastomer 24 is 30%.

[0046] See Figure 4As shown, in this embodiment, the decomposition states of the movement process of the prosthetic knee joint are shown from A to G. During the movement process, the lower large limb 11 drives the lower small limb 12 to move through the connecting joint. At the same time, the lower small limb 12 swings. When the lower small limb 12 swings, the left joint 133 between the upper joint 131 and the lower joint 132 rotates with the joint. During the swinging process of the lower small limb 12 of the synchronous joint 135, the inclination angle changes, which is used to support the stability during the movement process of the upper joint 131 and the lower joint 132. Specifically, refer to Figure 4 In A - B, during the support phase, the prosthetic knee joint is in a forward - tilted and relaxed state to cooperate with the human body movement. The lower large limb 11, the lower small limb 12, and the human body's center - of - gravity axis coincide; refer to Figure 4 In C - D, from the standing to the swinging phase, the prosthetic is in a backward - tilted state. The lower small limb 12 bears part of the weight, and the magnetorheological elastomer damping buffer joint cartilage 2 plays a buffering role; refer to Figure 4 In E - G, during the swinging phase, the upper joint 131 and the magnetorheological elastomer 24 buffer most of the pressure, reduce the pressure on the lower large limb 11 and the lower small limb 12, maintain the stability of the inclination angle movement of the lower small limb 12, and enable the prosthetic to follow the human body flexibly.

[0047] Refer to Figure 5 , in the actual operation of the damping control system, the human body transfers the pressure to the intelligent knee joint 2 according to the ground and its own weight. The pressure sensor detects the pressure value and converts the digital signal into an electronic signal and feeds it back to the control device in real - time. The control device adjusts the current output from the power supply to the excitation coil 22, changes the magnetic field of the excitation coil, and the magnetorheological elastomer 24 in the excitation coil 22 deforms under the action of the electromagnetic force. Specifically, the elastic modulus of the shallow - layer magnetorheological elastomer 241 is the largest, which can buffer most of the pressure and protect the entire knee joint from damage under large pressure; at the same time, the pressure is transmitted to the middle - layer magnetorheological elastomer 242, whose elastic modulus is moderate. It can play a certain supporting role while buffering the upper - layer pressure, protecting the upper joint 131 of the knee joint from deformation; finally, the pressure is transmitted to the deep - layer magnetorheological elastomer 243, whose elastic modulus is the lowest and hardness is relatively high. It can maintain its own shape stability while absorbing the upper - layer pressure, providing the maximum compressive resistance and protecting the upper joint 131 from displacement, thus ensuring the structural stability of the intelligent knee joint 2. It should be noted that in other embodiments, the human body transfers the pressure to the intelligent knee joint according to the ground and its own weight. After detection by the pressure sensor, the digital signal is converted into an electronic signal to change the power - supply gear switch, thereby adjusting the magnitude of the output current of the built - in power supply, and further adjusting the change of the magnetorheological elastomer. It belongs to the protection scope of the technical solution of the present invention. The control device in the present invention is not specifically described, and all control methods for adjusting the output of the power - supply current change are within the protection scope of the present invention.

[0048] The above description is only a description of the preferred embodiments of the technical solution of this application, and does not limit any scope of the technical solution of this application. Any changes and modifications made by those of ordinary skill in the technical field of this application based on the above disclosure fall within the scope of protection of the claims.

Claims

1. An intelligent knee joint with magnetically controlled damping buffer, characterized in that, it includes a prosthetic knee joint and a damping control system; The prosthetic knee joint is connected to the human body and is used to assist the human body in moving. Inside the prosthetic knee joint, there is articular cartilage with magnetorheological elastomer damping buffer, which is used to provide a buffering force during the movement of the prosthetic knee joint. The prosthetic knee joint includes a lower thigh, a connecting joint, and a lower leg. The lower thigh drives the lower leg to move through the connecting joint. One end of the connecting joint is connected to the lower thigh, and the other end is connected to the lower leg. The articular cartilage is arranged between the lower thigh and the connecting joint; the articular cartilage includes an excitation bracket, an excitation coil, a guide post, and a magneto-variable elastomer. The top of the excitation bracket is fixedly connected to the bottom of the lower thigh. The lower surface of the excitation bracket is provided with an installation groove for placing the magneto-variable elastomer. The bottom of the installation groove is provided with a guiding hole extending to the upper surface of the excitation bracket for the movement of the guide post. The bottom of the guide post is fixedly connected to the magneto-variable elastomer. The excitation coil is arranged inside the excitation bracket and is located around the magneto-variable elastomer. The connecting joint is fixedly installed on the lower surface of the excitation bracket and covers the installation groove. The bottom of the magneto-variable elastomer is fixedly connected to the connecting joint. The magneto-variable elastomer includes a shallow-layer magnetorheological elastomer, a middle-layer magnetorheological elastomer, and a deep-layer magnetorheological elastomer from top to bottom. Among them, the shallow-layer magnetorheological elastomer has the greatest elasticity, the middle-layer magnetorheological elastomer has moderate elasticity, and the deep-layer magnetorheological elastomer has the lowest elasticity. The volume ratio of the shallow-layer magnetorheological elastomer in the magneto-variable elastomer is 10%-20%, the volume ratio of the middle-layer magnetorheological elastomer in the magneto-variable elastomer is 40%-60%, and the volume ratio of the deep-layer magnetorheological elastomer in the magneto-variable elastomer is 30%; The damping control system includes a pressure sensor, a power supply, and a control device. The pressure sensor is installed in the articular cartilage. The pressure sensor and the control device are electrically connected to the power supply. The control device receives the pressure data of the articular cartilage fed back by the pressure sensor and adjusts the output damping of the articular cartilage.

2. The intelligent knee joint with magnetically controlled damping buffer according to claim 1, characterized in that, the connecting joint includes an upper joint, a left joint, a right joint, and a lower joint. One end of the left joint is hinged to the articular cartilage, and the other end is hinged to the lower joint. One end of the right joint is hinged to the articular cartilage, and the other end is hinged to the lower joint. The left joint and the right joint are arranged in parallel. The lower joint is fixedly installed on the lower leg.

3. The intelligent knee joint with magnetically controlled damping buffer according to claim 2, characterized in that, a synchronous joint is arranged between the upper joint and the lower joint. One end of the synchronous joint is hinged to the upper joint, and the other end is hinged to the lower joint.

4. The intelligent knee joint with magnetically controlled damping buffer according to claim 3, characterized in that, The top of the shallow-layer magnetorheological elastomer is fixedly connected to the guide pillar, and the bottom of the deep-layer magnetorheological elastomer is fixedly connected to the connecting joint.

5. A smart knee joint with magnetically controlled damping and buffering according to claim 4, wherein, the core raw material of the shallow-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 5%.

6. A smart knee joint with magnetically controlled damping and buffering according to claim 5, wherein, the core raw material of the intermediate-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 10%.

7. A smart knee joint with magnetically controlled damping and buffering according to claim 5, wherein, the core raw material of the deep-layer magnetorheological elastomer is nano-ferroferric oxide or nano-copper oxide powder with a specification of 20%.

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