Intelligent artificial limb and control method thereof

Abstract

The invention belongs to the technical field of medical instruments, and discloses an intelligent artificial limb which is characterized in that a swing hydraulic cylinder is arranged at the bottom of a joint head, a shank support is connected with a rotating shaft of the swing hydraulic cylinder and can rotate around the rotating shaft, an output shaft of a motor is connected with a valve rod of a flow valve, and a valve element of the flow valve is connected with an oil way of the swing hydraulic cylinder; a rotating shaft of the angle sensor is connected with the rotating shaft; the hydraulic resistance is adjusted through a motor, and the performance of the intelligent artificial limb in the aspects of safety, flexibility and movement precision is remarkably improved through accurate sensor feedback and an intelligent control system. The invention further discloses a control method of the intelligent artificial limb, the controller calculates the dip angle value of the thigh according to the value of the angle signal and the value of the dip angle signal, and a plurality of walking modes are preset in the controller; according to the invention, the angle and inclination angle signals are collected in real time, and the hydraulic resistance of the knee joint is intelligently adjusted according to multiple preset walking modes, so that the walking experience and safety in different motion scenes are optimized.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an intelligent prosthetic limb and a control method thereof. Background Art

[0002] With the continuous progress of technology, prosthetic limb technology has evolved from traditional mechanical prosthetics to intelligent prosthetics. Intelligent prosthetics, by integrating hardware such as sensors, microprocessors, and motors, offer more advanced functions than traditional prosthetics, capable of simulating human movements and playing an important role, especially in the rehabilitation process of athletes or disabled individuals. However, current intelligent prosthetic products still have many technical and usage problems.

[0003] Firstly, there are deficiencies in safety and flexibility. Although existing prosthetic limb technologies have become relatively mature, most intelligent knee joints still suffer from problems such as untimely resistance adjustment and slow response. These issues lead to insufficient guarantee of the safety of users during daily activities. Especially when going upstairs, downstairs, or quickly changing gaits, the control of the knee joint cannot respond in a timely manner, increasing the risk of accidents such as falls.

[0004] Secondly, current intelligent prosthetic products on the market are expensive and difficult to maintain. Although the technology of intelligent prosthetic products in the market is constantly catching up, most of them are in a dilemma of high prices and difficulty in popularization, resulting in many patients or users in need of prosthetics being unable to enjoy the convenience brought by advanced technologies. In addition, the maintenance of intelligent prosthetics is usually relatively complex, and high technical requirements are imposed on maintenance personnel, making it difficult for users to obtain effective support and services during use.

[0005] Another prominent problem is that existing intelligent knee joint prosthetics do not provide a natural upward stair movement. Currently, most intelligent prosthetics on the market have overly rigid knee joint movements when users go upstairs, lacking sufficient flexibility and physiological simulation. Users need long-term training to adapt, and even then, the movements are often not natural enough, affecting the user experience.

[0006] Finally, the differentiation in the usage experience is also a major obstacle in the popularization of intelligent prosthetics. The needs of different users vary greatly, and current intelligent prosthetic systems in the market are difficult to precisely adjust according to individual differences, resulting in users often not being able to fully meet their personal needs during actual use, leading to poor universality and unsatisfactory usage effects of the products.

[0007] Therefore, in view of the above problems, how to design a more intelligent, safe, and knee joint control system that can adapt to different usage scenarios has become an important research topic in current technology. Summary of the Invention

[0008] The present invention provides an intelligent prosthetic limb to solve the existing technical problems.

[0009] To solve the above technical problems, the technical solution proposed by the present invention is as follows: An intelligent prosthetic limb, comprising a joint head, a calf bracket and a connecting member. The top of the joint head is connected to the thigh part. The bottom of the joint head is hinged to the upper part of the calf bracket. The top of the connecting member is connected to the bottom of the calf bracket. The bottom of the connecting member is connected to a foot plate member. A swing hydraulic cylinder is provided at the bottom of the joint head. The calf bracket is connected to the rotating shaft of the swing hydraulic cylinder and can rotate around the rotating shaft. A motor, a flow valve, an angle sensor, a controller and a battery are provided on the calf bracket. The output shaft of the motor is connected to the valve stem of the flow valve and can push the valve stem in and out to change the length of the valve stem in the valve cavity. The valve core of the flow valve is connected to the oil circuit of the swing hydraulic cylinder and can control the on-off of the oil circuit. The rotating shaft of the angle sensor is connected to the rotating shaft. The controller is respectively connected to the motor, the angle sensor and the battery. An inclination sensor is provided on the controller.

[0010] As a further improvement of the above technical solution: A placement cavity, a steel cable and a spring are further provided on the calf bracket. The placement cavity extends along the length direction of the calf bracket. The connecting end of the steel cable is connected to the joint head. The upper part of the steel cable bypasses the swing hydraulic cylinder. A fixing seat is provided at the bottom end of the steel cable. The fixing seat is movably placed in the placement cavity and can move up and down in the placement cavity when the swing hydraulic cylinder swings. The spring is sleeved on the steel cable. The top of the spring abuts against the top of the placement cavity. The bottom of the spring abuts against the fixing seat and is compressed when the fixing seat moves upward, and has a tendency to move the fixing seat downward to approach the bottom of the placement cavity.

[0011] A manual valve is further provided on the calf bracket. The manual valve is provided with a manual adjustment end and an adjustment rod. The manual adjustment end is located at the rear side of the calf bracket. The adjustment rod is connected to the valve cavity and can change the length in the valve cavity by adjusting the movement of the manual adjustment end in and out.

[0012] The swing hydraulic cylinder is a bidirectional hydraulic cylinder.

[0013] The motor is a rotary motor.

[0014] A control method for an intelligent prosthetic limb, wherein the controller collects the angle signal of the angle sensor and the inclination signal of the inclination sensor, and then calculates the inclination value of the thigh according to the values of the angle signal and the inclination signal, for detecting the flexion and extension angle of the knee joint; The controller is preset with a plurality of walking modes, and the plurality of walking modes include a flat ground mode, an up-step mode, a down-step mode, a sitting-down mode, a squatting-down mode and a standing-up mode; The leg-lifting motion in the flat-ground mode: The wearer lifts the thigh, driving the calf bracket to lift. The knee joint bends without bearing weight, performing the leg-lifting motion in the flat-ground mode. At this time, the inclination value calculated by the controller decreases from large to small, and then controls the swing hydraulic cylinder to be in a resistance-free state when the knee joint bends; The stepping motion in the flat-ground mode: The wearer extends the thigh, driving the calf bracket to extend. The knee joint extends while bearing weight, performing the stepping-leg motion in the flat-ground mode. At this time, the inclination value calculated by the controller increases from small to large, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The continuous motion in the flat-ground mode: The wearer bends the thigh backward, the calf bracket remains extended, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller remains unchanged, and the swing hydraulic cylinder is controlled to maintain a resistance state when the knee joint bends. Then perform the leg-lifting motion in the flat-ground mode again, and repeat in turn to complete normal walking on flat ground; The leg-lifting motion in the up-step mode: The wearer bends the thigh backward violently and then extends it, driving the calf bracket to bend. The knee joint bends without bearing weight, performing the leg-lifting motion in the up-step mode. At this time, the inclination value calculated by the controller decreases from large to small, and then controls the swing hydraulic cylinder to be in a locked state when the knee joint extends and in a resistance-free state when the knee joint bends; The stepping motion in the up-step mode: The wearer extends the thigh forward and lands on the step, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller remains unchanged, and then controls the swing hydraulic cylinder to be in a locked state when the knee joint extends and in a locked state when the knee joint bends; The continuous motion in the up-step mode: The wearer extends the thigh, the calf bracket steps onto the step, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller increases from small to large, and then controls the swing hydraulic cylinder to be in a resistance-free state when the knee joint extends and in a locked state when the knee joint bends; The leg-lifting motion in the down-step mode: The wearer extends the thigh, the calf bracket remains extended, and the knee joint bends without bearing weight, performing the leg-lifting motion in the down-step mode. At this time, the inclination value calculated by the controller remains unchanged, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The stepping motion in the up-step mode: The wearer moves the thigh down the step, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller remains unchanged, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The continuous motion in the up-step mode: The wearer bends the thigh, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller decreases from large to small, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The sitting action in the sitting mode: The wearer bends the thigh, and the knee joint bends with support and load bearing, performing the sitting action in the sitting mode. At this time, the inclination angle value calculated by the controller decreases from large to small, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The standing-up action in the sitting mode: The wearer extends the thigh, and the knee joint extends with support and load bearing, performing the standing-up action in the sitting mode. At this time, the inclination angle value calculated by the controller increases from small to large, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The sitting action in the squatting mode: The wearer bends the thigh, and the knee joint bends with support and load bearing, performing the sitting action in the squatting mode. At this time, the inclination angle value calculated by the controller decreases from large to small, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends; The standing-up action in the squatting mode: The wearer extends the thigh, and the knee joint extends with support and load bearing, performing the standing-up action in the squatting mode. At this time, the inclination angle value calculated by the controller increases from small to large, and then controls the swing hydraulic cylinder to be in a resistance state when the knee joint bends.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: First, through the synergistic effect of multiple components such as the joint head, calf bracket, and connecting piece, multiple problems in the prior art are effectively solved. First, a swing hydraulic cylinder is arranged at the bottom of the joint head and is connected to the rotating shaft of the swing hydraulic cylinder through the calf bracket, enabling the knee joint to adjust the resistance as needed during dynamic movement, improving the flexibility and response speed of the prosthetic limb, and significantly enhancing the safety of the user in different environments, especially in complex actions such as going upstairs and downstairs, avoiding the safety hazard of slow response of traditional knee joints; Second, the cooperation of the motor, flow valve, angle sensor, and controller makes the control of the intelligent prosthetic limb more precise and intelligent. The motor drives the flow valve to adjust the flow area of the oil passage, changing the hydraulic oil, thereby precisely controlling the hydraulic resistance, so as to adapt to different motion states, ensuring that the prosthetic limb can achieve precise damping adjustment during the support phase and swing phase, avoiding the problem of untimely resistance adjustment of existing intelligent knee joints, and improving the naturalness and comfort of the gait; In addition, the cooperation of the angle sensor and inclination angle sensor in this embodiment, combined with data processing by the controller, can collect the motion information of the knee joint in real time and achieve more personalized adaptive control through the feedback mechanism, further improving the user experience. The battery provides continuous power support for the system, and at the same time, the energy efficiency of the system is optimized; In summary, through multiple technological innovations, this embodiment solves the problems of intelligent prosthetics in terms of safety, flexibility, motion accuracy, etc. In particular, through the combination of motor - adjusted hydraulic resistance and an intelligent control system, the prosthetics perform more naturally and reliably in complex motion environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a schematic cross - sectional structure of an intelligent prosthetic Figure 1 ; Figure 2 is Figure 1 an enlarged schematic structure diagram of the partial area A in Figure 3 is a schematic cross - sectional structure of an intelligent prosthetic Figure 2 ; Figure 4 is a front - view structure schematic diagram of an intelligent prosthetic.

[0018] Legend Explanation: 1. Joint head; 2. Calf bracket; 21. Placing cavity; 22. Steel rope; 221. Connection end; 222. Fixed seat; 23. Spring; 3. Connecting piece; 4. Swing hydraulic cylinder; 41. Rotating shaft; 42. Oil circuit; 5. Motor; 6. Flow valve; 61. Valve stem; 62. Valve cavity; 63. Valve core; 64. Manual valve; 641. Manual adjustment end; 642. Adjusting rod; 7. Angle sensor; 8. Controller; 81. Inclination sensor; 9. Battery. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively and meticulously in combination with the accompanying drawings of the specification and preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0020] Unless otherwise defined, all professional terms used hereinafter have the same meaning as commonly understood by those skilled in the art. For example, the front part is on the same side as the front part of the limb, and the rear part is on the same side as the rear part of the limb. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present invention.

[0021] Unless otherwise specifically stated, all kinds of raw materials, reagents, instruments, and equipment used in the present invention can be obtained through the market or can be prepared by existing methods.

[0022] Embodiment: As Figures 1-4 shown, the intelligent prosthetic limb of this embodiment includes a joint head 1, a calf bracket 2 and a connecting member 3. The top of the joint head 1 is connected to the thigh part, the bottom of the joint head 1 is hinged to the upper part of the calf bracket 2, the top of the connecting member 3 is connected to the bottom of the calf bracket 2, the bottom of the connecting member 3 is connected to the foot plate member. A swing hydraulic cylinder 4 is provided at the bottom of the joint head 1. The calf bracket 2 is connected to the rotating shaft 41 of the swing hydraulic cylinder 4 and can rotate around the rotating shaft 41. A motor 5, a flow valve 6, an angle sensor 7, a controller 8 and a battery 9 are provided on the calf bracket 2. The output shaft of the motor 5 is connected to the valve stem 61 of the flow valve 6 and can push the valve stem 61 in and out to change the length of the valve stem 61 in the valve cavity 62. The valve core 63 of the flow valve 6 is connected to the oil circuit 42 of the swing hydraulic cylinder 4 and can control the on-off of the oil circuit 42. The rotating shaft of the angle sensor 7 is connected to the rotating shaft 41. The controller 8 is respectively connected to the motor 5, the angle sensor 7 and the battery 9. An inclination sensor 81 is provided on the controller 8. The intelligent prosthetic limb system of this embodiment effectively solves multiple problems in the prior art through the coordinated action of multiple components such as the joint head 1, the calf bracket 2, and the connecting member 3. First, a swing hydraulic cylinder 4 is provided at the bottom of the joint head 1, and the calf bracket 2 is connected to the rotating shaft 41 of the swing hydraulic cylinder 4, so that the knee joint can adjust the resistance according to needs during dynamic movement, improving the flexibility and response speed of the prosthetic limb, and significantly enhancing the safety of the user in different environments, especially in complex movements such as going upstairs and downstairs, avoiding the safety hazard of the slow reaction of the traditional knee joint. Secondly, the cooperation of the motor 5, the flow valve 6, the angle sensor 7 and the controller 8 makes the control of the intelligent prosthetic limb more accurate and intelligent. By driving the flow valve 6 with the motor 5 to adjust the flow area of the oil circuit 42 channel and change the hydraulic oil, the hydraulic resistance can be accurately controlled, so as to adapt to different movement states, ensure that the prosthetic limb can achieve precise damping adjustment during the support phase and the swing phase, and avoid the problem of untimely resistance adjustment of the existing intelligent knee joint, improving the naturalness and comfort of the gait. In addition, the cooperation of the angle sensor 7 and the inclination sensor 81 in this embodiment, combined with the data processing of the controller 8, can collect the movement information of the knee joint in real time, detect the gait phase (support phase / swing phase) and movement intention of the wearer (such as going up and down stairs, running) in real time, dynamically adjust the opening of the hydraulic valve, and achieve more personalized adaptive control through the feedback mechanism, further improving the user experience. The battery 9 provides continuous power support for the system, and at the same time, the energy efficiency of the system is optimized. In summary, this embodiment solves the problems of intelligent prosthetic limbs in terms of safety, flexibility, movement accuracy, etc. through multiple technological innovations, especially through the combination of adjusting the hydraulic resistance with the motor 5 and the intelligent control system, making the performance of the prosthetic limb more natural and reliable in complex movement environments.

[0023] In this embodiment, the motor 5 is a rotary motor, which can avoid the out-of-step problem caused by axial load.

[0024] In this embodiment, a placement cavity 21, a steel cable 22 and a spring 23 are further provided on the calf support 2. The placement cavity 21 extends along the length direction of the calf support 2. The connecting end 221 of the steel cable 22 is connected to the joint head 1. The upper part of the steel cable 22 bypasses the swing hydraulic cylinder 4. A fixed seat 222 is provided at the bottom end of the steel cable 22. The fixed seat 222 is movably placed in the placement cavity 21 and can move up and down in the placement cavity 21 when the swing hydraulic cylinder 4 swings. The spring 23 is sleeved on the steel cable 22. The top of the spring 23 abuts against the top of the placement cavity 21. The bottom of the spring 23 abuts against the fixed seat 222 and is compressed when the fixed seat 222 moves upward, and has a tendency to move the fixed seat 222 downward to approach the bottom of the placement cavity 21. An additional elastic boost is provided. The connecting end 221 of the steel cable 22 is connected to the joint head 1, and a fixed seat 222 is provided at the bottom end and can move up and down in the placement cavity 21. With the squeezing and restoring effects of the spring 23, it can assist the knee joint to smoothly transition between the support phase and the swing phase during the swing of the swing hydraulic cylinder 4, improving the naturalness and flexibility of the knee joint and reducing the stiffness and discomfort of existing intelligent prostheses during movement.

[0025] During the support phase, the damping force is increased to prevent excessive knee flexion (giving way), and it responds quickly through the turbulent effect of hydraulic oil to ensure stability.

[0026] During the swing phase, the damping is reduced and the energy stored in the spring 23 is released to achieve efficient energy recovery and improve the naturalness of the gait.

[0027] In this embodiment, a manual valve 64 is further provided on the calf support 2. The manual valve 64 is provided with a manual adjustment end 641 and an adjustment rod 642. The manual adjustment end 641 is located at the rear side of the calf support 2. The adjustment rod 642 is connected to the valve cavity 62 and can change its length in the valve cavity 62 by adjusting the movement of the manual adjustment end 641 in and out. Through the manual adjustment end 641 and the adjustment rod 642, the user can accurately adjust the length of the valve core 63 in the valve cavity 62 according to needs, so as to achieve manual adjustment of the hydraulic resistance and meet the needs of different users in different usage scenarios. This manual adjustment function provides higher flexibility, solves the problem that some existing intelligent prosthesis systems cannot quickly respond to personalized needs, and further improves the user experience and the applicability of the product.

[0028] In this embodiment, the swing hydraulic cylinder 4 is a two-way hydraulic cylinder. The design of the two-way hydraulic cylinder enables the extension resistance and the bending resistance to be adjusted independently, thereby providing more precise knee joint control, enhancing the adaptability and flexibility of the prosthesis in different movements, and avoiding the mutual interference of the traditional structure.

[0029] In this embodiment, for the control method of the intelligent prosthetic limb, the controller 8 collects the angle signal of the angle sensor 7 and the inclination signal of the inclination sensor 81, and then calculates the inclination value of the thigh based on the values of the angle signal and the inclination signal to detect the flexion and extension angle of the knee joint; The controller 8 is pre-set with multiple walking modes, and the multiple walking modes include a flat ground mode, an up-step mode, a down-step mode, a sitting-down mode, a squatting mode, and a standing-up mode; Lifting action in the flat ground mode: The wearer lifts the thigh, drives the calf bracket 2 to lift, and bends the knee without bearing weight, performing the lifting action in the flat ground mode. At this time, the inclination value calculated by the controller 8 changes from large to small, and then controls the swing hydraulic cylinder 4 to be in a resistance-free state when the knee joint bends; Stepping action in the flat ground mode: The wearer extends the thigh, drives the calf bracket 2 to extend, and extends the knee with the knee joint bearing weight, performing the stepping leg action in the flat ground mode. At this time, the inclination value calculated by the controller 8 changes from small to large, and then controls the swing hydraulic cylinder 4 to be in a resistance state when the knee joint bends; Continuous action in the flat ground mode: The wearer bends the thigh backward, the calf bracket 2 remains extended, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller 8 remains unchanged, controls the swing hydraulic cylinder 4 to maintain a resistance state when the knee joint bends, and performs the lifting action in the flat ground mode again, and so on, to complete normal walking on flat ground; Lifting action in the up-step mode: The wearer bends the thigh backward violently and then extends it, drives the calf bracket 2 to bend, and bends the knee without bearing weight, performing the lifting action in the up-step mode. At this time, the inclination value calculated by the controller 8 changes from large to small, and then controls the swing hydraulic cylinder 4 to be in a locked state when the knee joint extends and in a resistance-free state when the knee joint bends; Stepping action in the up-step mode: The wearer extends the thigh forward and lands on the step, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller 8 remains unchanged, and then controls the swing hydraulic cylinder 4 to be in a locked state when the knee joint extends and in a locked state when the knee joint bends; Continuous action in the up-step mode: The wearer extends the thigh, the calf bracket 2 steps onto the step, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller 8 changes from small to large, and then controls the swing hydraulic cylinder 4 to be in a resistance-free state when the knee joint extends and in a locked state when the knee joint bends; Lifting action in the down-step mode: The wearer extends the thigh, the calf bracket 2 remains extended, and bends the knee without bearing weight, performing the lifting action in the down-step mode. At this time, the inclination value calculated by the controller 8 remains unchanged, and then controls the swing hydraulic cylinder 4 to be in a resistance state when the knee joint bends; Stepping motion in the up - step mode: The wearer lowers the thigh, and the knee joint maintains support and load - bearing. At this time, the inclination angle value calculated by the controller 8 remains unchanged, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends. Continuous motion in the up - step mode: The wearer bends the thigh, and the knee joint maintains support and load - bearing. At this time, the inclination angle value calculated by the controller 8 changes from large to small, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends. Sitting - down motion in the sitting - down mode: The wearer bends the thigh, and the knee joint bends while maintaining support and load - bearing to perform the sitting - down motion in the sitting - down mode. At this time, the inclination angle value calculated by the controller 8 changes from large to small, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends. Standing - up motion in the sitting - down mode: The wearer extends the thigh, and the knee joint extends while maintaining support and load - bearing to perform the standing - up motion in the sitting - down mode. At this time, the inclination angle value calculated by the controller 8 changes from small to large, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends. Sitting - down motion in the squatting mode: The wearer bends the thigh, and the knee joint bends while maintaining support and load - bearing to perform the sitting - down motion in the squatting mode. At this time, the inclination angle value calculated by the controller 8 changes from large to small, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends. Standing - up motion in the down - step mode: The wearer extends the thigh, and the knee joint extends while maintaining support and load - bearing to perform the standing - up motion in the squatting mode. At this time, the inclination angle value calculated by the controller 8 changes from small to large, and then the swing hydraulic cylinder 4 is controlled to be in a resistance state when the knee joint bends.

[0030] The controller 8 collects the signals of the angle sensor 7 and the inclination angle sensor 81 in real - time, accurately calculates the inclination angle value of the thigh, and automatically adjusts the resistance of the knee joint according to a variety of preset walking modes, optimizing the walking experience of the user in different environments. Each walking mode (such as flat - ground mode, up - step mode, down - step mode, sitting - down mode, squatting mode, and standing - up mode) can accurately adjust the hydraulic resistance according to real - time data such as the flexion and extension angles of the knee joint and gait, ensuring a smoother switch between the support - load - bearing and swing periods, reducing discomfort during movement and improving safety. Especially when performing complex movements such as going upstairs and downstairs, it can provide a more natural and comfortable walking experience, avoiding the problems of slow response and stiffness of existing intelligent prostheses.

Claims

1. An intelligent prosthesis, comprising a joint head (1), a calf support (2) and a connecting piece (3), wherein the top of the joint head (1) is connected to the thigh, the bottom of the joint head (1) is hinged to the upper part of the calf support (2), the top of the connecting piece (3) is connected to the bottom of the calf support (2), and the bottom of the connecting piece (3) is connected to the foot plate, characterized in that: A swing hydraulic cylinder (4) is provided at the bottom of the joint head (1); the calf support (2) is connected to a rotating shaft (41) of the swing hydraulic cylinder (4) and can rotate about the rotating shaft (41); a motor (5), a flow valve (6), an angle sensor (7), a controller (8) and a battery (9) are provided on the calf support (2); an output shaft of the motor (5) is connected to a valve stem (61) of the flow valve (6) and can push the valve stem (61) in and out to change the length of the valve stem (61) in the valve chamber (62); a valve core (63) of the flow valve (6) is connected to an oil circuit (42) of the swing hydraulic cylinder (4) and can control the on and off of the oil circuit (42); a rotating shaft of the angle sensor (7) is connected to the rotating shaft (41); the controller (8) is connected to the motor (5), the angle sensor (7) and the battery (9) respectively; and an inclination sensor (81) is provided on the controller (8).

2. The intelligent prosthesis according to claim 1, characterized in that: The calf support (2) is also provided with a placement cavity (21), a steel rope (22) and a spring (23). The placement cavity (21) extends along the length direction of the calf support (2). The connecting end (221) of the steel rope (22) is connected to the joint head (1). The upper part of the steel rope (22) bypasses the swing hydraulic cylinder (4). The bottom end of the steel rope (22) is provided with a fixing seat (222). The fixing seat (222) is movably placed in the placement cavity (21) and can move up and down in the placement cavity (21) when the swing hydraulic cylinder (4) swings. The spring (23) is sleeved on the steel rope (22). The top of the spring (23) abuts against the top of the placement cavity (21), and the bottom of the spring (23) abuts against the fixing seat (222). When the fixing seat (222) moves upward, it is squeezed and has a tendency to move the fixing seat (222) downward to approach the bottom of the placement cavity (21).

3. The intelligent prosthesis according to claim 1, characterized in that: The calf support (2) is also provided with a manual valve (64), and the manual valve (64) is provided with a manual adjustment end (641) and an adjustment rod (642), the manual adjustment end (641) is located at the rear side of the calf support (2), and the adjustment rod (642) is connected to the valve cavity (62), and the length in the valve cavity (62) can be changed by adjusting the in and out movement of the manual adjustment end (641).

4. The intelligent prosthesis according to claim 1, characterized in that: The swing hydraulic cylinder (4) is a bidirectional hydraulic cylinder.

5. The intelligent prosthesis according to claim 1, characterized in that: The motor (5) is a rotary motor.

6. The control method of the intelligent prosthesis according to any one of claims 2 to 5, characterized in that: The controller (8) collects the angle signal of the angle sensor (7) and the inclination signal of the inclination sensor (81), and then calculates the inclination value of the thigh according to the value of the angle signal and the value of the inclination signal, so as to detect the flexion and extension angle of the knee joint; The controller (8) is preset with a plurality of walking modes, the plurality of walking modes comprising a flat ground mode, a stair climbing mode, a stair descending mode, a sitting mode, a squatting mode and a standing up mode; The leg-lifting action in the flat-ground mode: the wearer lifts the thigh, driving the calf support (2) to lift, and the knee joint bends without supporting the load, performing the leg-lifting action in the flat-ground mode, at which time the inclination value calculated by the controller (8) changes from large to small, and then controls the swing hydraulic cylinder (4) to be in a resistance-free state when the knee joint is bent; The stepping action in the flat ground mode: the wearer stretches the thigh, driving the calf support (2) to stretch, and the knee joint stretches the knee under the condition of supporting the load, and performs the stepping leg action in the flat ground mode. At this time, the inclination value calculated by the controller (8) changes from small to large, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The continuous action of the flat ground mode: the wearer bends the thigh backwards, the calf support (2) remains in an extended state, and the knee joint remains in a supporting and load-bearing state. At this time, the inclination value calculated by the controller (8) remains unchanged, and the swing hydraulic cylinder (4) is controlled to maintain a resistance state when the knee joint is bent, and the leg lifting action of the flat ground mode is performed again, and the two actions are repeated in sequence to complete normal walking on flat ground; The leg-lifting action in the step-climbing mode: the wearer bends the thigh backward violently and then stretches it, driving the calf support (2) to bend, and the knee joint bends without supporting the weight, performing the leg-lifting action in the step-climbing mode. At this time, the inclination value calculated by the controller (8) changes from large to small, and then controls the swing hydraulic cylinder (4) to be in a locked state when the knee joint is extended, and in a resistance-free state when the knee joint is bent; The stepping action of the step-up mode is as follows: the wearer extends his thigh forward and falls on the step, and the knee joint maintains support and load-bearing. At this time, the inclination value calculated by the controller (8) remains unchanged, and then the swing hydraulic cylinder (4) is controlled to be in a locked state when the knee joint is extended, and in a locked state when the knee joint is bent; The continuous action of the step-up mode is as follows: the wearer stretches the thigh, the calf support (2) goes up the step, and the knee joint maintains support and load-bearing. At this time, the inclination value calculated by the controller (8) changes from small to large, and then controls the swing hydraulic cylinder (4) to be in a resistance-free state when the knee joint is extended, and in a locked state when the knee joint is bent; The leg-lifting action in the step-down mode: the wearer extends the thigh, keeps the calf support (2) extended, and bends the knee joint without supporting the load, and performs the leg-lifting action in the step-down mode. At this time, the inclination value calculated by the controller (8) remains unchanged, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The stepping action in the step-up mode is as follows: the wearer moves his thigh down the step, with the knee joint maintaining support and bearing weight, at which time the inclination value calculated by the controller (8) remains unchanged, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The continuous action of the step-climbing mode is as follows: the wearer bends the thigh, and the knee joint maintains support and load-bearing. At this time, the inclination value calculated by the controller (8) changes from large to small, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The sitting down action in the sitting down mode: the wearer bends the thigh, bends the knee joint while supporting the weight, and performs the sitting down action in the sitting down mode. At this time, the inclination value calculated by the controller (8) changes from large to small, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The standing up action in the sitting mode: the wearer stretches the thigh, and the knee joint extends under the condition of supporting the weight, and performs the standing up action in the sitting mode. At this time, the inclination value calculated by the controller (8) changes from small to large, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The sitting action in the squatting mode: the wearer bends the thigh, bends the knee joint while supporting the weight, and performs the sitting action in the squatting mode. At this time, the inclination value calculated by the controller (8) changes from large to small, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent; The standing up action in the lower road mode is as follows: the wearer stretches the thigh, and the knee joint extends under the condition of supporting the weight, and performs the standing up action in the squatting mode. At this time, the inclination value calculated by the controller (8) changes from small to large, and then controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint is bent.

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