Hip-knee coordinated bionic artificial limb

Abstract

The application provides a hip-knee coordinated bionic artificial limb, which comprises a hip joint movement module, a thigh module, a knee joint movement module, a coordinated driving module, a lower leg module and an artificial foot. The hip joint movement module comprises a receiving cavity fixing seat, a fixing seat connecting piece, a hip front connecting rod, a hip rear connecting rod, a hip upper connecting rod and a hip lower connecting rod; the upper end of the hip front connecting rod is coaxially connected with the fixing seat connecting piece, the middle end of the hip front connecting rod is coaxially connected with the right end of the hip upper connecting rod, the lower end of the hip front connecting rod is coaxially connected with the right end of the hip lower connecting rod, the upper end of the hip rear connecting rod is coaxially connected with the fixing seat connecting piece, the lower end of the hip rear connecting rod is coaxially connected with the middle end of the hip upper connecting rod, the left end of the hip upper connecting rod is coaxially connected with a thigh rod piece, and the left end of the hip lower connecting rod is coaxially connected with the thigh rod piece to form a remote center of motion mechanism; the left side of the hip lower connecting rod is provided with a hip sliding rod; the knee joint movement module is a four-connecting-rod structure; and the driving module is used for driving the hip sliding rod and a knee sliding rod to move up and down. The application realizes bionic movement and dynamic energy management of hip-knee joints.

Description

Technical Field

[0001] This invention relates to a lower limb prosthesis structure, specifically to a hip-knee coordinated bionic prosthesis with homologous heterogeneous drive. Background Technology

[0002] Prosthetics are the primary means of compensating for walking function in lower limb amputees. The hip and knee joints play a crucial role in the natural human gait.

[0003] However, current research on lower limb prostheses primarily focuses on amputees at the thigh level and below, with very little research on prosthetic hip joints. Existing commercially available prosthetic hip joints are purely mechanical, unable to provide the active energy required for normal hip joint movement, nor can they automatically adjust the provided joint torque (primarily damping torque) according to the amputee's intentions. Furthermore, amputees must adapt the prosthetic knee and foot themselves when wearing such prosthetic hip joints, leading to poor coordination between the prosthetic hip and knee joints, thus exacerbating gait abnormalities, low mobility safety, and increased energy consumption. Statistics show that most hip amputees choose to forgo prostheses and use wheelchairs or other assistive devices due to difficulty walking with them, indicating that existing lower limb prostheses fall far short of meeting the needs of these amputees. To help individuals with high-level lower limb amputations regain their mobility and daily living abilities, there is an urgent need to research intelligent lower limb prostheses that can conform to and mimic the normal gait patterns of the human hip-knee joints. Summary of the Invention

[0004] To address the aforementioned issues, the present invention aims to provide a hip-knee coordinated bionic prosthetic structure that achieves bionic motion and dynamic energy management of the hip and knee joints through cross-joint energy coupling and multimodal valve body coordinated design.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A hip-knee coordinated bionic prosthesis includes:

[0007] Hip joint motion module 1, thigh module 2, knee joint motion module 3, drive module 4, calf module 5, and prosthetic foot 6;

[0008] The thigh module 2 includes a thigh rod 22; the lower leg module 5 includes a lower leg tube 52, the lower end of which is fastened to the upper end of the prosthetic foot 6.

[0009] The hip joint motion module 1 includes a receiving cavity fixation seat 11, a fixation seat connector 12, an anterior hip link 13, a posterior hip link 14, an upper hip link 15, and a lower hip link 16. The upper end of the anterior hip link 13 is coaxially connected to the fixation seat connector 12, the middle end of the anterior hip link 13 is coaxially connected to the right end of the upper hip link 15, the lower end of the anterior hip link 13 is coaxially connected to the right end of the lower hip link 16, the upper end of the posterior hip link 14 is coaxially connected to the fixation seat connector 12, the lower end of the posterior hip link 14 is coaxially connected to the middle end of the upper hip link 15, the left end of the upper hip link 15 is coaxially connected to the thigh link 22, and the left end of the lower hip link 16 is coaxially connected to the thigh link 22 to form a remote motion center mechanism. A hip slide bar 161 is provided on the left side of the lower hip link 16.

[0010] The knee joint motion module 3 includes an upper knee link 31, an anterior knee link 32, a lower knee link 33, and a posterior knee link 34, which are coaxially connected in pairs to form a four-bar linkage. The posterior knee link 34 has a knee slide bar 341 on its upper side and a limit block 342 on its lower side to prevent excessive knee flexion interference. The lower knee link 33 is fastened to the calf tube 52 by fasteners.

[0011] The drive module 4 is used to provide active driving force or passive damping force for the hip slide bar 161 and knee slide bar 341 to move up and down.

[0012] Preferably, the drive module 4 includes:

[0013] The hip joint hydraulic cylinder 42 and the hip slider 41 are connected by a connecting rod between the cylinder rod of the hip joint hydraulic cylinder 42 and the hip slider 41; the hip slider 41 is slidably connected to the hip slide rod 611.

[0014] The knee joint hydraulic cylinder 43 and the knee slider 44 are connected by a connecting rod; the knee slider 44 is rotatably connected to the cylinder rod of the knee joint hydraulic cylinder 43 and the knee slider 44; the knee slider 44 is slidably connected to the knee slide rod 341.

[0015] Both the hip joint hydraulic cylinder 42 and the knee joint hydraulic cylinder 43 are located in the hip and knee energy management module 45.

[0016] And a hip and knee energy management module 45, used to provide active driving force or passive damping force for the up and down movement of the output end of the hip joint hydraulic cylinder 42 and the output end of the knee joint hydraulic cylinder 43.

[0017] Preferably, the hip joint hydraulic cylinder 42 includes a hip piston rod 421, a hip hydraulic cylinder cover 422, a hip hydraulic piston 423, a hip hydraulic cylinder body 424, and a hip energy storage spring 425.

[0018] The upper end of the hip piston rod 421 is coaxially connected to the hip slider 41; the middle end of the hip piston rod 421 is threadedly connected to and passes through the hip hydraulic piston 423, making the hip joint hydraulic cylinder 42 a double-ended rod type hydraulic cylinder; the hip hydraulic cylinder body 424 is divided into an upper chamber 4241 and a lower chamber 4242 by the hip hydraulic piston 423, the upper chamber 4241 is provided with an upper chamber oil hole 4243, and the lower chamber 4242 is provided with a lower chamber oil hole 4244; the hip energy storage spring 425 is built into the lower chamber 4242 of the hip hydraulic cylinder, and the compression and rebound of the hip energy storage spring 425 are realized by the up and down movement of the hip hydraulic piston 423 during the hip joint movement, thereby realizing the storage and release of hip joint movement energy;

[0019] The hip hydraulic cylinder head 422 is adapted to the hip hydraulic cylinder body 424;

[0020] The knee joint hydraulic cylinder 43 includes a knee piston rod 431, a knee hydraulic cylinder cover 432, a knee hydraulic piston 433, and a knee hydraulic cylinder body 434.

[0021] The lower end of the knee piston rod 431 is coaxially connected to the knee slider 44; the upper end of the knee piston rod 431 is threadedly connected to the knee hydraulic piston 433, so that the knee joint hydraulic cylinder 43 forms a single-sided rod-type hydraulic cylinder; the knee hydraulic cylinder body 434 is divided into an upper knee hydraulic cylinder chamber 4341 and a lower knee hydraulic cylinder chamber 4342 by the knee hydraulic piston 433. The upper knee hydraulic cylinder chamber 4341 is provided with an upper knee chamber oil hole 4343, and the lower knee hydraulic cylinder chamber 4342 is provided with a lower knee chamber oil hole 4344.

[0022] The knee hydraulic cylinder head 432 is adapted to the knee hydraulic cylinder body 434.

[0023] Preferably, the hip and knee energy management module 45 includes:

[0024] The energy management base 451 includes a hip joint valve body cavity 4511, a knee joint valve body cavity 4512, an energy storage cavity 4513, a hydraulic gear pump cavity 4514, a hydraulic oil circuit for the upper hip cavity 4515, a hydraulic oil circuit for the lower hip cavity 4516, a hydraulic oil circuit for the upper knee cavity 4517, a hydraulic oil circuit for the lower knee cavity 4518, a front section of the active drive oil circuit 4519, an energy transmission passage 45110, and a rear section of the active drive oil circuit 45111.

[0025] The upper hip cavity hydraulic oil passage 4515 has one end connected to the hip joint valve body cavity 4511, one end connected to the upper hip cavity oil hole 4243, and one end connected to the rear section 45111 of the active drive oil passage; the lower hip cavity hydraulic oil passage 4516 has one end connected to the hip joint valve body cavity 4511, and one end connected to the lower hip cavity oil hole 4244.

[0026] The upper knee cavity hydraulic oil passage 4517 has one end connected to the knee joint valve body cavity 4512 and the other end connected to the upper knee cavity oil hole 4343; the lower knee cavity hydraulic oil passage 4518 has one end connected to the knee joint valve body cavity 4512, one end connected to the lower knee cavity oil hole 4344, and the other end connected to the rear section 45111 of the active drive oil passage;

[0027] The active drive oil circuit front section 4519 has one end connected to the hip joint valve body cavity 4511, one end connected to the knee joint valve body cavity 4512, and one end connected to the inner side of the hydraulic gear pump cavity 4514.

[0028] The energy transmission path 45110 has one end connected to the hip joint valve body cavity 4511, one end connected to the knee joint valve body cavity 4512, and one end connected to the energy storage cavity 4513.

[0029] The rear section 45111 of the active drive oil circuit has one end connected to the outside of the hydraulic gear pump chamber 4514, one end connected to the upper hip chamber hydraulic oil circuit 4515, and one end connected to the lower knee chamber hydraulic oil circuit 4518.

[0030] Hip joint flow regulating valve body 452 and knee joint flow regulating valve body 453 are respectively disposed in the hip joint valve body cavity 4511 and the knee joint valve body cavity 4512.

[0031] The upper end of the hip joint flow regulating valve body 452 is provided with a motor shaft, which is connected to the hip joint flow regulating motor module 454. The hip joint flow regulating motor module 454 can control the rotation angle of the hip joint flow regulating valve body 452 to adjust the connection relationship between different slots on the valve body and different hydraulic oil circuits in the energy management base 451.

[0032] The lower end of the knee joint flow regulating valve body 453 is provided with a motor shaft, which is connected to the knee joint flow regulating motor module 455. The knee joint flow regulating motor module 455 can control the rotation angle of the knee joint flow regulating valve body 453 to adjust the connection relationship and fit clearance between different slots on the valve body and different hydraulic oil circuits in the energy management base 451.

[0033] The hip joint flow regulating motor module 454 and the knee joint flow regulating motor module 455 are both mounted on the energy management base 451.

[0034] A hydraulic gear pump 457 is connected to a hydraulic active drive motor 456. The pump has two ports, both located between the rear section 45111 and the front section 4519 of the active drive oil circuit. The hydraulic gear pump 457 is located in the hydraulic gear pump chamber 4514. When the hydraulic active drive motor 456 rotates, it can drive the hydraulic gear pump 457 to work, converting the motor's mechanical energy into hydraulic energy. The forward and reverse rotation of the motor can drive the hydraulic oil to flow from the front section 4519 to the rear section 45111 of the active drive oil circuit, or from the rear section 45111 to the front section 4519 of the active drive oil circuit.

[0035] Energy storage chamber cover 458 is installed in energy storage chamber 4513.

[0036] Preferably, the energy storage chamber cover 458 is sequentially connected to the energy storage chamber spring 459 and the energy storage chamber piston 4510.

[0037] Preferably, the hip joint flow regulating valve body 452 has a cylindrical structure, and the cylindrical surface is provided with a hip valve body first position slot 4521, a hip valve body second position slot 4523 and a hip valve body third position slot 4524.

[0038] The hip valve body first position slot 4521, hip valve body second position slot 4523 and hip valve body third position slot 4524 do not interfere with each other, and the planes formed by the midline of the three and the central axis of the hip joint flow regulating valve body 452 are 90 degrees to each other.

[0039] The hip valve body first slot 4521 extends axially and is equipped with a one-way valve 4522. When the center line of the hip valve body first slot 4521 coincides with the center line of the energy management base 451, the hydraulic oil circuit 4515 of the upper hip cavity and the hydraulic oil circuit 4516 of the lower hip cavity can be connected, so that the hydraulic oil can only flow in one direction from the lower cavity to the upper cavity.

[0040] The hip valve body two-position slot 4523 has an E-shaped structure. When the center line of the hip valve body two-position slot 4523 coincides with the center line of the energy management base 451, the energy transmission passage 45110, the upper hip cavity hydraulic oil passage 4515 and the lower hip cavity hydraulic oil passage 4516 can be connected.

[0041] The hip valve body three-position slot 4524 has an inverted 7-shaped structure. When the center line of the hip valve body three-position slot 4524 coincides with the center line of the energy management base 451, the active drive oil circuit front section 4519, the energy transmission passage 45110, the upper hip cavity hydraulic oil circuit 4515 and the lower hip cavity hydraulic oil circuit 4516 can be connected. In this state, the hydraulic active drive motor 456 rotates to drive the hydraulic gear pump 457 to work, which can push the hydraulic oil to flow and drive the active movement of the hip joint.

[0042] When the slots on the hip joint flow regulating valve body 452 do not overlap with the hydraulic oil circuits in the energy management base 451, the hydraulic oil circuits are not interconnected, and the hip joint is in a locked mode.

[0043] Preferably, the knee joint flow regulating valve body 453 has a cylindrical structure, and the cylindrical surface is provided with a knee valve body first position slot 4531 and a knee valve body second position slot 4532.

[0044] The knee valve body first position slot 4531 and the knee valve body second position slot 4532 do not interfere with each other, and the plane formed by the midline of the two and the central axis of the knee joint flow regulating valve body 453 is 90 degrees to each other.

[0045] The knee valve body first position slot 4531 extends axially. When the center line of the knee valve body first position slot 4531 coincides with the center line of the energy management base 451, the energy transmission passage 45110, the upper knee cavity hydraulic oil passage 4517 and the lower knee cavity hydraulic oil passage 4518 can be connected. In addition, the excess hydraulic oil in its single rod hydraulic cylinder can flow into the energy storage cavity 4513 through the energy transmission passage 45110 for energy storage.

[0046] The knee valve body two-position slot 4532 extends axially. When the center line of the knee valve body two-position slot 4532 coincides with the center line of the energy management base 451, the energy transmission passage 45110, the active drive oil circuit front section 4519 and the upper cavity hydraulic oil circuit 4517 of the knee can be connected. In this state, the hydraulic active drive motor 456 rotates to drive the hydraulic gear pump 457 to work, which can push the hydraulic oil to flow to drive the active movement of the knee joint.

[0047] When the slots on the knee joint flow regulating valve body 453 do not overlap with the hydraulic oil circuits in the energy management base 451, the hydraulic oil circuits are not connected to each other, and the knee joint is in a locked mode.

[0048] Preferably, when the energy storage chamber 4513 is filled with oil, the pressure generated by the hip joint hydraulic cylinder 42 and the knee joint hydraulic cylinder 43 can drive the hydraulic gear pump 457 to drive the hydraulic active drive motor 456 to generate electricity, and the energy is stored in the battery in the form of electrical energy.

[0049] Preferably, by controlling the rotation of the hip joint flow regulating valve body 452 to adjust the deviation between the centerline of the first slot 4521 of the hip valve body and the centerline of the energy management base 451, the overlapping area of ​​the first slot 4521 of the hip body and the hydraulic oil circuit 4515 of the upper hip cavity and the hydraulic oil circuit 4516 of the lower hip cavity can be changed, thereby changing the flow area of ​​the hydraulic oil and thus changing and adjusting the damping force experienced by the hip joint during unidirectional extension movement.

[0050] Preferably, by controlling the rotation of the knee joint flow regulating valve body 453 to adjust the deviation between the centerline of the first slot 4531 of the knee valve body and the centerline of the energy management base 451, the overlapping area of ​​the first slot 4531 of the knee body and the hydraulic oil circuit 4517 of the upper knee cavity and the hydraulic oil circuit 4518 of the lower knee cavity can be changed, thereby changing the flow area of ​​the hydraulic oil and thus changing and adjusting the damping force experienced by the knee joint during flexion or extension movements.

[0051] The normal human gait pattern indicates that the hip / knee joint muscles employ a mixed active-passive action mechanism during walking, providing active driving torque or passive damping torque at different phases of the gait cycle. Simultaneously, the energy of the lower limb joints is not independent, exhibiting a natural energy-saving mechanism of bidirectional muscle drive and inter-joint energy flow. Because the proximal and distal attachment points of the bi-joint muscles and tendons span two joints, they possess a bidirectional driving function, playing a crucial role in the flow and recovery of inter-joint energy during human movement. Currently, research on hip-knee prostheses cannot truly simulate the natural driving characteristics of the bidirectional active-passive mixed action of the lower limb muscles during normal human gait, resulting in high energy consumption and low synergy in the amputee-prosthetic coupling system, specifically manifested as follows:

[0052] (1) Low energy transfer and utilization efficiency

[0053] Traditional passive prostheses rely on elastic elements (such as springs and rubber) or hydraulic dampers to dissipate kinetic energy, resulting in the ineffective recovery of potential energy during the knee flexion phase of the gait cycle (such as when descending stairs). For example, mainstream hydraulic prostheses like the Ottobock C-Leg adjust damping through proportional valves, achieving swing phase velocity control, but their hydraulic system has an energy dissipation rate as high as 85%. Actively driven prostheses (such as the MIT bionic knee) introduce motor drive, but the continuous operation of the motor leads to a dramatic increase in energy consumption, resulting in a single charge lasting less than 8 hours, and they cannot achieve cross-joint energy synergy.

[0054] (2) Hip-knee joint motion decoupling

[0055] Current prostheses mostly employ independent control strategies for the hip and knee joints, lacking a biomimetic coupling mechanism. In physiological gait, hip and knee flexion and extension achieve energy transfer through coordinated muscle groups (e.g., hip extension in the standing phase drives knee flexion). However, due to the decoupled design of traditional prostheses, the efficiency of ground reaction force transmission in the support phase decreases. Especially in complex scenarios such as descending stairs, the phase difference between hip and knee movements exceeds the physiological range, easily leading to gait abnormalities and increased metabolic costs for users.

[0056] (3) Insufficient integration of hydraulic system

[0057] Existing hydraulically driven prostheses (such as...) The Power Knee uses a distributed hydraulic circuit layout, resulting in an increase of over 30% in the axial length of the prosthesis. Furthermore, the multi-chamber hydraulic cylinder and independent valve body design make dynamic energy storage difficult. Application No. 202411606896.8 proposes an electro-hydraulic active ankle prosthesis and walking method, but its unidirectional energy recovery mechanism cannot support bidirectional energy interaction between the hip and knee. Application No. 201610222938.7 proposes an electro-hydraulic damping cylinder structure, which suffers from the problem that when the hydraulic oil in the cavity is compressed during knee joint operation, the motor experiences a large axial load, easily leading to step loss and inability to reach the designated position during adjustment, severely affecting the performance of knee joint damping adjustment. Moreover, when the piston is made into two parts, the machining and assembly precision is difficult to guarantee. The hydraulic damping cylinder structures proposed in applications Nos. 201611167188.4 and 201611166659.X both place the valve body inside the piston, and to reduce axial load, a complex orthogonal oil passage is set up inside the piston, making machining difficult. Furthermore, application number 201611167188.4 uses a linear motor to control the valve body position. Linear motors have drawbacks such as high power consumption, low dynamic rigidity, and high heat generation. Application number 200980122636.0 proposes a semi-driven prosthetic knee joint device that uses a hydraulic pump and damping adjustment valve to achieve driven and non-driven modes. However, the hydraulic valve circuit is extremely complex, and the hydraulic pump and electric motor make the structure complex and bulky.

[0058] In summary, current lower limb prosthetic technology urgently needs to overcome the following core issues: (1) Energy closed-loop management: efficient conversion and recycling of cross-joint potential energy, hydraulic energy and electrical energy; (2) Bionic motion coupling: consistency matching of the instantaneous cardiac trajectory of the hip and knee joint with physiological kinematics; (3) System compactness: highly integrated design of hydraulic drive, energy storage and control modules; (4) Dynamic adaptive regulation: seamless switching between passive damping, active drive and energy recovery modes in multiple scenarios.

[0059] In this invention, the hip and knee joints are driven by hydraulic cylinders supplied with oil from the same power source. When low power is required, the hydraulic cylinders drive the joints with continuous, precise, and controllable damped energy, fully utilizing the characteristics of damped prostheses. In gait situations requiring active torque, a motor drives a hydraulic pump to power the hydraulic cylinders, providing sufficient active torque to the joints. This compensates for the shortcomings of passively damped prostheses in such gait conditions, meeting the wearer's driving force needs during walking and achieving a hybrid drive system with homogeneous but dissimilar energy for the hip-knee synergistic bionic prosthesis. Passive energy storage and release in the hip and knee joints are achieved through the volume difference generated during the movement of the single-rod hydraulic cylinder and the elastic element. Energy transmission and direct linkage of the hip and knee joints are realized through an energy storage device, an external energy transmission path, and two hydraulic flow regulating valves.

[0060] This invention couples active drive and passive damping of the two joints, and constructs a bidirectional drive and energy circuit for the hip-knee joint through an energy biomimetic compensation mechanism based on homogeneous heterogeneous drive. This assists in the efficient recovery of energy and inter-joint flow of the hip-knee joint during walking, effectively improving energy utilization efficiency and reducing metabolic energy in amputees.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] (1) Biomechanical reconstruction:

[0063] like Figure 19 As shown, the use of a remote motion center mechanism (RCM) allows the rotation center of the prosthetic hip joint to simulate the anatomical position of the human acetabulum. Through the four-dimensional coaxial connection between the anterior / posterior hip link and the thigh link, a biomimetic trajectory of the sagittal plane flexion and extension movement of the hip joint is realized.

[0064] The four-bar linkage of the knee joint uses geometric design to simulate the changing trajectory of the instantaneous rotation center of the human knee joint, so that the prosthesis follows a flexion-extension path that is closer to that of the natural knee joint during the swing phase.

[0065] System integration optimization:

[0066] By using a sliding connection design between the hip slide and the knee slide, the drive module is decoupled from the kinematic chain. This solves the problem of increased overall prosthesis volume caused by the hydraulic cylinder swinging inside the prosthesis shell during movement, while ensuring the stability of the hydraulic system.

[0067] The combined application of limit blocks and locking modes can effectively prevent mechanical interference caused by excessive knee flexion and improve the safety of prostheses during non-periodic movements such as sitting posture changes.

[0068] (2) Energy collaborative management:

[0069] The innovative design of the homogeneous and heterogeneous drive system integrates a dual-mode hydraulic cylinder structure: the dual-rod type hip joint hydraulic cylinder realizes the bidirectional conversion of potential energy to hydraulic energy through the energy storage spring, and the single-rod type knee joint hydraulic cylinder works with the energy storage cavity to dynamically balance the volume difference.

[0070] The energy management base improves the efficiency of energy transmission across joints through a multi-path oil circuit topology. During the gait cycle, it can convert the damping dissipation energy of the knee joint flexion phase into hip joint extension assistance, which significantly reduces metabolic consumption compared to traditional independent joint designs.

[0071] (3) Intelligent control:

[0072] The bidirectional damping adjustment system, based on precise control of valve body rotation angle, utilizes a three-position / two-position slot structure in the hip / knee joint flow regulation valve body to achieve millisecond-level switching between flexion damping, extension damping, and energy recovery modes during the gait cycle. The specially designed inverted figure-7 three-position slot structure creates a closed loop between the active drive oil circuit and the energy transmission path. Combined with the piezoelectric effect of the hydraulic gear pump, this enables kinetic energy to be converted into electrical energy in low-work scenarios such as descending stairs. Attached Figure Description

[0073] Figure 1 This is an overall schematic diagram of a hip-knee coordinated bionic prosthesis driven by homologous and heterogeneous energy in an embodiment of the present invention;

[0074] Figure 2 This is a schematic diagram of key components of a hip-knee coordinated bionic prosthesis driven by homogeneous and heterogeneous energy in an embodiment of the present invention;

[0075] Figure 3 This is a schematic diagram of the structure of the hip link and the posterior knee link in an embodiment of the present invention;

[0076] Figure 4 This is a schematic diagram of the structure of the same-source heterogeneous collaborative driving module in an embodiment of the present invention;

[0077] Figure 5 This is a schematic diagram of the structure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in an embodiment of the present invention;

[0078] Figure 6 This is a schematic diagram of the hip and knee energy management module in an embodiment of the present invention;

[0079] Figure 7 This is a schematic diagram of the structure of the energy management base in an embodiment of the present invention;

[0080] Figure 8 This is a schematic diagram of the hip joint flow regulating valve body in an embodiment of the present invention;

[0081] Figure 9 This is a schematic diagram of different adjustment states of the hip joint flow regulating valve body in an embodiment of the present invention;

[0082] Figure 10 This is a schematic diagram of the structure of the knee joint flow regulating valve body in an embodiment of the present invention;

[0083] Figure 11 This is a schematic diagram of different adjustment states of the knee joint flow regulating valve body in an embodiment of the present invention;

[0084] Figure 12 A schematic diagram illustrating the working modes of the hip and knee energy management module under different conditions;

[0085] Figure 13This is a diagram of the internal hydraulic circuitry for the hip and knee energy management module.

[0086] Figure 14 This is a schematic diagram showing the connection between the hip linkage, the hip slider, and the hip joint hydraulic cylinder.

[0087] Figure 15 Installation diagram of a hydraulic gear pump

[0088] Figure 16 This is a structural diagram of a hydraulic gear pump;

[0089] Figure 17 A schematic diagram illustrating the principle of the homologous heterogeneous function control method for an integrated hip and knee prosthesis during flat walking.

[0090] Figure 18 A diagram showing the motion states of the knee and hip joints;

[0091] Figure 19 A schematic diagram simulating the anatomical position of the human acetabulum using the RCM as the center of rotation of the prosthetic hip joint;

[0092] Figure 20 This is a structural diagram of a one-way valve.

[0093] Among them, 1-hip joint motion module, 11-receiving cavity fixation seat, 12-fixation seat connector, 13-anterior hip link, 14-posterior hip link, 15-upper hip link, 16-lower hip link, 161-hip slide bar;

[0094] 2- Thigh module, 21- Thigh bionic shell, 22- Thigh rod;

[0095] 3-Knee joint motion module, 31-Upper knee link, 32-Front knee link, 33-Lower knee link, 34-Rear knee link, 341-Knee slide bar;

[0096] 4-Drive module, 41-Hip slider

[0097] 42-Hip joint hydraulic cylinder, 421-Hip piston rod, 422-Hip hydraulic cylinder head, 423-Hip hydraulic piston, 424-Hip hydraulic cylinder body, 425-Hip energy storage spring;

[0098] 43-Knee joint hydraulic cylinder, 431-Knee piston rod, 432-Knee hydraulic cylinder head, 433-Knee hydraulic piston, 434-Knee hydraulic cylinder body;

[0099] 44-Knee slider,

[0100] 45-Hip and Knee Energy Management Module

[0101] 451-Energy Management Base; 4511-Hip Joint Valve Body Cavity; 4512-Knee Joint Valve Body Cavity; 4513-Energy Storage Cavity; 4514-Hydraulic Gear Pump Cavity; 4515-Upper Hip Chamber Hydraulic Circuit; 4516-Lower Hip Chamber Hydraulic Circuit; 4517-Upper Knee Chamber Hydraulic Circuit; 4518-Lower Knee Chamber Hydraulic Circuit; 4519-Front Section of Active Drive Circuit; 45110-Energy Transmission Path; 45111-Rear Section of Active Drive Circuit.

[0102] 452 - Hip joint flow regulating valve body; 4521 - Hip valve body first position slot; 4523 - Hip valve body second position slot; 4524 - Hip valve body third position slot.

[0103] 453-Knee joint flow regulating valve body, 4531-Knee valve body first position slot, 4532-Knee valve body second position slot;

[0104] 454 - Hip joint flow regulating motor module; 455 - Knee joint flow regulating motor module; 456 - Hydraulic active drive motor; 457 - Hydraulic gear pump.

[0105] 458 - Energy storage chamber cover, 459 - Energy storage chamber spring, 4510 - Energy storage chamber piston;

[0106] 5-Lower leg module, 51-Lower leg bionic shell, 52-Lower leg tube;

[0107] 6- Prosthetic foot. Detailed Implementation

[0108] To make the technical means, creative features, objectives and effects of this invention easy to understand, the following describes in detail a hip-knee synergistic bionic prosthesis driven by homologous different abilities, in conjunction with the accompanying drawings and specific embodiments.

[0109] Figure 1 This is an overall schematic diagram of a hip-knee coordinated bionic prosthesis driven by homogeneous heterogeneous energy according to the present invention;

[0110] Figure 2 This is a schematic diagram of a key component of a hip-knee coordinated bionic prosthesis driven by homogeneous and heterogeneous energy.

[0111] like Figures 1-17 As shown, the present invention provides a hip-knee coordinated bionic prosthesis with homogeneous heterogeneous drive, comprising a hip joint motion module 1, a thigh module 2, a knee joint motion module 3, a drive module 4 (homogeneous heterogeneous drive module), a lower leg module 5, and a prosthetic foot 6.

[0112] The thigh module 2 includes a thigh bionic shell 21 and a thigh rod 22; the thigh bionic shell 21 has a window to avoid interference with the hip joint motion module 1; the thigh bionic shell 21 is fixed to the thigh rod 22;

[0113] The lower leg module 5 includes a lower leg bionic shell 51 and a lower leg tube 52. The lower end of the lower leg tube 52 is fastened to the upper end of the prosthetic foot 6. The lower leg bionic shell 51 is fixed to the lower leg tube 52.

[0114] The hip joint motion module 1 includes a receiving cavity fixation seat 11, a fixation seat connector 12, an anterior hip link 13, a posterior hip link 14, an upper hip link 15, and a lower hip link 16. The upper end of the anterior hip link 13 is coaxially connected to the fixation seat connector 12, the middle end of the anterior hip link 13 is coaxially connected to the right end of the upper hip link 15, the lower end of the anterior hip link 13 is coaxially connected to the right end of the lower hip link 16, the upper end of the posterior hip link 14 is coaxially connected to the fixation seat connector 12, the lower end of the posterior hip link 14 is coaxially connected to the middle end of the upper hip link 15, the left end of the upper hip link 15 is coaxially connected to the thigh link 22, and the left end of the lower hip link 16 is coaxially connected to the thigh link 22 to form a remote motion center mechanism, which reconstructs the rotation center of the prosthetic hip joint at the position of the human acetabulum.

[0115] The knee joint motion module 3 includes an upper knee link 31, an anterior knee link 32, a lower knee link 33, and a posterior knee link 34, which are coaxially connected in pairs to form a four-bar linkage structure; the lower side of the lower knee link 33 is fastened to the calf tube 52 by fasteners.

[0116] "Coaxial connection" means that both components are either rotatably connected or hinged.

[0117] Figure 3 This is a structural diagram of the hip link and the posterior knee link;

[0118] Figure 4 This is a schematic diagram of the structure of the same-source, different-energy collaborative driving module.

[0119] like Figure 3 , Figure 4 As shown, a hip slide rod 161 is provided on the left side of the hip lower link 16; a knee slide rod 341 is provided on the upper side of the knee rear link 34, and a limit block 342 is provided on the lower side to prevent excessive knee flexion interference; during the rotation of the hip lower link 16, the hip slide rod 161 never contacts the lower leg bionic shell 51.

[0120] In this embodiment, the drive module 4 includes a hip slider 41, a hip joint hydraulic cylinder 42, a knee joint hydraulic cylinder 43, a knee slider 44, and a hip and knee energy management module 45. The hip slider 41 is slidably connected to the hip slide rod 161, and the knee slider 44 is slidably connected to the knee slide rod 341, so as to achieve relative stability of the homogeneous heterogeneous energy collaborative drive module during hip and knee joint movement, and avoid the increase in movement space and prosthesis volume caused by the homogeneous heterogeneous energy collaborative drive module needing to swing accordingly.

[0121] Specifically, the reason for the sliding connection is that if the hydraulic rod is directly rotatably connected to the four-bar linkage, the position of the four-bar linkage will change during the knee joint movement. In order to adapt to this change, the hydraulic cylinder must be designed to be rotatably connected to the lower leg rod at the bottom of the hydraulic cylinder. In other words, the hydraulic cylinder needs to swing back and forth. Furthermore, the entire homogeneous and heterogeneous collaborative drive module needs to swing accordingly, resulting in an increase in the overall size of the prosthesis.

[0122] like Figure 18 As shown, (a) knee joint extension; (b) knee joint flexion; (c) hip joint extension; (d) hip joint flexion.

[0123] In other embodiments, the drive module 4 is a dual-bar hydraulic cylinder, with one output end connected to the hip slide 161 and the other output end connected to the knee slide 341.

[0124] In other embodiments, the drive module 4 includes two independent hydraulic cylinders. The output of one hydraulic cylinder is connected to the drive hip slide 161, and the output of the other hydraulic cylinder is connected to the knee slide 341.

[0125] Figure 5 This is a schematic diagram of the structure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder.

[0126] like Figure 5 As shown, the hip joint hydraulic cylinder 42 includes a hip piston rod 421, a hip hydraulic cylinder cover 422, a hip hydraulic piston 423, a hip hydraulic cylinder body 424, and a hip energy storage spring 425; the upper end of the hip piston rod 421 is coaxially connected to the hip slider 41; the middle end of the hip piston rod 421 is threadedly connected to the hip hydraulic piston 423 and passes through the hip hydraulic piston 423, so that the hip joint hydraulic cylinder 42 forms a double-sided rod-type hydraulic cylinder, ensuring that the total volume of hydraulic oil in the cylinder remains unchanged when the hip piston rod 421 moves up and down;

[0127] The reason why the total volume of hydraulic oil in the hip joint hydraulic cylinder 42 remains unchanged is that the volume occupied by the hip piston rod 421 in the upper chamber 4241 and the lower chamber 4242 of the hip hydraulic cylinder is the same.

[0128] The hip hydraulic cylinder 424 is divided into an upper chamber 4241 and a lower chamber 4242 by the hip hydraulic piston 423. The upper chamber of the hip hydraulic cylinder 424 is provided with an upper chamber oil hole 4243, and the lower chamber is provided with a lower chamber oil hole 4244. The hip energy storage spring 425 is built into the lower chamber 4242. The compression and rebound of the hip energy storage spring 425 are realized by the up and down movement of the hip hydraulic piston 423 during the hip joint movement, thereby realizing the storage and release of energy during hip joint movement.

[0129] Specifically, the hip energy storage spring 425 is embedded between the lower bottom surface of the hip hydraulic piston 423 and the lower cavity 4242 of the hip hydraulic cylinder, and is in a compressed state. Specifically, one end of the hip energy storage spring 425 is fixed to the hip hydraulic piston 423, and the other end is fixed to the lower cavity 4242 of the hip hydraulic cylinder. In other embodiments, the hip energy storage spring 425 is placed between the lower bottom surface of the hip hydraulic piston 423 and the lower cavity 4242 of the hip hydraulic cylinder.

[0130] The hip hydraulic cylinder head 422 is adapted to the hip hydraulic cylinder body 424 to seal it.

[0131] The knee hydraulic cylinder head 432 is fitted to the knee hydraulic cylinder body 434 to seal it.

[0132] The knee joint hydraulic cylinder 43 includes a knee piston rod 431, a knee hydraulic cylinder cover 432, a knee hydraulic piston 433, and a knee hydraulic cylinder body 434; the lower end of the knee piston rod 431 is coaxially connected to the knee slider 44; the upper end of the knee piston rod 431 is threadedly connected to the knee hydraulic piston 433, so that the knee joint hydraulic cylinder 43 forms a single-sided rod-type hydraulic cylinder.

[0133] The knee hydraulic cylinder body 434 is divided into an upper knee hydraulic cylinder chamber 4341 and a lower knee hydraulic cylinder chamber 4342 by the knee hydraulic piston 433. The upper knee hydraulic cylinder body 434 is provided with an upper knee chamber oil hole 4343, and the lower knee hydraulic cylinder body 434 is provided with a lower knee chamber oil hole 4344.

[0134] Figure 6 This is a structural diagram of the hip and knee energy management module;

[0135] Figure 7 This is a schematic diagram of the energy management base.

[0136] like Figure 6 , Figure 7 As shown, the hip and knee energy management module 45 includes an energy management base 451, a hip joint flow regulating valve body 452, a knee joint flow regulating valve body 453, a hip joint flow regulating motor module 454, a knee joint flow regulating motor module 455, a hydraulic active drive motor 456, a hydraulic gear pump 457, an energy storage chamber cover 458, an energy storage chamber spring 459, and an energy storage chamber piston 4510.

[0137] The energy management base 451 is provided with a hip joint valve body cavity 4511, a knee joint valve body cavity 4512, an energy storage cavity 4513, a hydraulic gear pump cavity 4514, a hydraulic oil circuit for the upper hip cavity 4515, a hydraulic oil circuit for the lower hip cavity 4516, a hydraulic oil circuit for the upper knee cavity 4517, a hydraulic oil circuit for the lower knee cavity 4518, a front section of the active drive oil circuit 4519, an energy transmission passage 45110, and a rear section of the active drive oil circuit 45111.

[0138] One end of the upper hip cavity hydraulic oil circuit 4515 is connected to the hip joint valve body cavity 4511, the other end is connected to the upper hip cavity oil hole 4243, and the other end is connected to the rear section of the active drive oil circuit 45111; one end of the lower hip cavity hydraulic oil circuit 4516 is connected to the hip joint valve body cavity 4511, and the other end is connected to the lower hip cavity oil hole 4244; one end of the upper knee cavity hydraulic oil circuit 4517 is connected to the knee joint valve body cavity 4512, and the other end is connected to the upper knee cavity oil hole 4343.

[0139] One end of the lower knee cavity hydraulic oil circuit 4518 is connected to the knee joint valve body cavity 4512, the other end is connected to the lower knee cavity oil hole 4344, and the other end is connected to the rear section 45111 of the active drive oil circuit.

[0140] One end of the active drive oil circuit front section 4519 is connected to the hip joint valve body cavity 4511, one end is connected to the knee joint valve body cavity 4512, and one end is connected to the inner side of the hydraulic gear pump cavity 4514.

[0141] One end of the energy transmission path 45110 is connected to the hip joint valve body cavity 4511, one end is connected to the knee joint valve body cavity 4512, and one end is connected to the energy storage cavity 4513.

[0142] Since the knee joint hydraulic cylinder 43 is a single-sided rod type hydraulic cylinder, when the knee piston rod 431 moves up and down, the allowable volume of hydraulic oil in the cylinder changes. By adjusting the knee joint flow regulating valve body 453, the excess hydraulic oil in the knee joint hydraulic cylinder 43 can flow to the energy storage chamber 4513 through the energy transmission passage 45110, and the energy is stored and released based on the energy storage chamber spring 459 and the energy storage chamber piston 4510.

[0143] One end of the active drive oil circuit 45111 is connected to the outside of the hydraulic gear pump chamber 4514, one end is connected to the upper hip chamber hydraulic oil circuit 4515, and one end is connected to the lower knee chamber hydraulic oil circuit 4518.

[0144] The hydraulic gear pump 457 is rotatably disposed within the hydraulic gear pump chamber 4514. It includes two oil ports, both located between the rear section 45111 of the active drive oil circuit and the front section 4519 of the active drive oil circuit. When the hydraulic active drive motor 456 rotates, it can drive the hydraulic gear pump 457 to work, converting the motor's mechanical energy into hydraulic energy. The forward and reverse rotation of the motor can drive the hydraulic oil to flow from the front section 4519 of the active drive oil circuit to the rear section 45111 of the active drive oil circuit, or from the rear section 45111 of the active drive oil circuit to the front section 4519 of the active drive oil circuit.

[0145] like Figures 14-15 The cylinder of the hydraulic active drive motor 456 is fixed on the energy management base 451, and the drive shaft and driven shaft of the hydraulic gear pump 457 are rotatably mounted on the base.

[0146] In the area where the driving gear and driven gear of the hydraulic gear pump 457 mesh, an oil inlet is formed on one side and an oil outlet is formed on the other side.

[0147] The driving gear and driving shaft are connected by a key or integrally formed; the driven gear and driven shaft are connected by a key or integrally formed.

[0148] Figure 8 This is a schematic diagram of the hip joint flow regulating valve body;

[0149] Figure 9 This is a schematic diagram of the different adjustment states of the hip joint flow regulating valve body. (Refer to...) Figure 13 It can be seen that, Figure 9 In, with Figure 7 The cross-sectional positions in diagram AA are different.

[0150] like Figure 8 , Figure 9 As shown, the hip joint flow regulating valve body 452 has a cylindrical structure. The cylindrical surface is provided with a hip valve body first position slot 4521, a hip valve body second position slot 4523, and a hip valve body third position slot 4524. The hip joint flow regulating valve body 452 is disposed in the hip joint valve body cavity 4511. The upper end of the hip joint flow regulating valve body 452 is provided with a motor shaft, which is connected to the hip joint flow regulating motor module 454. The rotation angle of the hip joint flow regulating valve body 452 can be controlled by the hip joint flow regulating motor module 454 to adjust the connection relationship between different slots on the valve body and different hydraulic oil circuits in the energy management base 451.

[0151] The hip valve body first position slot 4521, hip valve body second position slot 4523 and hip valve body third position slot 4524 do not interfere with each other, and the planes formed by the midline of the three and the central axis of the hip joint flow regulating valve body 452 are 90 degrees to each other.

[0152] Figure 9 A is a one-way damping mode, which restricts hip flexion movement through a one-way valve to ensure stability during the support phase.

[0153] like Figure 8 , Figure 9 As shown in Figure A, the hip valve body's first-position slot 4521 has a short "1"-shaped structure and contains a one-way valve 4522. When the centerline of the hip valve body's first-position slot 4521 coincides with the centerline of the energy management base 451, the hip joint flow regulating valve body is in its initial state. In this state, the upper hip chamber hydraulic oil circuit 4515 and the lower hip chamber hydraulic oil circuit 4516 can be connected, and the one-way valve 4522 ensures that the hydraulic oil can only flow in one direction from the lower chamber to the upper chamber of the hip joint valve body cavity 4511, so that the hip hydraulic piston 423 can only move downwards, that is, only unidirectional extension movement of the hip joint is allowed.

[0154] Furthermore, by controlling the rotation of the hip joint flow regulating valve body 452 to adjust the deviation between the centerline of the first slot 4521 of the hip valve body and the centerline of the energy management base 451, the overlapping area of ​​the first slot 4521 of the hip valve body with the hydraulic oil passage 4515 of the upper hip cavity and the hydraulic oil passage 4516 of the lower hip cavity can be changed, thereby changing the flow area of ​​the hydraulic oil and thus changing and adjusting the damping force experienced by the hip joint during unidirectional extension movement.

[0155] The centerline of the energy management base 451 refers to the centerline of the joint valve cavity on it.

[0156] Figure 9 In section A, the hydraulic oil flow path is as follows: the hydraulic oil in the lower chamber 4242 of the hip hydraulic cylinder flows into the upper chamber 4241 of the hip hydraulic cylinder in sequence through the lower chamber hydraulic oil passage 4516, the one-way valve 4522, and the upper chamber hydraulic oil passage 4515.

[0157] like Figure 20 As shown, the structure involved in the one-way valve 4522 is as follows:

[0158] The one-way valve 4522 includes an elastic element and a ball connected to the elastic element.

[0159] The upper and lower hip valve bodies are connected by a through hole at their respective slots 4521. An elastic element surrounds the through hole and is fixed to the upper hip valve body slot 4521.

[0160] The upper hip valve body first position slot 4521 has an inclined inner wall surface. When the ball contacts the inclined surface, the two hip valve body first position slots 4521 are not connected.

[0161] Figure 9 B represents the energy cycle mode.

[0162] like Figure 8 , Figure 9 As shown in Figure B, the hip valve body's two-position slot 4523 has an "E"-shaped structure. When the hip joint flow regulating valve body 452 is rotated clockwise from its initial state to 90 degrees, the center line of the hip valve body's two-position slot 4523 coincides with the center line of the energy management base 451, connecting the energy transmission path 45110, the upper hip cavity hydraulic oil passage 4515, and the lower hip cavity hydraulic oil passage 4516. In this state, the hip and knee joints can achieve energy transmission and flow through the energy transmission path 45110.

[0163] Figure 9 C is the active drive mode, which combines the active drive of the hydraulic gear pump with the energy release of the energy storage chamber to provide additional joint driving force.

[0164] like Figure 8 , Figure 9As shown in Figure C, the three-position slot 4524 of the hip valve body has an inverted "7" shape. When the hip joint flow regulating valve body 452... Figure 9 When rotated clockwise to 90 degrees in state B, the center line of the three-position slot 4524 of the hip valve body coincides with the center line of the energy management base 451, connecting the front section 4519 of the active drive oil circuit, the energy transmission passage 45110, the upper hip cavity hydraulic oil circuit 4515, and the lower hip cavity hydraulic oil circuit 4516. In this state, the hydraulic active drive motor 456 rotates, driving the hydraulic gear pump 457 to work, which in turn pushes the hydraulic oil to drive the active movement of the hip joint.

[0165] Figure 9 In section C, due to the action of the hydraulic gear pump 457, the hydraulic oil in the front section 4519 of the active drive oil circuit increases the flow speed in the hydraulic oil circuit 4516 of the lower hip cavity and the hydraulic oil circuit 4515 of the upper hip cavity, thereby realizing active movement.

[0166] Since the hydraulic gear pump can rotate in both directions, the oil flow from the front section 4519 of the active drive circuit to the rear section 45111 of the active drive circuit, or from the rear section 45111 of the active drive circuit to the front section 4519 of the active drive circuit.

[0167] When the hydraulic gear pump is set to rotate forward, the hydraulic oil flows from the rear section 45111 of the active drive oil circuit to the front section 4519 of the active drive oil circuit. The flow path of the hydraulic oil is as follows:

[0168] Actively drive the front section of the hydraulic circuit 4519, the three-position slot of the hip valve body 4524, the hydraulic oil circuit of the lower chamber of the hip 4516, and the lower chamber of the hip hydraulic cylinder 4242. At this time, the volume of hydraulic oil in the lower chamber of the hip hydraulic cylinder 4242 increases, driving the hip hydraulic piston 423 to move upward.

[0169] The volume of the upper chamber 4241 of the hip hydraulic cylinder is reduced, so that the hydraulic oil in the upper chamber 4241 of the hip hydraulic cylinder flows into the rear section 45111 of the active drive oil circuit through the upper chamber hydraulic oil circuit 4515, thus completing the closed loop of hydraulic oil flow.

[0170] Therefore, when the hydraulic gear pump rotates forward, it enables active flexion of the hip joint.

[0171] During the walking process of amputees wearing prostheses, due to the shift in the body's center of gravity during the alternating movement of both limbs and the inertia of the trunk and the residual limb on the prosthetic side, the direction of flexion or extension of the prosthetic hip joint in different phases of a typical gait cycle is definite without external power assistance. In the standing phase, the forward swing of the healthy leg and the inertia of the trunk cause the natural extension of the hip joint, while in the swing phase, the forward shift of the body's center of gravity causes the natural flexion of the prosthetic hip joint. However, without external power assistance, the natural flexion and extension of the hip joint caused by the coordination characteristics of the human gait cannot reach the corresponding flexion and extension levels of able-bodied individuals in specific gait patterns and phases, thus limiting gait biomimicry and causing amputees to make adaptive adjustments, leading to increased energy consumption. Therefore, providing an external power source to the hip joint in specific gait phases can assist the natural flexion or extension movements, making the gait closer to normal levels.

[0172] As shown above, when the hydraulic gear pump rotates forward, the hydraulic oil flows from the rear section 45111 of the active drive oil circuit to the front section 4519 of the active drive oil circuit. The flow path of the hydraulic oil is: the front section 4519 of the active drive oil circuit, the three-position slot 4524 of the hip valve body, the hydraulic oil circuit 4516 of the lower chamber of the hip, and the lower chamber 4242 of the hip hydraulic cylinder.

[0173] When the hydraulic gear pump is set to reverse, the hydraulic oil flows from the front section 4519 of the active drive oil circuit to the rear section 45111 of the active drive oil circuit. The flow path of the hydraulic oil is as follows:

[0174] Actively drive the hydraulic circuit 45111 and the upper chamber hydraulic circuit 4515 of the hip. At this time, the volume of hydraulic oil in the upper chamber 4241 of the hip hydraulic cylinder increases, driving the hip hydraulic piston 423 to move downward.

[0175] The volume of the lower chamber 4242 of the hip hydraulic cylinder is reduced, so that the hydraulic oil in the lower chamber 4242 of the hip hydraulic cylinder flows through the lower chamber hydraulic oil passage 4516 and the three-position slot 4524 of the hip valve body to the front section 4519 of the active drive oil passage, thus completing the closed loop of hydraulic oil flow.

[0176] Therefore, when the hydraulic gear pump reverses, it enables active extension of the hip joint.

[0177] In conclusion, Figure 9 C completes active hip joint movements, including flexion and extension.

[0178] The flow path of the hydraulic oil during flexion is as follows: front section of active drive oil circuit 4519, three-position slot of hip valve body 4524, lower chamber hydraulic oil circuit of hip 4516, lower chamber of hip hydraulic cylinder 4242; upper chamber of hip hydraulic cylinder 4241, upper chamber hydraulic oil circuit of hip 4515, rear section of active drive oil circuit 45111, front section of active drive oil circuit 4519.

[0179] The hydraulic oil flow path during the stretching exercise is as follows: the rear section of the active drive oil circuit 45111, the upper chamber hydraulic oil circuit of the hip 4515, the upper chamber of the hip hydraulic cylinder 4241; the lower chamber of the hip hydraulic cylinder, the lower chamber hydraulic oil circuit of the hip 4516, the three-position slot of the hip valve body 4524, the front section of the active drive oil circuit 4519, and the rear section of the active drive oil circuit 45111.

[0180] Figure 9 As shown in C, the hip and knee joints can achieve energy transfer and flow through energy transfer pathway 45110.

[0181] In addition, when going down a long slope or down stairs, the pressure energy generated by the hip joint hydraulic cylinder 42 can drive the hydraulic gear pump 457 to drive the hydraulic active drive motor 456 to generate electricity, and the energy is stored in the battery in the form of electrical energy, minimizing the energy consumption of the prosthesis.

[0182] Figure 9 D indicates the locked mode.

[0183] like Figure 8 , Figure 9 As shown in D, the hip joint flow regulating valve body 452 from... Figure 9 When rotated clockwise to 90 degrees in state C, the slots on the hip joint flow regulating valve body 452 do not overlap with the hydraulic circuits in the energy management base 451, and the hydraulic circuits are not interconnected. In this state, the hip joint is in a locked mode.

[0184] In conclusion, Figure 9 A is a passive motion, and it is a damped motion that extends in one direction only.

[0185] Figure 9 In state B, the active gear pump is not working, and the movement is passive. It only supports the energy transmission pathway to provide assistance to the hip joint movement, without considering the needs of the five gait phases during actual flat walking. Figure 9 Both hip flexion and extension movements can be achieved in state B.

[0186] Figure 9 State C represents active movement, where both flexion and extension can be achieved.

[0187] Figure 9 D indicates a locked state.

[0188] Figure 10 This is a schematic diagram of the knee joint flow regulating valve body;

[0189] Figure 11 This is a schematic diagram of the different adjustment states of the knee joint flow regulating valve.

[0190] like Figure 10 , Figure 11As shown, the knee joint flow regulating valve body 453 has a cylindrical structure. The cylindrical surface is provided with a first-position slot 4531 and a second-position slot 4532. The knee joint flow regulating valve body 453 is disposed in the knee joint valve body cavity 4512. A motor shaft is provided at the lower end of the knee joint flow regulating valve body 453. The motor shaft is connected to the knee joint flow regulating motor module 455. The rotation angle of the knee joint flow regulating valve body 453 can be controlled by the knee joint flow regulating motor module 455 to adjust the connection relationship and fit clearance between the different slots on the valve body and the different hydraulic oil circuits in the energy management base 451. The first-position slot 4531 and the second-position slot 4532 do not interfere with each other. The plane formed by the center lines of the two slots and the central axis of the knee joint flow regulating valve body 453 is 90 degrees to each other.

[0191] Figure 11 A is the damping adjustment mode, suitable for natural swaying when walking on flat ground.

[0192] like Figure 10 , Figure 11 As shown in Figure A, the knee valve body's first-position slot 4531 has a short "1"-shaped structure. When the centerline of the knee valve body's first-position slot 4531 coincides with the centerline of the energy management base 451, the knee joint flow regulating valve body is in its initial state, connecting the energy transmission path 45110, the upper knee cavity hydraulic oil passage 4517, and the lower knee cavity hydraulic oil passage 4518. By controlling the rotation of the knee joint flow regulating valve body 453 to adjust the deviation between the centerline of the knee valve body's first-position slot 4531 and the centerline of the energy management base 451, the overlapping area of ​​the knee valve body's first-position slot 4531 with the upper knee cavity hydraulic oil passage 4517 and the lower knee cavity hydraulic oil passage 4518 can be changed, thereby changing the flow area of ​​the hydraulic oil and thus adjusting the damping force experienced by the knee joint during flexion or extension movements. In addition, excess hydraulic oil in its single-rod hydraulic cylinder can flow into the energy storage chamber 4513 through the energy transmission path 45110 for energy storage.

[0193] Figure 11 In section A, during the stretching movement, the hydraulic oil flows through the following paths: lower chamber 4342 of the knee hydraulic cylinder, lower chamber hydraulic oil passage 4518, knee valve body first position slot 4531, upper chamber hydraulic oil passage 4517, and upper chamber 4341 of the knee hydraulic cylinder. In addition, the hydraulic oil in the energy storage chamber 4513 flows to the upper chamber 4341 of the knee hydraulic cylinder via the energy transmission passage 45110, knee valve body first position slot 4531, and upper chamber hydraulic oil passage 4517.

[0194] Figure 11In section A, during flexion, the hydraulic oil flows through the following paths: upper chamber 4341 of the knee hydraulic cylinder, upper chamber hydraulic oil passage 4517 of the knee, part of which flows through energy transmission passage 45110 to the second position slot 4523 of the hip valve body, and the other part flows to the first position slot 4531 of the knee valve body, lower chamber hydraulic oil passage 4518 of the knee, and lower chamber 4342 of the knee hydraulic cylinder.

[0195] Figure 11 B represents the active drive / energy recovery mode.

[0196] like Figure 10 , Figure 11 As shown in Figure B, the knee valve body's two-position slot 4532 has an elongated "1"-shaped structure. When the knee joint flow regulating valve body 453 rotates clockwise from its initial position to 90 degrees, the centerline of the knee valve body's two-position slot 4532 coincides with the centerline of the energy management base 451, connecting the energy transmission path 45110, the front section of the active drive oil circuit 4519, and the hydraulic oil circuit 4517 of the upper knee cavity. In this state, the hydraulic active drive motor 456 rotates, driving the hydraulic gear pump 457 to work, which can push the hydraulic oil to flow and drive the active movement of the knee joint (such as going up stairs); or when the energy storage chamber 4513 is full of oil (such as when going down a long slope or stairs), the pressure generated by the knee joint hydraulic cylinder 43 can drive the hydraulic gear pump 457 to drive the hydraulic active drive motor 456 to generate electricity, and the energy is stored in the battery in the form of electrical energy, minimizing the energy consumption of the prosthesis.

[0197] Figure 11 In section B, when the hydraulic gear pump reverses, the hydraulic oil flows through the following path: the rear section of the active drive oil circuit 45111, the lower knee hydraulic oil circuit 4518, and the lower knee hydraulic cylinder 4342. At this time, the volume of hydraulic oil in the lower knee hydraulic cylinder 4342 increases, driving the knee hydraulic piston 433 to move upward.

[0198] The volume of the upper chamber 4341 of the knee hydraulic cylinder is reduced, so that the hydraulic oil in the upper chamber 4341 of the knee hydraulic cylinder flows to the front section 4519 of the active drive oil circuit through the upper chamber hydraulic oil circuit 4517 and the two-position slot 4532 of the knee valve body, thus completing the closed loop of hydraulic oil flow.

[0199] Therefore, when the hydraulic gear pump reverses, it enables active flexion of the knee joint.

[0200] When the hydraulic gear pump rotates forward, the hydraulic oil flows through the following path: the front section of the active drive oil circuit 4519, the second position slot of the knee valve body 4532, the hydraulic oil circuit of the upper cavity of the knee 4517, and the upper cavity of the knee hydraulic cylinder 4341. At this time, the volume of hydraulic oil in the upper cavity of the knee hydraulic cylinder 4341 increases, driving the knee hydraulic piston 433 to move downward.

[0201] The volume of the lower chamber 4342 of the knee hydraulic cylinder is reduced, so that the hydraulic oil in the lower chamber 4342 of the knee hydraulic cylinder flows to the rear section 45111 of the active drive oil circuit through the lower chamber hydraulic oil circuit 4518, thus completing the closed loop of hydraulic oil flow.

[0202] Therefore, when the hydraulic gear pump rotates forward, it enables the knee joint to actively extend.

[0203] In conclusion, Figure 11 B. Perform active knee joint movements, including flexion and extension.

[0204] The hydraulic oil flow path during the stretching movement is as follows: the rear section of the active drive oil circuit 45111, the lower cavity hydraulic oil circuit of the knee 4518, the lower cavity of the knee hydraulic cylinder 4342; the upper cavity of the knee hydraulic cylinder 4341, the upper cavity hydraulic oil circuit of the knee 4517, the two-position slot of the knee valve body 4532, and the front section of the active drive oil circuit 4519.

[0205] The flow path of the hydraulic oil during flexion is as follows: front section of active drive oil circuit 4519, knee valve body two-position slot 4532, upper knee cavity hydraulic oil circuit 4517, upper knee hydraulic cylinder cavity 4341; lower knee hydraulic cylinder cavity 4342, lower knee cavity hydraulic oil circuit 4518, and rear section of active drive oil circuit 45111.

[0206] Figure 11 C indicates the locked mode.

[0207] like Figure 10 , Figure 11 As shown in C, when the knee joint flow regulating valve body 453 is from Figure 11 When rotated clockwise to 90 degrees in state B, the slots on the knee joint flow regulating valve body 453 do not overlap with the hydraulic oil circuits in the energy management base 451, and the hydraulic oil circuits are not interconnected. In this state, the knee joint is in a locked mode.

[0208] In conclusion, Figure 11 A is a passively damped motion, which can be achieved through both flexion and extension;

[0209] Figure 11 B is an active movement, which can involve both flexion and extension;

[0210] Figure 11 C indicates a locked state.

[0211] like Figure 17 As shown, the method for homologous heterogeneous function regulation of an integrated hip-knee prosthesis during flat ground walking includes:

[0212] The hip and knee energy management module operates in the following modes: early standing phase, mid-standing phase, late standing phase, early swing phase, and safety lock phase. When the human gait moves to different phases, the motion relationship between the hip joint motion module 1 and the knee joint motion module 3 in the integrated hip-knee prosthesis changes accordingly. By adjusting the homogeneous and heterogeneous energy synergistic drive module 4, corresponding damping or driving forces can be provided for the motion changes of the hip joint motion module 1 and the knee joint motion module 3, while energy transfer and flow are realized between the hip joint motion module 1 and the knee joint motion module 3.

[0213] Figure 12 A is a schematic diagram of the working mode of the hip and knee energy management module in the pre-standing phase. Among them, Figure 12 A refers to Figure 12 The context is similar to that in Figure A.

[0214] like Figure 17 , Figure 12 As shown in Figure A, the key to the prosthesis during the initial standing phase is ensuring stability. The centerline of the first position slot 4521 of the hip valve body coincides with the centerline of the energy management base 451, at which point the hip joint flow regulating valve body 452 is in its initial state (i.e., the first position). In this state, the upper hip cavity hydraulic oil circuit 4515 and the lower hip cavity hydraulic oil circuit 4516 can be connected, and the hydraulic oil can only flow in one direction from the lower cavity to the upper cavity through the one-way valve 4522, so that the hip hydraulic piston 423 can only move downward, that is, only the hip joint is allowed to extend in one direction. When the hip hydraulic piston 423 moves downward, the hip energy storage spring 425 is compressed and stores energy. In addition, by controlling the rotation of the hip joint flow regulating valve body 452 to adjust the deviation between the centerline of the hip valve body first slot 4521 and the centerline of the energy management base 451, the overlapping area of ​​the hip valve body first slot 4521 and the upper hip cavity hydraulic oil passage 4515 and the lower hip cavity hydraulic oil passage 4516 can be changed, thereby changing the flow area of ​​the hydraulic oil, so that the damping force experienced by the hip joint during unidirectional extension movement can be changed and adjusted.

[0215] When the centerline of the first-position slot 4531 of the knee valve body coincides with the centerline of the energy management base 451, the knee joint flow regulating valve body is in its initial state (i.e., the first position). This connects the energy transmission path 45110, the upper knee hydraulic oil passage 4517, and the lower knee hydraulic oil passage 4518. By controlling the rotation of the knee joint flow regulating valve body 453 to adjust the deviation between the centerline of the first-position slot 4531 and the centerline of the energy management base 451, the overlapping area between the first-position slot 4531 and the upper and lower knee hydraulic oil passages 4517 and 4518 can be changed, thereby altering the flow area of ​​the hydraulic oil and thus adjusting the damping force experienced during knee flexion or extension movements. Furthermore, excess hydraulic oil in its single-rod hydraulic cylinder can flow through the energy transmission path 45110 into the energy storage chamber 4513 for energy storage.

[0216] Figure 12 In section A, the flow path of the hydraulic oil in the hip joint is as follows: lower chamber of the hip hydraulic cylinder, lower chamber hydraulic oil circuit 4516, first position slot of the knee valve body 4531, upper chamber hydraulic oil circuit 4515, and upper chamber of the hip hydraulic cylinder 4241.

[0217] The flow path of the knee joint hydraulic oil is as follows: upper chamber 4341 of the knee hydraulic cylinder, upper chamber hydraulic oil circuit 4517 of the knee, part of which flows into the energy storage chamber 4513 through the energy transmission passage 45110, and the other part flows to the knee valve body first position slot 4531, lower chamber hydraulic oil circuit 4518 of the knee, and lower chamber 4342 of the knee hydraulic cylinder.

[0218] Figure 12 B is a schematic diagram of the working mode of the mid-standing hip and knee energy management module.

[0219] like Figure 17 , Figure 12 As shown in B, during the mid-standing phase, controllable damping is required for the hip joint and extension assistance is required for the knee joint. The hip joint flow regulating valve body is still in the first position. By controlling the rotation of the hip joint flow regulating valve body 452, the deviation between the centerline of the first position slot 4521 of the hip valve body and the centerline of the energy management base 451 is adjusted, thereby achieving adaptive adjustment of the hip joint damping force. In this phase, the hip energy storage spring 425 continues to compress and store energy.

[0220] The knee joint flow regulating valve body 453 rotates clockwise from its initial state to 90 degrees, aligning the centerline of the two-position slot 4532 of the knee valve body with the centerline of the energy management base 451. This connects the energy transmission path 45110, the front section 4519 of the active drive oil circuit, and the hydraulic oil circuit 4517 of the upper knee cavity (i.e., the two-position state). In this state, the hydraulic active drive motor 456 rotates, driving the hydraulic gear pump 457 to work, which in turn pushes the hydraulic oil to flow and drive the active movement of the knee joint, releasing energy from the energy storage chamber 4513.

[0221] Figure 12 In section B, the flow path of the hydraulic oil in the hip joint is as follows: lower chamber of the hip hydraulic cylinder, lower chamber hydraulic oil circuit 4516, knee valve body first position slot 4531, upper chamber hydraulic oil circuit 4515, and upper chamber of the hip hydraulic cylinder 4241.

[0222] The flow path of the knee joint hydraulic oil is as follows: energy storage chamber 4513, energy transmission passage 45110, upper knee cavity hydraulic oil circuit 4517, upper knee hydraulic cylinder cavity 4341, front section of active drive oil circuit 4519, knee valve body two-position slot 4532, upper knee cavity hydraulic oil circuit 4517, upper knee hydraulic cylinder cavity 4341; lower knee hydraulic cylinder cavity 4342, lower knee cavity hydraulic oil circuit 4518, rear section of active drive oil circuit 45111.

[0223] Figure 12 C is a schematic diagram of the working mode of the hip and knee energy management module at the end of the standing phase.

[0224] like Figure 17 , Figure 12 As shown in Figure C, during the final stage of standing, the hip and knee joints mainly move forward following the shift of the body's center of gravity. The hip joint flow regulating valve 452 rotates clockwise from its initial state to 90 degrees, aligning the centerline of the second-position slot 4523 of the hip valve with the centerline of the energy management base 451, thus connecting the energy transmission path 45110, the upper hip cavity hydraulic oil circuit 4515, and the lower hip cavity hydraulic oil circuit 4516 (i.e., the second-position state). The knee joint flow regulating valve 453 rotates counterclockwise from the second-position state to the first-position state. In this state, the hip and knee joints can achieve energy transmission and flow through the energy transmission path 45110, the hip energy storage spring 425 releases energy, and the knee joint hydraulic oil provides assistance to hip flexion through the energy transmission path 45110.

[0225] Figure 12 In section C, the flow path of the hydraulic oil in the hip joint is as follows: upper chamber 4241 of the hip hydraulic cylinder, upper chamber hydraulic oil passage 4515 of the hip, second position slot 4523 of the hip valve body, lower chamber hydraulic oil passage 4516 of the hip, and lower chamber 4242 of the hip hydraulic cylinder; in addition, the excess hydraulic oil in the upper chamber 4341 of the knee hydraulic cylinder can flow to the second position slot 4523 of the hip valve body through the energy transmission passage 45110.

[0226] The flow path of the knee joint hydraulic oil is as follows: upper cavity 4341 of the knee hydraulic cylinder, upper cavity hydraulic oil circuit 4517 of the knee, part of which flows through energy transmission passage 45110 to the second position slot 4523 of the hip valve body, and the other part flows to the first position slot 4531 of the knee valve body, lower cavity hydraulic oil circuit 4518 of the knee, and lower cavity 4342 of the knee hydraulic cylinder.

[0227] Figure 12 D is a schematic diagram of the working mode of the hip and knee energy management module in the early swing phase.

[0228] like Figure 17 , Figure 12 As shown in D, during the initial swing phase, the hip joint actively flexes through external force, while the knee joint flexes through damping adaptive adjustment. The hip joint flow regulating valve body 452 rotates clockwise from its second position to 90 degrees, aligning the centerline of the third position slot 4524 with the centerline of the energy management base 451. This connects the active drive oil circuit front section 4519, the energy transmission passage 45110, the upper hip chamber hydraulic oil circuit 4515, and the lower hip chamber hydraulic oil circuit 4516 (i.e., the third position). In this state, the hydraulic active drive motor 456 rotates, driving the hydraulic gear pump 457 to operate, thus propelling the hydraulic oil flow to drive the active movement of the hip joint.

[0229] The knee joint flow regulating valve body 453 remains in the first position. By controlling the rotation of the knee joint flow regulating valve body 453, the deviation between the centerline of the first position slot 4531 and the centerline of the energy management base 451 is adjusted, thereby achieving adaptive adjustment of the knee joint damping force. In this state, the hip and knee joints can achieve energy transmission and flow through the energy transmission path 45110, and the knee joint hydraulic oil transmits energy to the hip joint through the energy transmission path 45110.

[0230] Figure 12 In section D, the flow path of the hydraulic oil in the hip joint is as follows: the front section of the active drive oil circuit 4519, the three-position slot of the hip valve body 4524, the hydraulic oil circuit of the lower hip cavity 4516, and the lower cavity of the hip hydraulic cylinder 4242; the upper cavity of the hip hydraulic cylinder 4241, the hydraulic oil circuit of the upper hip cavity 4515, the rear section of the active drive oil circuit 45111, and the front section of the active drive oil circuit 4519; in addition, the excess hydraulic oil in the upper cavity of the knee hydraulic cylinder 4341 can flow to the three-position slot of the hip valve body 4524 through the energy transmission passage 45110.

[0231] The flow path of the knee joint hydraulic oil is as follows: upper cavity 4341 of the knee hydraulic cylinder, upper cavity hydraulic oil circuit 4517 of the knee, part of which flows through energy transmission passage 45110 to the second position slot 4523 of the hip valve body, and the other part flows to the first position slot 4531 of the knee valve body, lower cavity hydraulic oil circuit 4518 of the knee, and lower cavity 4342 of the knee hydraulic cylinder.

[0232] Figure 12 E is a schematic diagram of the working mode of the hip and knee energy management module at the end of the swing phase.

[0233] like Figure 17 , Figure 12 As shown in E, during the final stage of the swing, the hip joint continues to actively flex, while the knee joint extends through damping adaptive adjustment. The energy storage chamber 4513 releases energy to assist the knee joint extension movement. The hip joint flow regulating valve 452 remains in the third position, and the knee joint flow regulating valve 453 remains in the first position.

[0234] Figure 12 In section E, the flow path of the hydraulic oil in the hip joint is as follows: front section of the active drive oil circuit 4519, three-position slot of the hip valve body 4524, lower chamber hydraulic oil circuit of the hip 4516, lower chamber of the hip hydraulic cylinder 4242; upper chamber of the hip hydraulic cylinder 4241, upper chamber hydraulic oil circuit of the hip 4515, rear section of the active drive oil circuit 45111, front section of the active drive oil circuit 4519.

[0235] The flow path of the knee joint hydraulic oil is as follows: lower chamber 4342 of the knee hydraulic cylinder, lower chamber hydraulic oil passage 4518, knee valve body first position slot 4531, upper chamber hydraulic oil passage 4517, and upper chamber 4341 of the knee hydraulic cylinder; in addition, the hydraulic oil in the energy storage chamber 4513 flows to the upper chamber 4341 of the knee hydraulic cylinder via the energy transmission passage 45110, knee valve body first position slot 4531, and upper chamber hydraulic oil passage 4517.

[0236] Figure 12 F is a schematic diagram of the hip and knee energy management module's operating mode when the safety lock is engaged.

[0237] like Figure 12 As shown in Figure F, when the hip joint flow regulating valve body 452 is rotated counterclockwise to 90 degrees from its initial state, the slots on the hip joint flow regulating valve body 452 do not coincide with the hydraulic oil circuits in the energy management base 451, and the hydraulic oil circuits are not interconnected. In this state, the hip joint is in a locked mode (i.e., locked state). When the knee joint flow regulating valve body 453 is rotated clockwise to 180 degrees from its initial state, the slots on the knee joint flow regulating valve body 453 do not coincide with the hydraulic oil circuits in the energy management base 451, and the hydraulic oil circuits are not interconnected. In this state, the knee joint is in a locked mode (i.e., locked state).

[0238] In summary, the first five phases correspond to the five gait phases of actual walking on flat ground: early stance, middle stance, late stance, early swing, and late swing. The direction of hip and knee joint movement is fixed in these five gait phases, although... Figure 9 , Figure 11 The different combinations of states can achieve more functions and support more active and passive movements of the hip and knee joints, but only these five combinations are needed for walking on flat ground.

[0239] Figure 12 A. Initial standing phase: Passive hip extension and passive knee flexion exercises;

[0240] Figure 12 B. Mid-standing movement: Passive hip extension exercise, active knee extension exercise;

[0241] Figure 12C. Late standing phase: Passive hip extension (with assistance from the energy transfer circuit), passive knee flexion;

[0242] Figure 12 D. Early swing phase: Active hip flexion with assistance from the energy transfer circuit, and passive knee flexion.

[0243] Figure 12 E. End of swing phase: active movement of hip flexion, passive movement of knee extension.

[0244] Figure 12 F. Hip and knee joint locking.

[0245] Biomechanical studies have shown that the human lower limb hip-knee joints have a natural driving characteristic of bidirectional active and passive mixed action of two joint muscles. During walking, there is a significant inter-joint synergistic movement and energy transfer relationship, which plays an important role in gait energy flow and recovery.

[0246] Based on this, the present invention couples active drive and passive damping of the two joints, and constructs a bidirectional drive and energy circuit of the hip-knee joint through an energy biomimetic compensation mechanism based on homogeneous heterogeneous drive, which helps to efficiently recover energy and flow between the hip and knee joints during walking, effectively improves energy utilization efficiency and reduces metabolic energy of amputees.

[0247] Specifically, a hip-knee synergistic bionic prosthesis with adaptive active drive, joint damping adjustment, and inter-joint energy recovery was established. The hip and knee joints are driven by hydraulic cylinders supplied with oil from the same power source. When low power is required, the hydraulic cylinders drive with continuous, precise, and controllable damped energy, fully utilizing the characteristics of damped prostheses. In gait conditions requiring active torque, a motor drives a hydraulic pump to power the hydraulic cylinders, providing sufficient active torque to the joints and compensating for the shortcomings of passively damped prostheses in such gait conditions. This meets the wearer's driving force requirements during walking, achieving a hybrid drive system with similar but different energy sources for the hip-knee synergistic bionic prosthesis. Passive energy storage and release in the hip and knee joints are achieved through the volume difference generated during the movement of the single-rod hydraulic cylinder and elastic elements (energy storage springs in the hip joint hydraulic cylinder and energy storage chamber springs). Energy transmission and direct linkage between the hip and knee joints are realized through an energy storage device, an external energy transmission path, and two hydraulic flow regulating valves. Meanwhile, when the energy storage device is full of oil (such as when descending long slopes or stairs), the pressure generated by the joint hydraulic cylinder drives the hydraulic pump / motor to generate electricity. The energy is stored in the battery in the form of electrical energy, minimizing the energy consumption of the prosthesis.

[0248] By analyzing the motion characteristics and driving requirements of different gait phases within a typical gait cycle, a homologous heterogeneous power control method for an integrated hip and knee prosthesis under flat walking conditions was designed.

[0249] By subdividing the flat-ground walking gait cycle into five phases (early standing, middle, late standing, early swing, and late swing), and combining the real-time motion state of the hip and knee joint hydraulic systems, the valve angle and oil circuit connection relationship in the hip and knee energy management module are dynamically adjusted to achieve energy distribution and power coordination of hip and knee movements under different phases.

[0250] For example, active assistance is prioritized for the knee joint during the mid-standing phase, while energy transfer across joints is achieved through energy transfer pathways at the end of the swing phase, thus optimizing energy utilization efficiency.

[0251] Specifically, 1) In the early stage of standing, the focus of the prosthesis is to ensure stability. The hip joint is in a state that only allows unidirectional high-damped extension movement. The energy storage spring in the hydraulic cylinder is compressed and stores energy. The knee joint is in a flexed high-damped state. The excess hydraulic oil in its single-rod hydraulic cylinder can flow into the energy storage device through the energy transmission circuit for energy storage.

[0252] 2) During the mid-standing phase, controllable damping is needed for the hip joint and extension assistance is needed for the knee joint. The opening of the hip joint valve can be adaptively adjusted and the energy storage spring continues to compress and store energy. The motor drives the hydraulic pump to supply energy to the knee joint hydraulic cylinder, and the energy in the energy storage device is released.

[0253] 3) During the final stage of standing, the hip and knee joints mainly move forward with the body's center of gravity. The hip joint energy storage spring releases energy, and the knee joint hydraulic oil provides assistance to the hip joint flexion through the energy transmission circuit.

[0254] 4) In the early stage of the swing, the hip joint actively flexes through external force, and the knee joint performs flexion through damping adaptive adjustment, and energy is transferred to the hip joint through the energy transfer circuit; 5) In the late stage of the swing, the hip joint continues to actively flex, and the knee joint performs extension through damping adaptive adjustment, and the energy storage cavity releases energy to assist the knee joint extension movement.

[0255] In summary, the advantages of this invention are:

[0256] (1) Homogeneous and heterogeneous energy driving mechanism: Based on the bidirectional energy flow characteristics of the hydraulic system, the energy stored in the hip joint and the energy dissipated in the knee joint are dynamically coupled to form a closed-loop energy cycle;

[0257] (2) Synergy between biomimetic motion and energy management: Through multi-state control of the rotary valve body, kinematic adaptability and energy transfer efficiency are optimized simultaneously;

[0258] (3) Seamless switching between active and passive modes: Utilizing the piezoelectric effect of the hydraulic gear pump, it automatically switches to generator mode during the negative power stage (such as when going down stairs), which significantly extends the endurance of the prosthesis.

Claims

1. A hip-knee coordinated bionic prosthesis, characterized in that, include: Hip joint motion module (1), thigh module (2), knee joint motion module (3), drive module (4), calf module (5) and prosthetic foot (6); The thigh module (2) includes a thigh rod (22); the lower leg module (5) includes a lower leg tube (52), the lower end of which is fastened to the upper end of the prosthetic foot (6); The hip joint motion module (1) includes a receiving cavity fixation seat (11), a fixation seat connector (12), an anterior hip link (13), a posterior hip link (14), an upper hip link (15), and a lower hip link (16). The upper end of the anterior hip link (13) is coaxially connected to the fixation seat connector (12), the middle end of the anterior hip link (13) is coaxially connected to the right end of the upper hip link (15), the lower end of the anterior hip link (13) is coaxially connected to the right end of the lower hip link (16), the upper end of the posterior hip link (14) is coaxially connected to the fixation seat connector (12), the lower end of the posterior hip link (14) is coaxially connected to the middle end of the upper hip link (15), the left end of the upper hip link (15) is coaxially connected to the thigh link (22), and the left end of the lower hip link (16) is coaxially connected to the thigh link (22) to form a remote motion center mechanism. A hip slide bar (161) is provided on the left side of the lower hip link (16). The knee joint motion module (3) includes an upper knee link (31), an anterior knee link (32), a lower knee link (33), and a posterior knee link (34), which are coaxially connected in pairs to form a four-bar linkage. The posterior knee link (34) has a knee slide bar (341) on its upper side and a limit block (342) on its lower side to prevent excessive knee flexion interference. The lower knee link (33) is fastened to the calf tube (52) on its lower side by fasteners. The drive module (4) is used to provide active driving force or passive damping force for the hip slide bar (161) and knee slide bar (341) to move up and down; The driving module (4) includes: The hip joint hydraulic cylinder (42) and the hip slider (41) are rotatably connected by a connecting rod between the cylinder rod of the hip joint hydraulic cylinder (42) and the hip slider (41); the hip slider (41) is slidably connected to the hip slide rod (611). A knee joint hydraulic cylinder (43) and a knee slider (44) are provided. The cylinder rod of the knee joint hydraulic cylinder (43) and the knee slider (44) are rotatably connected by a connecting rod. The knee slider (44) is slidably connected to the knee slide rod (341). The hip joint hydraulic cylinder (42) and the knee joint hydraulic cylinder (43) are both located in the hip and knee energy management module (45). And a hip and knee energy management module (45) for providing active driving force or passive damping force for the up and down movement of the output end of the hip joint hydraulic cylinder (42) and the output end of the knee joint hydraulic cylinder (43); The hip joint hydraulic cylinder (42) includes a hip piston rod (421), a hip hydraulic cylinder cover (422), a hip hydraulic piston (423), a hip hydraulic cylinder body (424), and a hip energy storage spring (425). The upper end of the hip piston rod (421) is coaxially connected to the hip slider (41); the middle end of the hip piston rod (421) is threadedly connected to and passes through the hip hydraulic piston (423), so that the hip joint hydraulic cylinder (42) forms a double-ended rod type hydraulic cylinder; the hip hydraulic cylinder body (424) is divided into the upper chamber (4241) and the lower chamber (424) of the hip hydraulic cylinder by the hip hydraulic piston (423). 2) The upper chamber (4241) of the hip hydraulic cylinder is provided with an upper chamber oil hole (4243), and the lower chamber (4242) of the hip hydraulic cylinder is provided with a lower chamber oil hole (4244); the hip energy storage spring (425) is built into the lower chamber (4242) of the hip hydraulic cylinder. The hip energy storage spring (425) is compressed and rebounded by the up and down movement of the hip hydraulic piston (423) during the hip joint movement, thereby realizing the storage and release of hip joint movement energy; The hip hydraulic cylinder head (422) is adapted to the hip hydraulic cylinder body (424); The knee joint hydraulic cylinder (43) includes a knee piston rod (431), a knee hydraulic cylinder cover (432), a knee hydraulic piston (433), and a knee hydraulic cylinder body (434). The lower end of the knee piston rod (431) is coaxially connected to the knee slider (44); the upper end of the knee piston rod (431) is threadedly connected to the knee hydraulic piston (433), so that the knee joint hydraulic cylinder (43) forms a single-sided rod-type hydraulic cylinder; the knee hydraulic cylinder body (434) is divided into an upper knee hydraulic cylinder chamber (4341) and a lower knee hydraulic cylinder chamber (4342) with the knee hydraulic piston (433) as the boundary. The upper knee hydraulic cylinder chamber (4341) is provided with an upper knee chamber oil hole (4343), and the lower knee hydraulic cylinder chamber (4342) is provided with a lower knee chamber oil hole (4344). The knee hydraulic cylinder head (432) is adapted to the knee hydraulic cylinder body (434); The hip and knee energy management module (45) includes: The energy management base (451) is provided with a hip joint valve body cavity (4511), a knee joint valve body cavity (4512), an energy storage cavity (4513), a hydraulic gear pump cavity (4514), a hydraulic oil circuit for the upper hip cavity (4515), a hydraulic oil circuit for the lower hip cavity (4516), a hydraulic oil circuit for the upper knee cavity (4517), a hydraulic oil circuit for the lower knee cavity (4518), a front section of the active drive oil circuit (4519), an energy transmission passage (45110), and a rear section of the active drive oil circuit (45111). The upper hip cavity hydraulic circuit (4515) is connected at one end to the hip joint valve body cavity (4511), at the other end to the upper hip cavity oil hole (4243), and at the other end to the rear section (45111) of the active drive circuit; the lower hip cavity hydraulic circuit (4516) is connected at one end to the hip joint valve body cavity (4511) and at the other end to the lower hip cavity oil hole (4244); The upper knee cavity hydraulic oil circuit (4517) is connected at one end to the knee joint valve body cavity (4512) and at the other end to the upper knee cavity oil hole (4343); the lower knee cavity hydraulic oil circuit (4518) is connected at one end to the knee joint valve body cavity (4512), at one end to the lower knee cavity oil hole (4344), and at the other end to the rear section (45111) of the active drive oil circuit; The active drive oil circuit front section (4519) is connected at one end to the hip joint valve body cavity (4511), at one end to the knee joint valve body cavity (4512), and at one end to the inner side of the hydraulic gear pump cavity (4514). The energy transmission path (45110) is connected at one end to the hip joint valve body cavity (4511), at one end to the knee joint valve body cavity (4512), and at one end to the energy storage cavity (4513). The rear section of the active drive oil circuit (45111) is connected at one end to the outside of the hydraulic gear pump chamber (4514), at one end to the upper hip chamber hydraulic oil circuit (4515), and at one end to the lower knee chamber hydraulic oil circuit (4518). The hip joint flow regulating valve body (452) and the knee joint flow regulating valve body (453) are respectively disposed in the hip joint valve body cavity (4511) and the knee joint valve body cavity (4512); The upper end of the hip joint flow regulating valve body (452) is provided with a motor shaft, which is connected to the hip joint flow regulating motor module (454). The hip joint flow regulating motor module (454) can control the rotation angle of the hip joint flow regulating valve body (452) to adjust the connection relationship between different slots on the valve body and different hydraulic oil circuits in the energy management base (451). The lower end of the knee joint flow regulating valve body (453) is provided with a motor shaft, which is connected to the knee joint flow regulating motor module (455) through the motor shaft. The rotation angle of the knee joint flow regulating valve body (453) can be controlled by the knee joint flow regulating motor module (455) to adjust the connection relationship and fitting clearance between different slots on the valve body and different hydraulic oil circuits in the energy management base (451). The hip joint flow regulating motor module (454) and the knee joint flow regulating motor module (455) are both located on the energy management base (451). A hydraulic gear pump (457) is connected to a hydraulic active drive motor (456). The pump has two ports, both located between the rear section (45111) and the front section (4519) of the active drive oil circuit. The hydraulic gear pump (457) is located in the hydraulic gear pump chamber (4514). When the hydraulic active drive motor (456) rotates, it can drive the hydraulic gear pump (457) to work, converting the motor's mechanical energy into hydraulic energy. The hydraulic oil is pushed from the front section (4519) to the rear section (45111) of the active drive oil circuit, or from the rear section (45111) to the front section (4519) of the active drive oil circuit, through the forward and reverse rotation of the motor. Energy storage chamber cover (458) is installed in energy storage chamber (4513); Initial standing phase: Passive hip extension and passive knee flexion exercises; Mid-standing phase: Passive hip extension exercises, active knee extension exercises; End of standing phase: Passive hip extension and passive knee flexion exercises.

2. The hip-knee coordinated bionic prosthesis according to claim 1, characterized in that: The energy storage chamber cover (458) is connected in sequence to the energy storage chamber spring (459) and the energy storage chamber piston (4510).

3. The hip-knee synergistic bionic prosthesis according to claim 1, characterized in that: The hip joint flow regulating valve body (452) has a cylindrical structure, and the cylindrical surface is provided with a hip valve body first position slot (4521), a hip valve body second position slot (4523) and a hip valve body third position slot (4524). The first slot (4521), the second slot (4523), and the third slot (4524) of the hip valve body do not interfere with each other, and the planes formed by the midline of the three slots and the central axis of the hip joint flow regulating valve body (452) are 90 degrees to each other. The hip valve body first slot (4521) extends axially and is equipped with a one-way valve (4522). When the center line of the hip valve body first slot (4521) coincides with the center line of the energy management base (451), the hydraulic oil circuit (4515) of the upper hip cavity and the hydraulic oil circuit (4516) of the lower hip cavity can be connected, so that the hydraulic oil can only flow in one direction from the lower cavity to the upper cavity. The hip valve body two-position slot (4523) has an E-shaped structure. When the center line of the hip valve body two-position slot (4523) coincides with the center line of the energy management base (451), the energy transmission path (45110), the upper hip cavity hydraulic oil circuit (4515), and the lower hip cavity hydraulic oil circuit (4516) can be connected. The hip valve body three-position slot (4524) has an inverted 7-shaped structure. When the center line of the hip valve body three-position slot (4524) coincides with the center line of the energy management base (451), the active drive oil circuit front section (4519), the energy transmission passage (45110), the upper hip cavity hydraulic oil circuit (4515) and the lower hip cavity hydraulic oil circuit (4516) can be connected. In this state, the hydraulic active drive motor (456) rotates to drive the hydraulic gear pump (457) to work, which can push the hydraulic oil to flow to drive the active movement of the hip joint. When the slots on the hip joint flow regulating valve body (452) do not overlap with the hydraulic circuits in the energy management base (451), the hydraulic circuits are not connected to each other, and the hip joint is in a locked mode.

4. The hip-knee coordinated bionic prosthesis according to claim 1, characterized in that: The knee joint flow regulating valve body (453) has a cylindrical structure, and the cylindrical surface is provided with a first position slot (4531) and a second position slot (4532). The first slot (4531) and the second slot (4532) of the knee valve body do not interfere with each other, and the plane formed by the midline of the two and the central axis of the knee joint flow regulating valve body (453) is 90 degrees to each other; The knee valve body first position slot (4531) extends axially. When the center line of the knee valve body first position slot (4531) coincides with the center line of the energy management base (451), the energy transmission passage (45110), the upper knee cavity hydraulic oil passage (4517) and the lower knee cavity hydraulic oil passage (4518) can be connected. Moreover, the excess hydraulic oil in its single rod hydraulic cylinder can flow into the energy storage cavity (4513) through the energy transmission passage (45110) for energy storage. The knee valve body two-position slot (4532) extends axially. When the center line of the knee valve body two-position slot (4532) coincides with the center line of the energy management base (451), the energy transmission path (45110), the front section of the active drive oil circuit (4519), and the upper cavity hydraulic oil circuit (4517) of the knee can be connected. In this state, the hydraulic active drive motor (456) rotates to drive the hydraulic gear pump (457) to work, which can push the hydraulic oil to flow to drive the active movement of the knee joint. When the slots on the knee joint flow regulating valve body (453) do not overlap with the hydraulic oil circuits in the energy management base (451), the hydraulic oil circuits are not connected to each other, and the knee joint is in a locked mode.

5. The hip-knee coordinated bionic prosthesis according to claim 1, characterized in that: When the energy storage chamber (4513) is filled with oil, the pressure generated by the hip joint hydraulic cylinder (42) and the knee joint hydraulic cylinder (43) can drive the hydraulic gear pump (457) to drive the hydraulic active drive motor (456) to generate electricity, and the energy is stored in the battery in the form of electrical energy.

6. The hip-knee synergistic bionic prosthesis according to claim 1, characterized in that: By controlling the rotation of the hip joint flow regulating valve body (452) to adjust the deviation between the centerline of the first slot (4521) of the hip valve body and the centerline of the energy management base (451), the overlapping area of ​​the first slot (4521) of the hip body and the hydraulic oil circuit (4515) of the upper hip cavity and the hydraulic oil circuit (4516) of the lower hip cavity can be changed, thereby changing the flow area of ​​the hydraulic oil and thus changing the damping force experienced by the hip joint during unidirectional extension movement.

7. The hip-knee coordinated bionic prosthesis according to claim 1, characterized in that: By controlling the rotation of the knee joint flow regulating valve body (453) to adjust the deviation between the centerline of the first slot (4531) of the knee valve body and the centerline of the energy management base (451), the overlapping area of ​​the first slot (4531) of the knee body and the hydraulic oil circuit (4517) of the upper knee cavity and the hydraulic oil circuit (4518) of the lower knee cavity can be changed, thereby changing the flow area of ​​the hydraulic oil and thus changing the damping force experienced by the knee joint during flexion or extension movements.

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