A composite-based sensory feedback prosthesis

Abstract

The utility model provides a kind of sensing feedback artificial limb based on composite material, it is related to artificial limb technical field, sensing feedback artificial limb based on composite material, including artificial limb body, support beam, flexible sensor and wire, first through-hole and second through-hole are set up along first direction on artificial limb body, first through-hole and second through-hole are sequentially arranged along second direction, the both ends opening of first through-hole is respectively provided with support beam along second direction, the both ends opening of second through-hole is respectively provided with support beam along second direction, the outer wall of artificial limb body and support beam is respectively embedded flexible sensor and wire, one end of wire is connected with flexible sensor, the other end of wire is used to be connected with circuit board, wherein, first direction is the radial direction of artificial limb body, second direction is the axial direction of artificial limb body.The utility model obtains the stress condition of artificial limb by embedding flexible sensor in artificial limb structure, to improve the use experience of user.

Description

Technical Field

[0001] This utility model relates to the field of prosthetics technology, and more specifically, to a sensor feedback prosthesis based on composite materials. Background Technology

[0002] With advancements in materials science, engineering, and human biomechanics, modern prostheses have made significant leaps in functionality and comfort. Widely used in medical rehabilitation, they help patients who have had limbs amputated due to illness, accidents, or other reasons regain mobility, greatly improving their quality of life. In specialized sports, such as the Paralympic Games, high-performance prostheses assist athletes in pushing their limits, showcasing the indomitable spirit of humanity and the powerful force of technology.

[0003] However, with existing prostheses, users cannot perceive the force applied to the prosthesis during use, making it difficult to control the interaction between the prosthesis and the external environment, thus affecting the user experience. Utility Model Content

[0004] The problem this invention addresses is: how to improve the user experience of prostheses.

[0005] To address the aforementioned problems, this invention provides a sensor feedback prosthesis based on composite materials.

[0006] In a first aspect, this utility model provides a sensor feedback prosthesis based on composite materials, including a prosthesis body, a support beam, a flexible sensor, and a wire. The prosthesis body has a first through hole and a second through hole along a first direction. The first through hole and the second through hole are arranged sequentially along a second direction. The support beam is respectively arranged at the two openings of the first through hole along the second direction. The support beam is also respectively arranged at the two openings of the second through hole along the second direction. The flexible sensor and the wire are respectively embedded in the outer walls of the prosthesis body and the support beam. One end of the wire is connected to the flexible sensor, and the other end of the wire is used to connect to a circuit board. The first direction is the radial direction of the prosthesis body, and the second direction is the axial direction of the prosthesis body.

[0007] Optionally, the support beam includes a first support beam and a second support beam. The first support beam is provided at one end of the first through hole along the second direction, and both ends of the first support beam are respectively connected to the prosthesis body. The second support beam is provided at the other end of the first through hole along the second direction, and both ends of the second support beam are respectively connected to the prosthesis body.

[0008] Optionally, the flexible sensor includes a first flexible sensor, the wire includes a first wire, the first flexible sensor is embedded in the outer wall of the first support beam, one end of the first wire is connected to the first flexible sensor, and the other end of the first wire extends along the outer wall of the prosthesis body and connects to the circuit board.

[0009] Optionally, the flexible sensor further includes a second flexible sensor, and the wire further includes a second wire. The second flexible sensor is embedded in the outer wall of the second support beam. One end of the second wire is connected to the second flexible sensor, and the other end of the second wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board.

[0010] Optionally, the support beam further includes a third support beam and a fourth support beam. A third support beam is provided at one end of the second through hole along the second direction, and both ends of the third support beam are respectively connected to the prosthesis body. A fourth support beam is provided at the other end of the second through hole along the second direction, and both ends of the fourth support beam are respectively connected to the prosthesis body.

[0011] Optionally, the flexible sensor further includes a third flexible sensor and a fourth flexible sensor, and the wire further includes a third wire and a fourth wire. The third flexible sensor is embedded in the outer wall of the connection between one end of the third support beam and the prosthesis body. One end of the third wire is connected to the third flexible sensor, and the other end of the third wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board. The fourth flexible sensor is embedded in the outer wall of the connection between the other end of the third support beam and the prosthesis body. One end of the fourth wire is connected to the fourth flexible sensor, and the other end of the fourth wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board.

[0012] Optionally, the flexible sensor further includes a fifth flexible sensor and a sixth flexible sensor, and the wire further includes a fifth wire and a sixth wire. The fifth flexible sensor is embedded in the outer wall of the connection between one end of the fourth support beam and the prosthesis body. One end of the fifth wire is connected to the fifth flexible sensor, and the other end of the fifth wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board. The sixth flexible sensor is embedded in the outer wall of the connection between the other end of the fourth support beam and the prosthesis body. One end of the sixth wire is connected to the sixth flexible sensor, and the other end of the sixth wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board.

[0013] Optionally, the flexible sensor further includes a seventh flexible sensor and an eighth flexible sensor, and the wire further includes a seventh wire and an eighth wire. The seventh flexible sensor is embedded in the outer wall of the prosthesis body. One end of the seventh wire is connected to the seventh flexible sensor, and the other end of the seventh wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board. The eighth flexible sensor is embedded in the outer wall of the prosthesis body on the side away from the eighth flexible sensor. One end of the eighth wire is connected to the eighth flexible sensor, and the other end of the eighth wire extends out of the prosthesis body along the outer wall of the prosthesis body and is connected to the circuit board.

[0014] Optionally, a support plate extends from both ends of the second through hole toward the center of the second through hole, and the support plate has a third through hole along the axial direction of the second through hole.

[0015] Optionally, the support plate has a third through hole along the axial direction of the second through hole.

[0016] The beneficial effects of this composite material-based sensor-feedback prosthesis are as follows: The first and second through holes on the prosthesis body effectively reduce the overall weight of the prosthesis, making it lighter and less cumbersome for the user. This reduces the burden on the residual limb during long-term wear and improves wearing comfort. Furthermore, support beams are installed at both ends of each through hole. While reducing weight, these support beams enhance the structural stability and load-bearing capacity of the prosthesis. This ensures the prosthesis maintains good rigidity and is less prone to deformation during daily activities such as lifting objects and supporting the body, making it more reliable and safer for the user and eliminating concerns about structural instability. Simultaneously, flexible sensors and wires are embedded in the outer walls of the prosthesis body and support beams. This allows for real-time monitoring of the force applied to various parts of the prosthesis and transmits the data to a circuit board for processing. The user can indirectly perceive the force applied to the prosthesis through the data transmitted by the flexible sensors. This allows for better control of force during grasping and touching actions, preventing damage to objects or the prosthesis due to improper force, and improving accuracy and convenience of use. The overall structural design of the prosthesis balances functionality and comfort. The reasonable layout of the through holes and the stable support of the support beams allow the prosthesis to conform more ergonomically while ensuring performance. This results in a better fit with the residual limb when worn, reducing friction and pressure on the residual limb, lowering discomfort, and thus improving the overall user experience. Attached Figure Description

[0017] Figure 1 This is a front view of the composite material-based sensing feedback prosthesis in this embodiment of the invention.

[0018] Figure 2 This is a rear view of the composite material-based sensing feedback prosthesis in this embodiment of the invention.

[0019] Figure 3 This is a top view of the supporting beam in an embodiment of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the composite material-based sensing feedback prosthesis in this embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Prosthetic body; 2-Support beam; 21-First support beam; 22-Second support beam; 23-Third support beam; 24-Fourth support beam; 3-Flexible sensor; 31-First flexible sensor; 32-Second flexible sensor; 33-Third flexible sensor; 34-Fourth flexible sensor; 35-Fifth flexible sensor; 36-Sixth flexible sensor; 37-Seventh flexible sensor; 38-Eighth flexible sensor; 4-Wire; 41-First wire; 42-Second wire; 43-Third wire; 44-Fourth wire; 45-Fifth wire; 46-Sixth wire; 47-Seventh wire; 48-Eighth wire; 5-Support plate; 6-Third through hole; 7-First through hole; 8-Second through hole. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Although some embodiments of this utility model are shown in the drawings, it should be understood that this utility model can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this utility model. It should be understood that the drawings and embodiments of this utility model are for illustrative purposes only and are not intended to limit the scope of protection of this utility model.

[0024] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this utility model are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0025] It should be noted that the terms "one" and "multiple" used in this utility model are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0026] Combination Figures 1 to 4 As shown in the figure, this utility model provides a composite material-based sensing feedback prosthesis, including a prosthesis body 1, a support beam 2, a flexible sensor 3, and a wire 4. The prosthesis body 1 has a first through hole 7 and a second through hole 8 along a first direction. The first through hole 7 and the second through hole 8 are arranged sequentially along a second direction. The openings at both ends of the first through hole 7 are respectively provided with the support beam 2 along the second direction. The openings at both ends of the second through hole 8 are respectively provided with the support beam 2 along the second direction. The flexible sensor 3 and the wire 4 are respectively embedded in the outer walls of the prosthesis body 1 and the support beam 2. One end of the wire 4 is connected to the flexible sensor 3, and the other end of the wire 4 is used to connect to a circuit board. The first direction is the radial direction of the prosthesis body 1, and the second direction is the axial direction of the prosthesis body 1.

[0027] It should be noted that in this embodiment, the prosthetic body 1 is manufactured using composite material additive manufacturing technology (3D printing). The flexible sensor 3 can be embedded into the prosthetic body 1 through additive manufacturing, resulting in a one-piece composite material-based sensing and feedback prosthesis. The flexible sensing layer of the flexible sensor 3 uses TPU (thermoplastic polyurethane) as the flexible substrate, which possesses good elasticity and toughness, adapting to deformation during prosthesis use. The sensor body can be printed using piezoelectric material ink, utilizing the piezoelectric effect to sense force signals. TPU-coated metal fibers serve as conductors 4, ensuring stable signal transmission. Multi-channel material extrusion technology can be used to alternately stack the TPU flexible sensing layer and PLA (carbon fiber reinforced thermoplastic polylactic acid) rigid structural layer during 3D printing. The sensor made of piezoelectric material ink is directly embedded into the structure during printing, avoiding the problem of traditional adhesive sensors relying on external fixing devices, thus improving integration and structural stability. Ultimately, a composite material prosthetic structure is formed, using TPU as a flexible substrate and piezoelectric ink as the functional core, integrated with the prosthetic structure through additive manufacturing technology. This enables real-time and precise monitoring of the prosthesis's stress and health status, enhancing the prosthesis's intelligence level. Furthermore, weight reduction of the prosthetic structure can be achieved through topology optimization. The entire process, from model import, parameter definition, mesh generation, optimization settings to computational verification and physical testing, is completed in finite element analysis software, preserving the optimized prosthetic structure that meets performance standards.

[0028] Specifically, the prosthetic body 1, as the main frame of the prosthetic structure, is made of composite materials (such as high-strength materials like carbon fiber reinforced polymers, glass fiber reinforced polymers, or carbon nanotube reinforced polymers). It serves as the load-bearing foundation of the entire prosthetic structure. Its shape must adapt to the amputated part of the human body (such as the forearm or lower leg), and topology optimization design ensures a balance between lightweight and mechanical performance. For example, if the prosthetic body 1 adapts to the forearm, its shape is an elongated strip that gradually narrows from proximal to distal, similar to the shape of a natural arm. The proximal end connects to the socket, whose shape perfectly conforms to the contour of the residual limb. The socket is typically a concave curved structure that tightly wraps around the residual limb, ensuring stable wear. Near the distal end, the wrist joint and hand components are connected. Along the axial direction (second direction), i.e., the length direction of the prosthesis body 1, a first through hole 7 and a second through hole 8 are sequentially formed. That is, two adjacent through holes are formed on the prosthesis body 1 along the radial direction (first direction). The first direction is perpendicular to the second direction. The size and shape of the through holes can match the shape of the prosthesis body 1. For example, the first through hole 7 is near the distal end of the prosthesis body 1, and the second through hole 8 is near the proximal end of the prosthesis body 1. Because the shape of the prosthesis body 1 gradually narrows from the proximal end to the distal end, the diameter of the first through hole 7 is smaller than the diameter of the second through hole 8. The through hole design may be used for weight reduction and optimized stress distribution. Support beams 2 are respectively provided at both ends of the first through hole 7 and the second through hole 8 along the second direction. The support beams 2 connect the body structure on both sides of the through hole, and their function is to compensate for the structural strength that may be weakened after the through holes are formed, avoid stress concentration, and provide a mounting carrier for the sensor and wire 4. The flexible sensor 3 and the wire 4 are embedded into the outer wall of the prosthesis body 1 and the support beam 2 through 3D printing. One end of the wire 4 is connected to the flexible sensor 3, and the other end is used to connect to the circuit board outside the prosthesis body 1 to form a signal transmission path, which transmits the data collected by the sensor to the control system (such as the drive or feedback module of the prosthesis). Thus, the embedded flexible sensor 3 can sense the force at the corresponding position of the prosthesis structure.

[0029] In this embodiment, the first through-hole 7 and the second through-hole 8 on the prosthesis body 1 effectively reduce the overall weight of the prosthesis, making it lighter and less cumbersome for the user. This reduces the burden on the residual limb during long-term wear and improves wearing comfort. Furthermore, support beams 2 are provided at both ends of each through-hole. While reducing weight, the support beams 2 enhance the structural stability and load-bearing capacity of the prosthesis. This ensures the prosthesis maintains good rigidity and is less prone to deformation during daily activities such as lifting objects and supporting the body, making it more reliable and safer for the user and eliminating concerns about structural instability. Simultaneously, flexible sensors 3 and wires 4 are embedded in the outer walls of the prosthesis body 1 and support beams 2. This allows for real-time monitoring of the force applied to various parts of the prosthesis and transmits this data to the circuit board via the wires 4 for data collection and processing. The user can indirectly perceive the force applied to the prosthesis through the data transmitted by the flexible sensors 3, allowing for better control of force during grasping and touching actions. This prevents damage to objects or the prosthesis due to improper force, improving accuracy and convenience of use. The overall structural design of the prosthesis balances functionality and comfort. The reasonable layout of the through holes and the stable support of the support beam 2 allow the prosthesis to conform more ergonomically while ensuring performance. This results in better fit with the residual limb when worn, reducing friction and pressure on the residual limb, lowering discomfort, and thus improving the overall user experience.

[0030] Optionally, combined Figures 1 to 4 As shown, the support beam 2 includes a first support beam 21 and a second support beam 22. The first support beam 21 is provided at one end of the opening of the first through hole 7 along the second direction. The two ends of the first support beam 21 are respectively connected to the prosthetic body 1. The second support beam 22 is provided at the other end of the opening of the first through hole 7 along the second direction. The two ends of the second support beam 22 are respectively connected to the prosthetic body 1.

[0031] In this optional embodiment, the support beam 2 of the first through hole 7 includes a first support beam 21 and a second support beam 22, both of which are arranged along the axial direction (second direction) of the prosthesis body 1 and are respectively located at the openings at both ends of the first through hole 7. The first support beam 21 is located at the opening at one end of the first through hole 7, and its two ends are respectively connected to the prosthesis body 1; the second support beam 22 is located at the opening at the other end of the first through hole 7, and is also connected to the prosthesis body 1 at both ends. Through the design of the first support beam 21 and the second support beam 22, the stress influence brought by the first through hole 7 can be effectively dispersed. When the prosthesis body 1 is subjected to force (such as bending or bearing weight during user activity), the first through hole 7 will cause the surrounding structure to have a tendency for stress concentration. The first support beam 21 and the second support beam 22 act like a "bridge" spanning both sides of the first through hole 7, transferring the stress from one side of the body to the other side of the first through hole 7. They bear part of the load through their own deformation, preventing cracking or deformation of the edge of the first through hole due to excessive stress, and ensuring that the prosthesis can maintain sufficient structural strength while being lightweight (weight reduction through the through hole). The first support beam 21 and the second support beam 22 are arranged along the axial direction (second direction) primarily because the prosthetic structure mainly bears axial tensile, compressive, and bending moments during daily use (such as lifting objects or bending the arm). The axial direction is the "main path" for force transmission in the prosthesis, with most forces transmitted from the socket (proximal end) to the hand (distal end) along the axial direction. By setting the first support beam 21 and the second support beam 22, the structure of the first through hole 7 is strengthened, retaining the weight-reduction advantage of the through hole while enhancing the stability of the prosthetic structure through precise force transmission design.

[0032] Optionally, combined Figures 1 to 4 As shown, the flexible sensor 3 includes a first flexible sensor 31, and the wire 4 includes a first wire 41. The first flexible sensor 31 is embedded in the outer wall of the first support beam 21. One end of the first wire 41 is connected to the first flexible sensor 31, and the other end of the first wire 41 extends along the outer wall of the prosthesis body 1 and connects to the circuit board.

[0033] In this optional embodiment, the first flexible sensor 31 is embedded into the first support beam 21 using 3D printing technology. This design is highly compatible with the stress characteristics of the support beam 2. Since the support beam 2 is axially positioned, it is a key component for force transmission in the prosthesis, and its deformation (such as tension and compression) directly reflects the load-bearing state of the prosthesis. Embedding the first flexible sensor 31 here allows for precise capture of the subtle deformation of the first support beam 21 under axial load, thereby enabling real-time monitoring of the magnitude and distribution of force on the prosthesis structure and providing users with more accurate force feedback. For example, when a user grasps an object with the prosthesis, the force borne by the first support beam 21 will trigger a change in the sensor's signal, which, through subsequent processing, allows the user to perceive the grasping force. The connection and extension method of the first wire 41 balances the stability of signal transmission with the simplicity of the structure. One end of the first wire 41 is connected to the first flexible sensor 31 to ensure that the electrical signal collected by the sensor can be transmitted without loss. The other end of the first wire 41 is distributed along the first support rod and the outer wall of the prosthesis body 1, extending out of the prosthesis structure with the shortest path and connecting to the external circuit board. For example, the circuit board is set near the proximal end of the prosthesis structure. In this case, after the first wire 41 is connected to the first flexible sensor 31, it needs to be set on the first support beam 21 in the direction of the proximal end. After entering the outer wall of the prosthesis body 1, it bypasses the second through hole 8, so that the proximal end of the prosthesis body 1 extends out and connects to the current plate near the proximal end. This wiring method avoids the entanglement or compression that may be caused by the wire 4 randomly shuttling inside the prosthesis. At the same time, by embedding the wire 4 into the prosthesis structure through 3D printing, the impact on the appearance of the prosthesis is reduced, and the risk of the wire 4 being worn or broken is also reduced. Furthermore, through the arrangement of the first flexible sensor 31 and the first wire 41, the first support beam 21 not only undertakes the structural support function, but also becomes an important node for intelligent perception of the prosthesis. Through the integrated design of "structural bearing + signal acquisition + stable transmission", the functionality and reliability of the prosthesis are improved, bringing users a more accurate and safer user experience.

[0034] Optionally, combined Figures 1 to 4 As shown, the flexible sensor 3 also includes a second flexible sensor 32, and the wire 4 also includes a second wire 42. The second flexible sensor 32 is embedded in the outer wall of the second support beam 22. One end of the second wire 42 is connected to the second flexible sensor 32, and the other end of the second wire 42 extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and is connected to the circuit board.

[0035] In this optional embodiment, the second flexible sensor 32 is embedded in the second support beam 22 using 3D printing technology, and its function is the same as that of the first flexible sensor 31. The second support beam 22, as the axial support structure at the other end of the first through-hole 7, is also an important carrier for force transmission in the prosthesis. Its deformation (such as bending and stretching) under axial loads directly reflects the stress state of that area of ​​the prosthesis. Therefore, embedding the second flexible sensor 32 here allows for "opposite monitoring" with the first flexible sensor 31 on the first support beam 21. When the first through-hole 7 is under stress, the two flexible sensors 31 and 32 can respectively capture the stress changes at both ends of the first through-hole 7. By comparing the data, the overall stress balance of the first through-hole 7 area can be more accurately determined, avoiding misjudgments of stress caused by blind spots in the monitoring of a single sensor. The arrangement of the second wire 42 continues the principle of stability and integration of the first wire 41. One end of the wire 4 is connected to the second flexible sensor 32 to ensure the integrity of signal acquisition. The other end extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and connects to the circuit board located on the outside, corresponding to the wiring path of the first wire 41. This method of extending the wire 4 along the outer wall by embedding it can not only avoid the wire 4 from rubbing or tangling with the structural components inside the prosthesis (especially when the prosthesis is in motion), but also allow the two wires 4 to form parallel signal transmission channels without interfering with each other. The addition of the second flexible sensor 32 and the second wire 42 is not a simple functional duplication, but rather, by forming symmetrical sensing and transmission units at both ends of the first through hole 7, the force monitoring in the area of ​​the first through hole 7 is more comprehensive and the data is more three-dimensional. This design makes the support beam 2 not only bear the structural support function, but also become an important part of the intelligent sensing network, further strengthening the dual functions of the prosthesis of "structural bearing" and "intelligent feedback", providing users with more accurate force perception and safer use.

[0036] Optionally, combined Figures 1 to 4 As shown, the support beam 2 also includes a third support beam 23 and a fourth support beam 24. The third support beam 23 is provided at one end of the second through hole 8 along the second direction. The two ends of the third support beam 23 are respectively connected to the prosthetic body 1. The fourth support beam 24 is provided at the other end of the second through hole 8 along the second direction. The two ends of the fourth support beam 24 are respectively connected to the prosthetic body 1.

[0037] In this optional embodiment, the arrangement of the third support beam 23 and the fourth support beam 24 forms a symmetrical logic with the first support beam 21 and the second support beam 22, providing targeted reinforcement to the area of ​​the second through hole 8. The second through hole 8 is arranged sequentially with the first through hole 7 along the axial direction. Its opening would also disrupt the structural continuity of the prosthesis body 1. However, the third support beam 23 (located at one end of the second through hole 8) and the fourth support beam 24 (located at the other end of the second through hole 8) span the through hole along the axial direction (second direction) of the prosthesis body 1, with each end connected to the prosthesis body 1. This is equivalent to building an axial support bridge at the "fracture" of the second through hole 8. This design can restore the structural integrity of the area of ​​the second through hole 8, allowing the load to be smoothly transferred along the axial direction through the support beam 2 on both sides of the through hole. This avoids a sudden drop in the overall structural strength due to the continuous opening of multiple through holes, ensuring that the prosthesis can still withstand the combined forces of tension and bending during daily use while being lightweight. Furthermore, the third support beam 23 and the fourth support beam 24, together with the first support beam 21 and the second support beam 22, form a "support array" distributed along the axial direction of the prosthetic body 1. When the first through hole 7 and the second through hole 8 are arranged sequentially along the axial direction, the support beams 2 of adjacent through holes (such as the second support beam 22 and the third support beam 23) form a continuous axial support sequence in space, allowing the force on the two through hole areas to be transmitted continuously through the support beams 2, avoiding the accumulation of deformation in local areas due to force dispersion. For example, when the prosthetic structure is bent as a whole, the axial support array can gradually transmit the force from the proximal end (near the elbow) to the distal end (near the hand). The support beam 2 of each through hole bears the load of its respective area, balancing the overall force through synergistic action and reducing the risk of single-point fracture. By setting the third support beam 23 and the fourth support beam 24, the area of ​​the second through hole 8 is precisely reinforced, and the design logic of axial support is continued, enhancing the overall stability of the multi-through hole structure.

[0038] Optionally, combined Figures 1 to 4 As shown, the flexible sensor 3 further includes a third flexible sensor 33 and a fourth flexible sensor 34, and the wire 4 further includes a third wire 43 and a fourth wire 44. The third flexible sensor 33 is embedded in the outer wall of the connection between one end of the third support beam 23 and the prosthesis body 1. One end of the third wire 43 is connected to the third flexible sensor 33, and the other end of the third wire 43 extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and is connected to the circuit board. The fourth flexible sensor 34 is embedded in the outer wall of the connection between the other end of the third support beam 23 and the prosthesis body 1. One end of the fourth wire 44 is connected to the fourth flexible sensor 34, and the other end of the fourth wire 44 extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and is connected to the circuit board.

[0039] In this optional embodiment, the third flexible sensor 33 and the fourth flexible sensor 34 are embedded in the outer wall of the connection points between the third support beam 23 and the prosthesis body 1 at both ends using 3D printing technology. Specifically, the third flexible sensor 33 is embedded in the outer wall of the connection point between one end of the third support beam 23 and the prosthesis body 1, and the fourth flexible sensor 34 is embedded in the outer wall of the connection point between the other end of the third support beam 23 and the prosthesis body 1. These two connection points are key nodes for force transmission. The third support beam 23, as the axial support structure at one end of the second through hole 8, has a connection point with the prosthesis body 1 that is a typical area of ​​stress concentration. When the prosthesis structure is subjected to axial or radial loads, the force on the third support beam 23 is transmitted to the prosthesis body 1 through the connection points at both ends. The deformation at these points (such as minute stretching or compression) directly reflects the state of the third support beam 23 and the prosthesis body 1 working together. Embedding the flexible sensors 3 in these connection points allows for the capture of subtle force changes at the "root" of the support beam 2, avoiding potential risks (such as loosening or fatigue damage) from missing connection points due to sensors only being placed in the middle of the support beam 2. For example, when the third support beam 23 becomes loose due to long-term use, the fourth flexible sensor 34 (the other end connection point) will detect abnormal stress changes, providing data support for early warning of prosthesis maintenance. One end of the third wire 43 is connected to the third flexible sensor 33, and the other end extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and connects to the circuit board located on the outside. Similarly, one end of the fourth wire 44 is connected to the fourth flexible sensor 34, and the other end extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and connects to the circuit board located on the outside. The wiring path principle of the third wire 43 and the fourth wire 44 is the same as that of the first wire 41 and the second wire 42. Through embedded and reasonable wiring, the messy distribution of multiple wires 4 is avoided from affecting the appearance of the prosthesis or getting tangled with clothing. At the same time, the independent connection of the wires 4 ensures that the signals of each sensor do not interfere with each other. Even if one wire 4 fails, the other sensors can still work normally, improving the redundancy of the system.

[0040] Optionally, combined Figures 1 to 4As shown, the flexible sensor 3 further includes a fifth flexible sensor 35 and a sixth flexible sensor 36, and the wire 4 further includes a fifth wire 45 and a sixth wire 46. The fifth flexible sensor 35 is embedded in the outer wall of the connection between one end of the fourth support beam 24 and the prosthesis body 1. One end of the fifth wire 45 is connected to the fifth flexible sensor 35, and the other end of the fifth wire 45 extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and is connected to the circuit board. The sixth flexible sensor 36 is embedded in the outer wall of the connection between the other end of the fourth support beam 24 and the prosthesis body 1. One end of the sixth wire 46 is connected to the sixth flexible sensor 36, and the other end of the sixth wire 46 extends out of the prosthesis body 1 along the outer wall of the prosthesis body 1 and is connected to the circuit board.

[0041] In this optional embodiment, the arrangement of the fifth flexible sensor 35 and the sixth flexible sensor 36 follows the design logic of the third meat filling sensor and the fourth flexible sensor 34. The fourth support beam 24, as the axial support structure at the other end of the second through hole 8, also serves as a core node for stress transmission at its connection points with both ends of the prosthetic body 1. When the area of ​​the second through hole 8 is under stress, the connection points at both ends of the fourth support beam 24 must work together with the connection points of the third support beam 23 to bear the load, forming a symmetrical force transmission path. The fifth flexible sensor 35 (located on the outer wall of the connection between one end of the fourth support beam 24 and the prosthesis body 1) and the sixth flexible sensor 36 (located on the outer wall of the connection between the other end of the fourth support beam 24 and the prosthesis body 1) are embedded in these parts, which can form a "mirror monitoring" with the third flexible sensor 33 and the fourth sensor of the third support beam 23. The force data of the connection points of the support beams 2 on both sides of the second through hole 8 can be compared in real time. If the stress value deviation between the fifth sensor and the third sensor (the connection point at the same end of the third support beam 23 and the fourth support beam 24) exceeds the threshold, or if the data of the sixth sensor and the fourth sensor (the connection point at the other end of the two support beams 2) are asymmetrical, it can be determined that there is a force imbalance in the area of ​​the second through hole 8, which may be caused by inconsistent deformation of the support beam 2, thus providing a basis for the overall force balance adjustment. After the fifth wire 45 and the sixth wire 46 are connected to the fifth flexible sensor 35 and the sixth flexible sensor 36 respectively, they extend along the outer wall of the prosthesis body 1 and connect to the circuit board located on the outside, forming a parallel and independent signal channel with other wires 4, thus maintaining the simplicity of the wiring (outer wall wiring avoids internal entanglement). The design of the fifth flexible sensor 35 and the sixth flexible sensor 36, as well as the fifth wire 45 and the sixth wire 46, provides complete coverage of the support structure monitoring of the second through hole 8. Through symmetrical layout and multi-node sensing, the monitoring accuracy of the overall force balance is enhanced.

[0042] Optionally, combined Figures 1 to 4As shown, the flexible sensor 3 further includes a seventh flexible sensor 37 and an eighth flexible sensor 38, and the wire 4 further includes a seventh wire 47 and an eighth wire 48. The seventh flexible sensor 37 is embedded in the outer wall of the prosthetic body 1. One end of the seventh wire 47 is connected to the seventh flexible sensor, and the other end of the seventh wire 47 extends out of the prosthetic body 1 along the outer wall of the prosthetic body 1 and is connected to the circuit board. The eighth flexible sensor 38 is embedded in the outer wall of the prosthetic body 1 on the side away from the eighth flexible sensor 38. One end of the eighth wire 48 is connected to the eighth flexible sensor, and the other end of the eighth wire 48 extends out of the prosthetic body 1 along the outer wall of the prosthetic body 1 and is connected to the circuit board.

[0043] In this optional embodiment, the seventh flexible sensor 37 and the eighth flexible sensor 38 are directly embedded into the outer wall of the prosthesis body 1 using 3D printing technology, with the eighth flexible sensor 38 located on the side away from the seventh flexible sensor 37. The seventh wire 47 is connected to the circuit board, with one end connected to the seventh flexible sensor 37 and the other end extending along the outer wall of the prosthesis body 1. Similarly, one end of the eighth wire 48 is connected to the eighth flexible sensor 38, and the other end extends along the outer wall of the prosthesis body 1 and connects to the circuit board. The seventh flexible sensor 37 and the eighth flexible sensor 38 form a symmetrical coverage of the prosthesis body 1, capturing the overall deformation and stress of the prosthesis body 1. For example, when the prosthesis body 1 bends, one side may be under tension, and the other side may be under compression. The seventh flexible sensor 37 and the eighth flexible sensor can monitor the stress changes on both sides respectively, directly reflecting the overall degree of bending of the body. When the prosthesis is subjected to radial impact, the sensors in different positions can locate the approximate location of the impact point, providing a basis for subsequent protective feedback (such as adjusting the driving force to avoid excessive deformation). The planes containing the seventh flexible sensor 37 and the eighth flexible sensor 38 can be perpendicular to the plane containing the support beam 2, allowing for comprehensive and multi-angle data collection and analysis of the stress on the prosthetic structure. Combining the data from the seventh flexible sensor 37 and the eighth flexible sensor 38 with data from other sensors enables a more accurate reconstruction of the complex stress state of the prosthetic structure. For example, when the sensors on the support beam 2 in the areas of the first through hole 7 and the second through hole 8 detect axial force, the seventh flexible sensor 37 and the eighth flexible sensor 38 can simultaneously detect whether the prosthetic body 1 undergoes radial expansion or contraction due to the axial force. By calculating the magnitude and direction of the actual load through multi-dimensional data, if the sensor data of the support beam 2 shows balanced force, but the data from the seventh flexible sensor 37 and the eighth flexible sensor 38 on both sides of the body show significant differences, it indicates that the prosthetic body 1 may have local deformation (such as a unilateral bulge caused by material fatigue). It is necessary to combine the stress coordination of the support beam 2 to determine whether there is a structural risk. From the perspective of the accuracy of user interaction, the sensors on the outer wall of the body can more directly perceive the interaction state with the external environment. For example, when the prosthesis contacts a table or grasps an object, the outer wall of the contact area undergoes pressure deformation. The seventh flexible sensor 37 and the eighth flexible sensor 38 can capture this pressure signal and transmit it to the circuit board via the wire 4, converting it into feedback on the gripping force. If the sensor detects excessive pressure, the circuit board can control the drive device to reduce the gripping force to prevent the object from being crushed; if the pressure is too low, the drive force is increased to ensure a stable grip. In addition, the seventh flexible sensor 37 and the eighth flexible sensor 38 are located on opposite sides, which can distinguish between different interaction scenarios: the inner side conforming to the body and the outer side contacting the object, making the prosthesis's response more in line with the user's actual movement intentions.In terms of wiring design, the seventh conductor 47 and the eighth conductor 48 follow the wiring logic of the other conductors 4, running parallel to and independently of the other conductors 4. This maintains the simplicity of the wiring system while improving signal transmission redundancy by adding two independent channels. At the same time, the orderly arrangement of the embedded conductors 4 avoids affecting the appearance and wearing comfort.

[0044] Optionally, combined Figures 1 to 4 As shown, the inner wall of the second through hole 8 extends from both ends of the second through hole toward the center of the second through hole to form a support plate 5.

[0045] Optionally, the support plate 5 has a third through hole 6 along the axial direction of the second through hole.

[0046] In this optional embodiment, support plates 5 extend from both ends of the second through hole 8 toward the center of the second through hole 8, forming opposing support structures distributed along the axial direction of the second through hole 8. The support plates 5 inside the second through hole 8 extend from these two ends toward the center, essentially building an axial support bridge inside the through hole, forming a mutually supportive force system with the external third support beam 23 and fourth support beam 24. When the second through hole 8 bears an axial load, the support plates 5 support the inner wall of the second through hole 8 through their center-extending structure, preventing the prosthetic body 1 outside the second through hole 8 from shrinking and deforming inwards due to force. This design is particularly suitable for cases where the diameter of the second through hole 8 is large. Through the support of the support plates 5, the inner wall of the second through hole 8 is supported 360°, preventing the prosthetic body 1 around the second through hole 8 from shrinking and deforming, and improving the overall bending and tensile resistance of the second through hole 8. The third through hole 6 opened along the axial direction of the second through hole 8 on the support plates 5 represents a balance between structural lightweighting and functional integration. The presence of the third through-hole 6 further reduces the weight of the support plate 5, preventing an increase in the overall weight of the prosthesis due to the addition of the support plate 5, thus meeting the core requirement of lightweight prosthesis. Through additive manufacturing processes such as 3D printing, the gradient shape of the support plate 5 extending gradually from both ends of the inner wall of the second through-hole 8 towards the center, as well as the axial opening of the third through-hole 6, can be achieved through layer-by-layer printing without the need for complex molds or post-processing. At the same time, the thickness of the support plate 5 can be gradient-designed according to the stress requirements (such as thicker parts where the edge connects to the inner wall of the second through-hole 8 to enhance load-bearing capacity, and gradually thinning towards the center to reduce weight). Combined with the adjustment of the diameter of the third through-hole 6, a precise balance between strength and weight can be achieved within a limited space.

[0047] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A sensor-feedback prosthesis based on composite materials, characterized in that, The device includes a prosthesis body (1), a support beam (2), a flexible sensor (3), and a wire (4). The prosthesis body (1) has a first through hole (7) and a second through hole (8) along a first direction. The first through hole (7) and the second through hole (8) are arranged sequentially along a second direction. The support beam (2) is arranged at both ends of the first through hole (7) along the second direction. The support beam (2) is arranged at both ends of the second through hole (8) along the second direction. The flexible sensor (3) and the wire (4) are embedded in the outer walls of the prosthesis body (1) and the support beam (2), respectively. One end of the wire (4) is connected to the flexible sensor (3), and the other end of the wire (4) is used to connect to a circuit board. The first direction is the radial direction of the prosthesis body (1), and the second direction is the axial direction of the prosthesis body (1).

2. The composite material-based sensor feedback prosthesis according to claim 1, characterized in that, The support beam (2) includes a first support beam (21) and a second support beam (22). The first support beam (21) is provided at one end of the first through hole (7) along the second direction. The two ends of the first support beam (21) are respectively connected to the prosthetic body (1). The second support beam (22) is provided at the other end of the first through hole (7) along the second direction. The two ends of the second support beam (22) are respectively connected to the prosthetic body (1).

3. The composite material-based sensor feedback prosthesis according to claim 2, characterized in that, The flexible sensor (3) includes a first flexible sensor (31), and the wire (4) includes a first wire (41). The first flexible sensor (31) is embedded in the outer wall of the first support beam (21). One end of the first wire (41) is connected to the first flexible sensor (31), and the other end of the first wire (41) extends along the outer wall of the prosthesis body (1) and connects to the circuit board.

4. The composite material-based sensor feedback prosthesis according to claim 2, characterized in that, The flexible sensor (3) further includes a second flexible sensor (32), and the wire (4) further includes a second wire (42). The second flexible sensor (32) is embedded in the outer wall of the second support beam (22). One end of the second wire (42) is connected to the second flexible sensor (32), and the other end of the second wire (42) extends out of the prosthesis body (1) along the outer wall of the prosthesis body (1) and is connected to the circuit board.

5. The composite material-based sensor feedback prosthesis according to claim 1, characterized in that, The support beam (2) further includes a third support beam (23) and a fourth support beam (24). The third support beam (23) is provided at one end of the second through hole (8) along the second direction. The two ends of the third support beam (23) are respectively connected to the prosthetic body (1). The fourth support beam (24) is provided at the other end of the second through hole (8) along the second direction. The two ends of the fourth support beam (24) are respectively connected to the prosthetic body (1).

6. The composite material-based sensor feedback prosthesis according to claim 5, characterized in that, The flexible sensor (3) further includes a third flexible sensor (33) and a fourth flexible sensor (34). The wire (4) further includes a third wire (43) and a fourth wire (44). The third flexible sensor (33) is embedded in the outer wall of the connection between one end of the third support beam (23) and the prosthesis body (1). One end of the third wire (43) is connected to the third flexible sensor (33). The other end of the third wire (43) extends out of the prosthesis body (1) along the outer wall of the prosthesis body (1) and is connected to the circuit board. The fourth flexible sensor (34) is embedded in the outer wall of the connection between the other end of the third support beam (23) and the prosthesis body (1). One end of the fourth wire (44) is connected to the fourth flexible sensor (34). The other end of the fourth wire (44) extends out of the prosthesis body (1) along the outer wall of the prosthesis body (1) and is connected to the circuit board.

7. The composite material-based sensor feedback prosthesis according to claim 5, characterized in that, The flexible sensor (3) further includes a fifth flexible sensor (35) and a sixth flexible sensor (36). The wire (4) further includes a fifth wire (45) and a sixth wire (46). The fifth flexible sensor (35) is embedded in the outer wall of the connection between one end of the fourth support beam (24) and the prosthesis body (1). One end of the fifth wire (45) is connected to the fifth flexible sensor (35). The other end of the fifth wire (45) extends out of the prosthesis body (1) along the outer wall of the prosthesis body (1) and is connected to the circuit board. The sixth flexible sensor (36) is embedded in the outer wall of the connection between the other end of the fourth support beam (24) and the prosthesis body (1). One end of the sixth wire (46) is connected to the sixth flexible sensor (36). The other end of the sixth wire (46) extends out of the prosthesis body (1) along the outer wall of the prosthesis body (1) and is connected to the circuit board.

8. The composite material-based sensor feedback prosthesis according to claim 5, characterized in that, The flexible sensor (3) further includes a seventh flexible sensor (37) and an eighth flexible sensor (38). The wire (4) further includes a seventh wire (47) and an eighth wire (48). The seventh flexible sensor (37) is embedded in the outer wall of the prosthetic body (1). One end of the seventh wire (47) is connected to the seventh flexible sensor. The other end of the seventh wire (47) extends out of the prosthetic body (1) along the outer wall of the prosthetic body (1) and is connected to the circuit board. The eighth flexible sensor (38) is embedded in the outer wall of the prosthetic body (1) on the side away from the eighth flexible sensor (38). One end of the eighth wire (48) is connected to the eighth flexible sensor. The other end of the eighth wire (48) extends out of the prosthetic body (1) along the outer wall of the prosthetic body (1) and is connected to the circuit board.

9. The composite material-based sensor feedback prosthesis according to claim 8, characterized in that, The inner wall of the second through hole (8) extends from both ends of the second through hole toward the center of the second through hole to form a support plate (5).

10. The composite material-based sensor feedback prosthesis according to claim 9, characterized in that, The support plate (5) has a third through hole (6) along the axial direction of the second through hole.

Images