An intelligent prosthetic limb and its control method

Abstract

The present invention belongs to the technical field of medical devices and discloses an intelligent prosthetic limb. 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. The output shaft of the motor is connected to the valve stem of the flow valve. The valve core of the flow valve is connected to the oil circuit of the swing hydraulic cylinder. The rotating shaft of the angle sensor is connected to the rotating shaft. Through the motor to adjust the hydraulic resistance, precise sensor feedback and intelligent control system, the performance of the intelligent prosthetic limb in terms of safety, flexibility and motion accuracy is significantly improved. The present invention also discloses a control method for an intelligent prosthetic limb. The controller calculates the inclination angle value of the thigh according to the values of the angle signal and the inclination angle signal. The controller is preset with multiple walking modes. By collecting the angle and inclination angle signals in real time and intelligently adjusting the hydraulic resistance of the knee joint according to the preset multiple walking modes, the walking experience and safety in different motion scenarios 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 its control method. 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, there are still many technical and usage problems in current intelligent prosthetic products.

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

[0004] Secondly, the intelligent prosthetic products on the current market are mainly monopolized by foreign manufacturers, with high prices and difficult maintenance. Although the technologies of intelligent prosthetic products in the domestic market are constantly catching up, most of them are in a difficult situation of high prices and being difficult to popularize, 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, with high technical requirements for maintenance personnel, making it difficult for users to obtain effective support and services during the use process.

[0005] Another prominent problem is that existing intelligent knee joint prosthetics do not provide a natural upstairs movement. Currently, for most intelligent prosthetics on the market, when the user goes upstairs, the movement of the knee joint is too rigid, lacking sufficient flexibility and physiological simulation. Users need long-term training to adapt, and even so, the movement is often not natural enough, affecting the user experience.

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

[0010] An intelligent prosthetic limb includes a joint head, a calf bracket, and a connecting member. The top of the joint head is connected to the thigh. 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, and 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.

[0011] As a further improvement of the above technical solution:

[0012] 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 fixed seat is provided at the bottom end of the steel cable. The fixed 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 fixed seat and is compressed when the fixed seat moves upward, and has a tendency to move the fixed seat downward to approach the bottom of the placement cavity.

[0013] 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.

[0014] The swing hydraulic cylinder is a two-way hydraulic cylinder.

[0015] The motor is a rotary motor.

[0016] A control method for an intelligent prosthetic limb, 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 value of the angle signal and the value of the inclination signal for detecting the flexion and extension angle of the knee joint;

[0017] The controller is preset with multiple walking modes, and the multiple walking modes include a flat ground mode, a stepping - up mode, a stepping - down mode, a sitting - down mode, a squatting mode, and a standing - up mode;

[0018] For the leg - lifting action in the flat ground mode: The wearer raises the thigh, drives the calf bracket to rise, bends the knee without bearing weight, and performs the leg - lifting action in the flat ground mode. At this time, the inclination angle value calculated by the controller changes from large to small, and then controls the swing hydraulic cylinder to be in a resistance - free state when the knee is bent;

[0019] For the stepping action in the flat ground mode: The wearer extends the thigh, drives the calf bracket to extend, extends the knee while bearing weight, and performs the stepping - leg action in the flat ground mode. At this time, the inclination angle value calculated by the controller changes from small to large, and then controls the swing hydraulic cylinder to be in a resistance state when the knee is bent;

[0020] For the continuous action in the flat ground mode: The wearer bends the thigh backward, the calf bracket remains extended, and the knee remains bearing weight. At this time, the inclination angle value calculated by the controller remains unchanged, controls the swing hydraulic cylinder to maintain a resistance state when the knee is bent, and then performs the leg - lifting action in the flat ground mode again, and so on in turn to complete normal walking on the flat ground;

[0021] For the leg - lifting action in the stepping - up mode: The wearer bends the thigh backward violently and then extends it, drives the calf bracket to bend, bends the knee without bearing weight, and performs the leg - lifting action in the stepping - up mode. At this time, the inclination angle value calculated by the controller changes from large to small, and then controls the swing hydraulic cylinder to be in a locked state when the knee is extended and in a resistance - free state when the knee is bent;

[0022] For the stepping action in the stepping - up mode: The wearer extends the thigh forward and lands on the step, and the knee remains bearing weight. At this time, the inclination angle value calculated by the controller remains unchanged, and then controls the swing hydraulic cylinder to be in a locked state when the knee is extended and in a locked state when the knee is bent;

[0023] For the continuous action in the stepping - up mode: The wearer extends the thigh, the calf bracket steps onto the step, and the knee remains bearing weight. At this time, the inclination angle value calculated by the controller changes from small to large, and then controls the swing hydraulic cylinder to be in a resistance - free state when the knee is extended and in a locked state when the knee is bent;

[0024] For the leg - lifting action in the stepping - down mode: The wearer extends the thigh, the calf bracket remains extended, bends the knee without bearing weight, and performs the leg - lifting action in the stepping - down mode. At this time, the inclination angle value calculated by the controller remains unchanged, and then controls the swing hydraulic cylinder to be in a resistance state when the knee is bent;

[0025] The stepping motion in the descending step mode: The wearer lowers the thigh while the knee joint maintains support and load-bearing. At this time, the inclination value calculated by the controller remains unchanged, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0026] The continuous motion in the descending step mode: The wearer bends the thigh while the knee joint maintains support and load-bearing. At this time, the inclination value calculated by the controller decreases from large to small, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0027] The sitting-down motion in the sitting-down mode: The wearer bends the thigh and bends the knee while the knee joint maintains support and load-bearing to perform the sitting-down motion in the sitting-down mode. At this time, the inclination value calculated by the controller decreases from large to small, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0028] The standing-up motion in the sitting-down mode: The wearer extends the thigh and extends the knee while the knee joint maintains support and load-bearing to perform the standing-up motion in the sitting-down mode. At this time, the inclination value calculated by the controller increases from small to large, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0029] The sitting-down motion in the squatting mode: The wearer bends the thigh and bends the knee while the knee joint maintains support and load-bearing to perform the sitting-down motion in the squatting mode. At this time, the inclination value calculated by the controller decreases from large to small, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0030] The standing-up motion in the squatting mode: The wearer extends the thigh and extends the knee while the knee joint maintains support and load-bearing to perform the standing-up motion in the squatting mode. At this time, the inclination value calculated by the controller increases from small to large, and then the swing hydraulic cylinder is controlled to be in a resistance state when the knee joint bends.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] First, through the coordinated action 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 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 movements such as going upstairs and downstairs, avoiding the safety hazard of slow response of traditional knee joints.

[0033] Secondly, 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, adapting 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 the existing intelligent knee joint, and improving the naturalness and comfort of the gait;

[0034] In addition, the cooperation of the angle sensor and the inclination sensor in this embodiment, combined with the controller for data processing, 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;

[0035] In summary, through multiple technological innovations in this embodiment, the problems of intelligent prosthetic limbs in terms of safety, flexibility, motion accuracy, etc. are solved. Especially, through the combination of motor-adjusted hydraulic resistance and the intelligent control system, the performance of the prosthetic limb in a complex motion environment is more natural and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for 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.

[0037] Figure 1 is a schematic cross-sectional structure of the intelligent prosthetic limb Figure 1 ;

[0038] Figure 2 is Figure 1 the enlarged schematic structure of the local part A in

[0039] Figure 3 is a schematic cross-sectional structure of the intelligent prosthetic limb Figure 2 ;

[0040] Figure 4 is the front view schematic structure of the intelligent prosthetic limb.

[0041] Legend Explanation:

[0042] 1. Joint head; 2. Calf bracket; 21. Placing cavity; 22. Steel cable; 221. Connection end; 222. Fixed seat; 23. Spring; 3. Connector; 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 implementation mode

[0043] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively and meticulously in conjunction 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.

[0044] Unless otherwise defined, all the 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.

[0045] Unless otherwise specifically stated, various raw materials, reagents, instruments, and equipment used in the present invention can be obtained through market purchases or can be prepared by existing methods.

[0046] Example: As Figures 1 - 4As shown in the figure, 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, 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, and 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 is connected to the rotating shaft 41 of the swing hydraulic cylinder 4 through the calf bracket 2, 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 movements such as going upstairs and downstairs, avoiding the safety hazard of the slow reaction of the traditional knee joint. Second, 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 precise and intelligent. The motor 5 drives the flow valve 6 to adjust the flow area of the oil circuit 42 channel, 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 the swing phase, avoiding the problem of untimely resistance adjustment of the existing intelligent knee joint, and 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 motion information of the knee joint in real time, detect the gait phase (support phase / swing phase) and motion 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 the intelligent prosthetic limb in terms of safety, flexibility, motion accuracy, etc. through multiple technological innovations, especially through the combination of the motor 5 adjusting the hydraulic resistance and the intelligent control system, making the performance of the prosthetic limb more natural and reliable in complex motion environments.

[0047] In this embodiment, the motor 5 is a rotary motor, which can avoid the out-of-step problem caused by axial load.

[0048] In this embodiment, a placement cavity 21, a steel cable 22, and a spring 23 are further provided on the calf bracket 2. The placement cavity 21 extends along the length direction of the calf bracket 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. The bottom end of the steel cable 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 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 fixing seat 222 and is compressed when the fixing seat 222 moves upward, and has a tendency to move the fixing 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 the bottom end is provided with a fixing seat 222 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.

[0049] During the support phase, the damping force is increased to prevent excessive knee joint flexion (giving way), and it responds quickly through the turbulent effect of the hydraulic oil to ensure stability.

[0050] During the swing phase, the damping is reduced and the stored energy is released by the spring 23 to achieve efficient energy recovery and improve the naturalness of the gait.

[0051] In this embodiment, a manual valve 64 is further provided on the calf bracket 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 bracket 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, thereby realizing the manual adjustment of the hydraulic resistance and meeting 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.

[0052] 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 independently adjusted, 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.

[0053] 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 according to the values of the angle signal and the inclination signal, which is used to detect the flexion and extension angle of the knee joint;

[0054] The controller 8 is preset with multiple walking modes, and the multiple walking modes include flat ground mode, up - step mode, down - step mode, sitting - down mode, squatting mode, and standing - up mode;

[0055] Lifting action in the flat ground mode: The wearer lifts the thigh part, drives the calf support 2 to lift, and bends the knee joint without bearing weight, and performs 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 non - resistant state when the knee joint bends;

[0056] Stepping action in the flat ground mode: The wearer extends the thigh part, drives the calf support 2 to extend, and extends the knee joint while bearing weight, 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 resistant state when the knee joint bends;

[0057] Continuous action in the flat ground mode: The wearer bends the thigh part backward, the calf support 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 resistant state when the knee joint bends, and then performs the lifting action in the flat ground mode again, and repeats in turn to complete normal walking on the flat ground;

[0058] Lifting action in the up - step mode: The wearer bends the thigh part backward violently and then extends it, drives the calf support 2 to bend, and bends the knee joint without bearing weight, and performs 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 non - resistant state when the knee joint bends;

[0059] Stepping action in the up - step mode: The wearer extends the thigh part 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;

[0060] Continuous action in the up - step mode: The wearer extends the thigh part, the calf support 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 non - resistant state when the knee joint extends and in a locked state when the knee joint bends;

[0061] Lifting leg movement in the down - step mode: The wearer extends the thigh, the calf support 2 remains extended, bends the knee without the knee joint bearing weight, performs the lifting leg movement in the down - step mode. At this time, the inclination angle 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;

[0062] Stepping movement in the down - step mode: The wearer moves the thigh down the step, and the knee joint remains bearing weight. At this time, the inclination angle 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;

[0063] Continuous movement in the down - step mode: The wearer bends the thigh, and the knee joint remains bearing weight. At this time, the inclination angle 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 bends;

[0064] Sitting - down movement in the sitting - down mode: The wearer bends the thigh, bends the knee with the knee joint bearing weight, and performs the sitting - down movement in the sitting - down mode. At this time, the inclination angle 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 bends;

[0065] Standing - up movement in the sitting - down mode: The wearer extends the thigh, extends the knee with the knee joint bearing weight, and performs the standing - up movement in the sitting - down mode. At this time, the inclination angle 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;

[0066] Sitting - down movement in the squatting - down mode: The wearer bends the thigh, bends the knee with the knee joint bearing weight, and performs the sitting - down movement in the squatting - down mode. At this time, the inclination angle 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 bends;

[0067] Standing - up movement in the squatting - down mode: The wearer extends the thigh, extends the knee with the knee joint bearing weight, and performs the standing - up movement in the squatting - down mode. At this time, the inclination angle 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.

[0068] The signals of the angle sensor 7 and the inclination sensor 81 are collected in real time by the controller 8, and the inclination value of the thigh is accurately calculated and the resistance of the knee joint is automatically adjusted according to a variety of preset walking modes, optimizing the walking experience of users in different environments. Each walking mode (such as flat ground mode, up stair mode, down stair mode, sitting down mode, squatting down mode and standing up mode) can accurately adjust the hydraulic resistance according to real-time data such as the flexion and extension angle of the knee joint and gait, ensuring a smoother switch between the support load-bearing and the swing phase, reducing the discomfort during movement and improving safety. Especially during 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 prosthetics.

Claims

1. An intelligent prosthetic limb, comprising 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, 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), and the bottom of the connecting member (3) is connected to a foot plate member, characterized in that, 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).

2. The intelligent prosthetic limb according to claim 1, wherein A placement cavity (21), a steel rope (22) and a spring (23) are further provided on the calf bracket (2). The placement cavity (21) extends along the length direction of the calf bracket (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). A fixed seat (222) is provided at the bottom end of the steel rope (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 rope (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).

3. The intelligent prosthetic limb according to claim 1, wherein A manual valve (64) is further provided on the calf bracket (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 bracket (2). The adjustment rod (642) is connected to the valve cavity (62) and can change the length in the valve cavity (62) by adjusting the in and out of the manual adjustment end (641).

4. The intelligent prosthetic limb according to claim 1, characterized in that, The swing hydraulic cylinder (4) is a two-way hydraulic cylinder.

5. The intelligent prosthetic limb according to claim 1, wherein, The motor (5) is a rotary motor.

6. The control method of the intelligent prosthetic limb according to any one of claims 2-5, 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 values of the angle signal and 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, 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 mode and a standing-up mode; The leg-lifting action in the flat-ground mode: The wearer lifts the thigh, driving the calf bracket (2) to lift. With the knee joint not bearing weight, the knee bends to perform the leg-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 the controller controls the swing hydraulic cylinder (4) to be in a resistance-free state when the knee joint bends; The stepping action in the flat-ground mode: The wearer extends the thigh, driving the calf bracket (2) to extend. With the knee joint bearing weight, the knee extends to perform 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 the controller controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint bends; The continuous action in the flat-ground mode: The wearer bends the thigh backward, and the calf bracket (2) remains extended. The knee joint remains bearing weight. At this time, the inclination value calculated by the controller (8) remains unchanged, and the controller controls the swing hydraulic cylinder (4) to remain in a resistance state when the knee joint bends. Then, the leg-lifting action in the flat-ground mode is performed again, and so on, to complete normal walking on flat ground; The leg-lifting action in the up-step mode: The wearer bends the thigh backward violently and then extends it, driving the calf bracket (2) to bend. With the knee joint not bearing weight, the knee bends to perform the leg-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 the controller 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; The 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 the controller 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; The continuous action in the up-step mode: The wearer extends the thigh, and the calf bracket (2) steps onto the step. The knee joint remains bearing weight. At this time, the inclination value calculated by the controller (8) changes from small to large, and then the controller 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; The leg-lifting action in the down-step mode: The wearer extends the thigh, and the calf bracket (2) remains extended. With the knee joint not bearing weight, the knee bends to perform the leg-lifting action in the down-step mode. At this time, the inclination value calculated by the controller (8) remains unchanged, and then the controller controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint bends; The stepping action in the down-step mode: The wearer steps down the thigh, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller (8) remains unchanged, and then the controller controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint bends; The continuous action in the down-step mode: The wearer bends the thigh, and the knee joint remains bearing weight. At this time, the inclination value calculated by the controller (8) changes from large to small, and then the controller controls the swing hydraulic cylinder (4) to be in a resistance state when the knee joint bends; The sitting-down action of the sitting-down mode: The wearer bends the thigh part, and the knee joint bends under the condition of supporting the weight, performing the sitting-down action of the sitting-down mode. At this time, the inclination angle 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 bends; The standing-up action of the sitting-down mode: The wearer extends the thigh part, and the knee joint extends under the condition of supporting the weight, performing the standing-up action of the sitting-down mode. At this time, the inclination angle 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; The sitting-down action of the squatting-down mode: The wearer bends the thigh part, and the knee joint bends under the condition of supporting the weight, performing the sitting-down action of the squatting-down mode. At this time, the inclination angle 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 bends; The standing-up action of the squatting-down mode: The wearer extends the thigh part, and the knee joint extends under the condition of supporting the weight, performing the standing-up action of the squatting-down mode. At this time, the inclination angle 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.

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