Robotic Prosthetic Leg With Elastic Torque for Stable Walking
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Solution Overview
Problem
Conventional prosthetic legs struggle to generate sufficient torque for natural walking while maintaining a relatively light weight, which is essential for stability and balance.
Innovation Solution
A robotic prosthetic leg design incorporating an ankle bracket, driving part, guide bracket, wire, pressing part, and elastic members, including a torsion spring, to provide rotational force and maintain a predetermined angle, enhancing stability and reducing load on the driving part.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If conventional prosthetic leg design is used, then the structure is simple and weight is reduced, but sufficient torque for natural walking cannot be generated
Solution Approach 1:
The prosthetic leg is divided into multiple functional modules: driving part (motor), transmission part (wire, pulley), support part (elastic member), and control part. This segmentation allows each module to contribute specifically to torque generation while maintaining overall system manageability and preventing excessive complexity.
Solution Approach 2:
The prosthetic leg incorporates dynamic elements including the elastic member that provides adaptive support during different gait phases, and the wire-driven mechanism that enables flexible transmission of torque to the treading member. These dynamic components allow the system to generate sufficient torque while maintaining a relatively simple overall structure compared to fully rigid mechanical systems.
2Stability of the object's composition
If conventional prosthetic leg design is used, then the weight is reduced, but stable and natural walking cannot be achieved
Solution Approach 1:
The elastic member functions as a counterbalancing element that stores and releases energy during the gait cycle. It provides upward support force during toe-off phase, counteracting the weight of the prosthetic leg and user, thereby enhancing walking stability without requiring additional heavy structural support components.
Solution Approach 2:
The prosthetic leg utilizes periodic action through the cyclic engagement of the elastic member during different phases of walking. The elastic member is compressed during stance phase and releases energy during swing phase, creating a rhythmic support pattern that stabilizes walking while keeping the overall system weight relatively low.
3Force
If elastic member is added to provide rotational force, then torque is improved, but device complexity increases
Solution Approach 1:
The elastic member is integrated with the existing driving part and transmission mechanism rather than being added as a completely separate system. It works in conjunction with the motor and wire transmission to provide rotational force, merging multiple functions (torque generation, energy storage, and support) into a unified mechanism that minimizes overall component quantity.
Solution Approach 2:
The elastic member serves multiple functions simultaneously: it stores energy during compression, provides rotational torque during release, supports the weight of the prosthetic leg, and aids in stabilizing the gait cycle. This multi-functionality reduces the need for additional dedicated components, thereby limiting the increase in device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design allows for stable and efficient walking by generating additional rotational force through elastic restoring forces, reducing the load on the driving part, and maintaining a uniform angle during toe-off, even in the absence of power supply.
Implementation Method 1
a first elastic member disposed between the base block and the pressing part to enclose the guide conduit, and configured to support the pressing part toward the front side of the treading member
Implementation Method 2
generating additional rotational force through elastic restoring forces
Implementation Method 3
including a torsion spring, to provide rotational force and maintain a predetermined angle
Data Source
AI summary
In a robotic prosthetic leg and a method for driving the robotic prosthetic leg, the robotic prosthetic leg includes an ankle bracket, a driving part, a guide bracket, a wire, a pressing part and a first elastic member. The ankle bracket is disposed at a rear upper side of a treading member. The driving part is rotatably combined with the ankle bracket. The guide bracket has a base block and a guide conduit. The wire has a rear side connected to the driving part and extending toward a front side of the treading member. The pressing part is combined with a front side of the wire. The first elastic member is disposed between the base block and the pressing part to enclose the guide conduit and is configured to support the pressing part.