技术领域technical field
本发明涉及一种用于单腿或双腿膝下截肢的踝关节假肢，具体来说，涉及一种变杆长齿轮五杆机构主被动型踝关节假肢。The invention relates to an ankle joint prosthesis used for amputation of one or both legs below the knee, in particular to an active and passive ankle joint prosthesis of variable-rod long gear five-bar mechanism.
背景技术Background technique
假肢是肢体残疾人解决行动障碍的重要手段之一，区别于上肢假肢，下肢假肢控制涉及人体运动平衡问题，对残疾人日常生活的影响十分关键。踝关节假肢作为下肢假肢较为核心的部分，其功能的优劣直接影响到下肢假肢的整体性能，以及佩戴者的使用感受。目前现存在市面上的销售的假肢主要以被动式为主，一般采用提供阻尼力的弹簧、弹性元件以及阻尼元件，由于对阻尼的有效控制，改善了假肢运行的平滑性，但是适应的步态有限，尤其不适应快速行走，没有解决步态不匹配的核心问题。基于被动式假肢核心技术研制出新一代的半主动假肢，不仅可以提供被动式假肢擅长的弹性力或阻尼力，而且能够提供必要的助动力，扩大踝关节可控范围。其中弹性力或阻尼力的存在能够使步态更平滑，假肢不会出现生硬的反弹现象，助动力的存在能够有效减缓残疾人的疲劳感。Prosthetics are one of the important means for the physically disabled to solve mobility obstacles. Different from upper limb prostheses, the control of lower limb prostheses involves the problem of human body movement balance, which has a critical impact on the daily life of disabled people. Ankle joint prosthesis is the core part of lower limb prosthesis, and its function directly affects the overall performance of lower limb prosthesis and the wearer's experience. At present, the prosthetics currently on the market are mainly passive, and generally use springs, elastic elements and damping elements to provide damping force. Due to the effective control of damping, the smoothness of the prosthesis is improved, but the gait adaptation is limited. , especially not suitable for fast walking, and did not solve the core problem of gait mismatch. Based on the core technology of passive prostheses, a new generation of semi-active prostheses has been developed, which can not only provide the elastic force or damping force that passive prostheses are good at, but also provide the necessary assisting force to expand the controllable range of the ankle joint. Among them, the existence of elastic force or damping force can make the gait smoother, and the prosthetic limb will not appear blunt rebound phenomenon, and the existence of assisting force can effectively relieve the fatigue of the disabled.
在中国专利CN201814690U中，公开了一种主动型仿生踝关节假肢，其采用主动控制与被动控制相结合的方式，有利于降低能量损耗，并且能实现接近正常人体踝关节角度变化的运动规律，但是这种机构无法实现踝关节在步态过程中对力矩的需求，无法进行特定的能量补偿。In the Chinese patent CN201814690U, an active bionic ankle joint prosthesis is disclosed, which adopts the combination of active control and passive control, which is beneficial to reduce energy loss, and can realize the motion law close to the normal human ankle joint angle change, but This mechanism cannot realize the torque demand of the ankle joint during the gait process, and cannot perform specific energy compensation.
在中国专利CN102973338A中，公开了一种主被动型双自由度踝关节假肢，这种机构通过步态前期碳纤维脚板储存的弹性势能以及步态中期滚珠丝杆压缩弹簧储存的势能在步态后期脚尖离地时的能量补偿，可能提供人体所需的能量，但是踝关节假肢在步态过程中与正常人步态过程中的转矩特性不能匹配，没有解决步态不匹配，容易在步态中发生失衡问题。In Chinese patent CN102973338A, an active-passive dual-degree-of-freedom ankle joint prosthesis is disclosed. This mechanism uses the elastic potential energy stored in the carbon fiber foot plate in the early stage of gait and the potential energy stored in the ball screw compression spring in the middle stage of gait. The energy compensation when leaving the ground may provide the energy needed by the human body, but the torque characteristics of the ankle joint prosthesis during the gait process cannot match the normal person's gait process, and the gait mismatch is not resolved, and it is easy to lose weight during the gait process. An imbalance problem occurs.
发明内容Contents of the invention
要解决的技术问题technical problem to be solved
有鉴于现有技术存在的不足，基于踝关节自身的运动学和动力学特性，本发明提出了一种变杆长齿轮五杆机构的主被动式踝关节假肢，运用变杆长齿轮五杆机构运动规律丰富的特点，通过人体步态角度特性、转矩特性以及仿生学设计实现踝关节假肢的仿生性能，同时通过并联弹性驱动器的使用，实现踝关节假肢能量的需求，能够更好的满足下肢截肢患者更好的自由行走和稳定的站立。In view of the deficiencies in the existing technology, based on the kinematics and dynamics characteristics of the ankle joint itself, the present invention proposes an active and passive ankle joint prosthesis with a variable-rod long gear five-bar mechanism, which uses a variable-rod long gear five-bar mechanism to move With rich rules, the bionic performance of the ankle joint prosthesis is realized through the characteristics of human gait angle, torque characteristics and bionics design. At the same time, the energy demand of the ankle joint prosthesis is realized through the use of parallel elastic drives, which can better meet the lower limb amputation Patients are better able to walk freely and stand stably.
技术方案Technical solutions
一种变杆长齿轮五杆机构主被动型踝关节假肢，其特征在于包括弹性脚板、电机、滚珠丝杠装置、电机固定支座、同步带传动装置、储能弹簧装置、变杆长齿轮五杆机构、小腿结构、踝关节支撑座和弹簧支撑座；所述的踝关节支撑座、弹簧支撑座固定在弹性脚板，共同组成了假肢的足部结构；所述的小腿结构包括小腿侧板、小腿上端板和小腿下端板，小腿侧板的上端与小腿上端板连接，小腿侧板的下端与小腿下端板连接，小腿结构通过滚动轴和滚动轴承安装在踝关节支撑座上，可以绕踝关节支撑座结构转动；所述的电机与电机固定支座固连，电机固定支座固定在小腿侧板上；所述的同步带装置包括1号同步带轮、同步带和2号同步带轮，1号同步带轮固定在电机的输出轴上，2号同步带轮固定在滚珠丝杠装置的丝杠上；所述的滚珠丝杠装置包括丝杠、丝杠法兰连接块和丝杠法兰，丝杠上下端分别通过角接触轴承与小腿上端板、小腿下端板进行固定，丝杠法兰连接块与丝杠法兰固连，2号同步带轮固连在丝杠上；所述的变杆长齿轮五杆机构包括小腿结构、滚珠丝杠装置、1号连杆、2号连杆、3号连杆、1号齿轮、2号齿轮和足部结构；2号齿轮固连在小腿下端板上，1号齿轮与3号连杆固连在一起，并通过滚动轴连接在弹簧支座上；2号连杆通过滚动轴与3号连杆连接在一起，通过滚动轴和滚动轴承与1号连杆连接在一起，此外，1号连杆通过滚动轴和滚动轴承与丝杠法兰连接块进行连接；所述的储能弹簧装置包括储能弹簧、弹簧上端块和弹簧下端块，储能弹簧的两端分别与弹簧上端块和弹簧下端块连接，弹簧上端块通过滚动轴和滚动轴承安装在2号连杆上，弹簧下端块通过滚动轴和滚动轴承安装在弹簧支撑座上。An active-passive ankle joint prosthesis with a variable-rod long gear five-bar mechanism, characterized in that it includes an elastic foot plate, a motor, a ball screw device, a motor fixed support, a synchronous belt transmission device, an energy storage spring device, and a variable-rod long gear five Rod mechanism, calf structure, ankle support seat and spring support seat; the ankle joint support seat and spring support seat are fixed on the elastic foot plate, which together constitute the foot structure of the prosthesis; the calf structure includes the calf side plate, The upper end plate of the calf and the lower end plate of the calf, the upper end of the side plate of the calf is connected with the upper end plate of the calf, the lower end of the side plate of the calf is connected with the lower end plate of the calf, and the structure of the calf is installed on the support seat of the ankle joint through a rolling shaft and a rolling bearing, and can be supported around the ankle joint The seat structure rotates; the motor is fixedly connected with the motor fixed support, and the motor fixed support is fixed on the calf side plate; the synchronous belt device includes No. 1 synchronous pulley, synchronous belt and No. 2 synchronous pulley, 1 The No. 1 synchronous pulley is fixed on the output shaft of the motor, and the No. 2 synchronous pulley is fixed on the lead screw of the ball screw device; the ball screw device includes a lead screw, a lead screw flange connection block and a lead screw flange , the upper and lower ends of the lead screw are respectively fixed with the upper end plate of the shank and the lower end plate of the shank through angular contact bearings, the flange connection block of the lead screw is fixedly connected with the flange of the lead screw, and the No. 2 synchronous pulley is fixedly connected with the lead screw; The five-bar mechanism with variable rod and long gear includes a lower leg structure, a ball screw device, No. 1 connecting rod, No. 2 connecting rod, No. 3 connecting rod, No. 1 gear, No. 2 gear and foot structure; On the lower end plate, No. 1 gear is fixedly connected with No. 3 connecting rod, and connected to the spring support through the rolling shaft; No. 2 connecting rod is connected with No. 3 connecting rod through the rolling shaft, and connected with the rolling shaft and rolling bearing. The No. 1 connecting rods are connected together. In addition, the No. 1 connecting rods are connected with the lead screw flange connecting block through rolling shafts and rolling bearings; the energy storage spring device includes an energy storage spring, an upper spring end block and a lower spring end block, and the storage The two ends of the energy spring are respectively connected with the spring upper end block and the spring lower end block, the spring upper end block is installed on the No. 2 connecting rod through the rolling shaft and the rolling bearing, and the spring lower end block is installed on the spring support seat through the rolling shaft and the rolling bearing.
有益效果Beneficial effect
本发明是一款能方便提供主动力的变杆长齿轮五杆机构的主被动式踝关节假肢，采用主动型假肢与被动型假肢相结合的方式，通过储能弹簧和弹性脚板可以有效的降低电机的功率和能量需求，此假肢结构不仅能实现贴近正常人下肢踝关节运动学变化的规律，还能实现踝关节角度扭矩特性的规律，此外也具有较好的灵活性和稳定性，可以为下肢接着患者提供更好的步态运动需求和使用舒适度需求。The present invention is an active-passive ankle prosthesis with variable-rod long-gear five-bar mechanism that can conveniently provide active power. It adopts the combination of active prosthesis and passive prosthesis, and can effectively reduce the power consumption of the motor through energy storage springs and elastic foot plates. The power and energy requirements of the prosthesis structure can not only realize the law of kinematic changes of the ankle joint of the lower limbs of normal people, but also realize the law of the angle and torque characteristics of the ankle joint. In addition, it also has good flexibility and stability. Then the patient provides better gait movement requirements and use comfort requirements.
附图说明Description of drawings
图1为本发明的变杆长齿轮五杆机构主被动型踝关节假肢装配体的示意图；Fig. 1 is the schematic diagram of the active and passive ankle joint prosthesis assembly of variable rod long gear five-bar mechanism of the present invention;
图2为本发明的变杆长齿轮五杆机构示意图。Fig. 2 is a schematic diagram of the variable-rod long gear five-bar mechanism of the present invention.
具体实施方式Detailed ways
现结合实施例、附图对本发明作进一步描述：Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:
参照图1～2，此变杆长齿轮五杆机构主被动型踝关节假肢包括：1-1号同步带轮；2-同步带；3-电机固定支座；4-电机；5-丝杠法兰连接块；6-小腿侧板；7-丝杠；8-小腿上端板；9-丝杠法兰；10-1号连杆；11-弹簧上端块；12.2号连杆；13-储能弹簧；14-3号连杆；15-弹簧下端块；16-弹簧支撑座；17-弹性脚板；18-1号齿轮；19-2号齿轮；20-踝关节支撑座；21-小腿下端板；22-2号同步带轮。Referring to Figures 1 to 2, the active and passive ankle joint prosthesis of the variable rod long gear five-bar mechanism includes: 1-No. 1 synchronous pulley; 2-synchronous belt; 3-motor fixed support; 4-motor; 5-lead screw Flange connection block; 6-shank side plate; 7-screw; 8-shank upper end plate; 9-screw flange; 10-connecting rod No. 1; 11-spring upper end block; No. 12.2 connecting rod; Energy spring; 14-No. 3 connecting rod; 15-spring lower end block; 16-spring support seat; 17-elastic foot plate; 18-No. 1 gear; 19-No. 2 gear; 20-ankle joint support seat; Plate; No. 22-2 synchronous pulley.
本发明提供的变杆长齿轮五杆机构的主被动式踝关节假肢，包括弹性脚板17、电机4、滚珠丝杠装置、电机固定支座3、同步带传动装置、储能弹簧装置、变杆长齿轮五杆机构、小腿结构、踝关节支撑座20、弹簧支撑座16。The active and passive ankle joint prosthesis of variable rod length gear five-bar mechanism provided by the present invention includes elastic foot plate 17, motor 4, ball screw device, motor fixed support 3, synchronous belt transmission device, energy storage spring device, variable rod length Gear five-bar mechanism, shank structure, ankle support seat 20, spring support seat 16.
所述的弹性脚板17和踝关节支撑座20、弹簧支撑座16通过螺钉进行连接，共同做成了假肢的足部结构；The elastic foot plate 17, the ankle support base 20, and the spring support base 16 are connected by screws to jointly form the foot structure of the prosthesis;
所述的小腿结构，主要由小腿侧板6、小腿上端板8以及小腿下端板21组成，通过螺钉进行固连，作为小腿的主要框架，也是电机固定以及滚珠丝杠装置固定的主要机架，小腿结构安装在踝关节支撑座20上(通过滚动轴和滚动轴承连接，图中未标注)，可以绕踝关节支撑座20结构转动；The shank structure is mainly composed of shank side plate 6, shank upper end plate 8 and shank lower end plate 21, which are fixedly connected by screws, as the main frame of the shank, and also the main frame for motor fixing and ball screw device fixing. The calf structure is installed on the ankle joint support base 20 (connected by a rolling shaft and a rolling bearing, not marked in the figure), and can rotate around the ankle joint support base 20 structure;
所述的电机4通过螺钉与电机固定支座3连接在一起，电机固定支座3通过螺钉固定在小腿侧板6上，此外，1号同步带轮1通过紧定螺钉固定在电机的输出轴上；The motor 4 is connected with the motor fixing support 3 through screws, and the motor fixing support 3 is fixed on the calf side plate 6 through screws. In addition, the No. 1 synchronous pulley 1 is fixed on the output shaft of the motor through set screws superior;
所述的同步带装置由1号同步带轮1、同步带2以及2号同步带轮22组成，1号同步带轮1通过紧定螺钉固定在电机的输出轴上，2号同步带轮22通过紧定螺钉固定在滚珠丝杠装置的丝杠7上；Described synchronous belt device is made up of No. 1 synchronous belt pulley 1, synchronous belt 2 and No. 2 synchronous belt pulley 22, and No. 1 synchronous belt pulley 1 is fixed on the output shaft of motor by set screw, and No. 2 synchronous belt pulley 22 It is fixed on the lead screw 7 of the ball screw device by a set screw;
所述的滚珠丝杠装置主要由丝杠7，丝杠法兰连接块5以及丝杠法兰9组成，丝杠7上下端分别通过角接触轴承(图中未标注)与小腿上端8、小腿下端21进行安装固定，丝杠法兰连接块5与丝杠法兰9通过螺钉固连，2号同步带轮通过紧定螺钉固连在丝杠7上；Described ball screw device mainly is made up of lead screw 7, lead screw flange connection block 5 and lead screw flange 9, and the upper and lower ends of lead screw 7 are connected with shank upper end 8, shank upper end respectively through angular contact bearing (not marked in the figure). The lower end 21 is installed and fixed, the lead screw flange connection block 5 and the lead screw flange 9 are fixedly connected by screws, and the No. 2 synchronous pulley is fixedly connected on the lead screw 7 by set screws;
所述的变杆长齿轮五杆机构主要由小腿结构、滚珠丝杠装置、1号连杆10、2号连杆12、3号连杆14、1号齿轮18、2号齿轮19以及足部结构组成。2号齿轮18通过销轴固连在小腿下端板21上。1号齿轮19通过销轴与3号连杆14固连在一起，并通过滚动轴连接在弹簧支座16上。2号连杆12通过滚动轴与3号连杆14连接在一起，通过滚动轴和滚动轴承与1号连杆10连接在一起。此外，1号连杆通过滚动轴和滚动轴承与丝杠法兰连接块9进行连接；The variable lever long gear five-bar mechanism is mainly composed of a shank structure, a ball screw device, No. 1 connecting rod 10, No. 2 connecting rod 12, No. 3 connecting rod 14, No. 1 gear 18, No. 2 gear 19 and the foot Structure and composition. No. 2 gear 18 is fixedly connected on the shank lower end plate 21 by pin shaft. The No. 1 gear 19 is fixedly connected with the No. 3 connecting rod 14 by a pin shaft, and is connected on the spring support 16 by a rolling shaft. No. 2 connecting rod 12 is connected together with No. 3 connecting rod 14 through a rolling shaft, and is connected together with No. 1 connecting rod 10 through a rolling shaft and a rolling bearing. In addition, the No. 1 connecting rod is connected with the lead screw flange connection block 9 through a rolling shaft and a rolling bearing;
所述的储能弹簧装置由储能弹簧13、弹簧上端块11和弹簧下端块15组成，储能弹簧13通过螺钉与弹簧上端块11和弹簧下端块15进行连接，弹簧上端块11通过滚动轴和滚动轴承安装在2号连杆12上，弹簧下端块15通过滚动轴和滚动轴承安装在弹簧支撑座16上。Described energy storage spring device is made up of energy storage spring 13, spring upper end piece 11 and spring lower end piece 15, and energy storage spring 13 is connected with spring upper end piece 11 and spring lower end piece 15 by screw, and spring upper end piece 11 passes rolling shaft And the rolling bearing is installed on the No. 2 connecting rod 12, and the lower end block 15 of the spring is installed on the spring support seat 16 by the rolling shaft and the rolling bearing.
在控制跖屈阶段(步态支撑前期)，脚跟着地时，随后人身体开始重心的下移和前倾将重力势能转换成所述弹性脚板17的弹性势能，并且此时所述电机4转动所述同步带传动装置及滚动丝杠装置和齿轮五杆机构运动；In the plantarflexion stage of control (gait support early stage), when the heel hits the ground, then the people's body starts to move down and lean forward to convert the gravitational potential energy into the elastic potential energy of the elastic foot plate 17, and at this time, the motor 4 rotates the Describe the movement of the synchronous belt transmission device, the rolling screw device and the gear five-bar mechanism;
在控制背屈阶段(步态支撑中期)，所述电机4继续转动，并实现驱动所述同步带传动装置及所述滚珠丝杠装置和齿轮五杆装置压缩所述储能弹簧13进行储能，此时人身体继续重心的下移和前倾将重力势能转换成所述弹性脚板17的弹性势能以及储能弹簧13的弹性势能；In the stage of dorsiflexion control (the mid-stage of gait support), the motor 4 continues to rotate, and realizes driving the synchronous belt transmission device, the ball screw device and the gear five-bar device to compress the energy storage spring 13 for energy storage , at this time, the human body continues to move down and lean forward to convert the gravitational potential energy into the elastic potential energy of the elastic foot plate 17 and the elastic potential energy of the energy storage spring 13;
在主动跖屈阶段(步态支撑后期)，人身体开始重心的上移和向前移动，此时储存在所述弹性脚板17的弹性势能以及储能弹簧13的弹性势能开始向外释放，提供给使用者向前的驱动能量，所述电机4继续转动补偿所述弹性脚板17和储能弹簧13不足的能量；In the active plantarflexion stage (the late stage of gait support), the human body begins to move up and move forward of the center of gravity, and at this time, the elastic potential energy stored in the elastic foot plate 17 and the elastic potential energy of the energy storage spring 13 begin to be released outwards, providing Give the user forward driving energy, and the motor 4 continues to rotate to compensate for the insufficient energy of the elastic foot plate 17 and the energy storage spring 13;
在摆动阶段(步态摆动期)，此时足部离地，所述弹性脚板17及储能弹簧13处于放松阶段，没有势能，所述电机4进行回转，使所述的齿轮五杆机构的主被动式踝关节假肢实现初始位置复位，为下一阶段足部着地进行姿态准备。In the swing stage (gait swing stage), at this moment, the foot is off the ground, the elastic foot plate 17 and the energy storage spring 13 are in the relaxation stage, and there is no potential energy. The active and passive ankle joint prosthesis realizes the initial position reset and prepares for the next stage of foot landing.
本发明变杆长齿轮五杆机构主被动型踝关节假肢较好的实现了主动型踝关节假肢和被动型踝关节假肢的能量结合，此变杆长齿轮五杆机构主被动型踝关节假肢驱使使用者向前运动能量来源有两个部分，一部分来源于所述电机4提供的驱动能量，另一部分来源于所述储能弹簧13以及弹性脚板17形变所储存的能量。The active and passive ankle joint prosthesis of the variable rod long gear five-bar mechanism of the present invention better realizes the energy combination of the active ankle joint prosthesis and the passive ankle joint prosthesis. There are two sources of energy for the user's forward movement, one part comes from the driving energy provided by the motor 4, and the other part comes from the energy stored in the deformation of the energy storage spring 13 and the elastic foot plate 17.
为了实现使用者的踝关节步态运动以及角度扭矩特性，本发明加入了主动驱动的所述电机4进行能量补偿和位姿调节。在控制跖屈阶段(步态支撑前期)，脚跟着地时，所述电机转动4驱动所述同步带传动装置及滚动丝杠装置和齿轮五杆机构运动，实现拉伸所述的储能弹簧13，实现踝关节角度转矩特性的匹配；在控制背屈阶段(步态支撑中期)，所述电机4继续转动，并实现驱动所述同步带传动装置及所述滚珠丝杠装置和齿轮五杆机构压缩所述储能弹簧13进行储能；在主动跖屈阶段(步态支撑后期)，所述电机4继续转动，带动所述同步带传动装置及所述滚珠丝杠装置和齿轮五杆装置进行运动，实现储存在所述储能弹簧13中的能量进行释放，并补偿所述弹性脚板17和储能弹簧13储存能量不足的驱动能量；在摆动阶段(步态摆动期)，此时足部离地，所述电机4进行回转，驱动所述同步带传动装置及滚动丝杠装置和齿轮五杆机构运动，使所述的齿轮五杆机构的主被动式踝关节假肢实现初始位置复位，为下一阶段足部着地进行姿态准备。In order to realize the gait movement and angular torque characteristics of the user's ankle joint, the present invention adds the actively driven motor 4 to perform energy compensation and posture adjustment. In the stage of controlling plantar flexion (the early stage of gait support), when the heel touches the ground, the motor rotates 4 to drive the synchronous belt transmission device, rolling screw device and gear five-bar mechanism to move, so as to realize stretching of the energy storage spring 13 , realize the matching of the ankle joint angle torque characteristics; in the stage of dorsiflexion control (gait support middle stage), the motor 4 continues to rotate, and realizes driving the synchronous belt transmission device, the ball screw device and the gear five rods The mechanism compresses the energy storage spring 13 to store energy; in the active plantarflexion stage (the late stage of gait support), the motor 4 continues to rotate, driving the synchronous belt transmission device, the ball screw device and the gear five-bar device Carry out motion, realize that the energy that is stored in described energy storage spring 13 is released, and compensate described elastic footplate 17 and energy storage spring 13 to store the driving energy of energy deficiency; part of the ground, the motor 4 rotates to drive the synchronous belt transmission device, the rolling screw device and the gear five-bar mechanism to move, so that the active and passive ankle joint prosthesis of the gear five-bar mechanism realizes the initial position reset, for In the next stage, the feet are on the ground for posture preparation.
假肢在矢状面运动的主要驱动力来源是储存于储能弹簧13和弹性脚板17。在控制跖屈阶段(步态支撑前期)，脚跟着地时，随后人身体开始重心的下移和前倾将重力势能转换成所述弹性脚板的弹性势能17；在控制背屈阶段(步态支撑中期)，此时人身体继续重心的下移和前倾将重力势能转换成所述弹性脚板17的弹性势能以及储能弹簧13的弹性势能；在主动跖屈阶段(步态支撑后期)，人身体开始重心的上移和向前移动，此时储存在所述弹性脚板17的弹性势能以及储能弹簧13的弹性势能开始向外释放，提供给使用者向前的驱动能量；在摆动阶段(步态摆动期)，此时足部离地，所述弹性脚板17及储能弹簧13处于放松阶段，没有势能。The main source of driving force for the movement of the prosthesis in the sagittal plane is stored in the energy storage spring 13 and the elastic foot plate 17 . In the control plantar flexion stage (gait support early stage), when the heel hits the ground, the gravity potential energy is converted into the elastic potential energy 17 of the elastic foot plate by the downward movement and forward lean of the human body; mid-term), at this moment, the people's body continues to move down and lean forward to convert the gravitational potential energy into the elastic potential energy of the elastic foot plate 17 and the elastic potential energy of the energy storage spring 13; The body begins to move up and move forward of the center of gravity, and now the elastic potential energy stored in the elastic foot plate 17 and the elastic potential energy of the energy storage spring 13 begin to release outwards, providing the user with forward driving energy; Gait swing period), at this moment, the foot is off the ground, and the elastic foot plate 17 and the energy storage spring 13 are in the relaxation stage without potential energy.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810475980.9ACN108836583B (en) | 2018-05-17 | 2018-05-17 | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810475980.9ACN108836583B (en) | 2018-05-17 | 2018-05-17 | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism |
| Publication Number | Publication Date |
|---|---|
| CN108836583Atrue CN108836583A (en) | 2018-11-20 |
| CN108836583B CN108836583B (en) | 2020-01-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810475980.9AActiveCN108836583B (en) | 2018-05-17 | 2018-05-17 | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism |
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