A biomimetic intelligent lower limb prosthesis with integrated knee and ankle coordinated movement function

CN116262083BActive Publication Date: 2026-03-13JILIN UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-04-10
Publication Date
2026-03-13

AI Technical Summary

Technical Problem

Existing lower limb prostheses worn by above-knee amputees cannot simultaneously meet the energy demands of the knee and ankle joints, leading to gait asymmetry. Furthermore, the increased size and weight of batteries and motors affect the wearer's energy consumption.

Method used

Design a bionic intelligent lower limb prosthesis with integrated knee and ankle coordinated movement function. By setting a knee-ankle linkage mechanism between the knee and ankle joints and using electromagnetic clutch control, the energy transfer of the knee joint and the energy output of the ankle joint are realized. Combined with the middle layer finite state machine and the bottom layer impedance control scheme, the coordinated movement of the knee and ankle joints is optimized.

Benefits of technology

It improves the symmetry of the wearer's gait, reduces energy consumption, enhances the ability to cross obstacles, and reduces the risk of falling.

✦ Generated by Eureka AI based on patent content.

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Abstract

This invention discloses a bionic intelligent lower limb prosthesis with integrated knee and ankle coordinated movement function, comprising: a knee joint mechanism; a bearing seat, both ends of which are hinged to the knee joint mechanism; a bearing mechanism disposed inside the bearing seat; a flange disposed on the bearing seat; an electromagnetic clutch supported above the flange; a helical groove rod; a helical guide rod; a spring cavity; a spring guide rod coaxially disposed within the spring cavity; a lower leg tube, one end of which is fixedly connected to the bottom of the knee joint mechanism; a footplate mechanism, one end of which is rotatably connected to the other end of the spring guide rod; and an ankle joint cover. A knee-ankle linkage mechanism is provided between the knee and ankle joints. By controlling the electromagnetic clutch to change the length of the knee-ankle linkage mechanism, the energy of the knee joint is transferred to the ankle joint, providing the wearer with continuous pushing force during the push-off process.
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Citation Information

Patent Citations

  • Knee-ankle integrated bionic lower limb prosthesis

    CN115192276A

  • Dual, ankle, springs prosthetic foot and ankle system

    US4718913A