CN112168441B - Bionic flexible passive ankle joint artificial limb - Google Patents

Abstract

Translated fromChinese

本发明的仿生柔性被动足踝关节假肢，包括：足板顶组件；包括前部为足趾部的足前板构件和足板后跟构件；踝部组件设于足板顶组件上侧，其前部通过第一弹性构件连接在足前板构件上方，踝部组件可通过压缩第一弹性构件作用足板后跟构件使其向底部方向弹性活动；足板助力机构；包括定位架、介质输出仓和介质接收仓，足板后跟构件被作用时可挤压介质输出仓；介质输出仓被挤压时产生进入介质接收仓的流体介质，使介质接收仓膨胀变形对足趾部产生推顶作用。本发明的足踝关节假肢，在步态运动的初期通过假肢后跟着地，使足板后跟构件对介质输出仓产生挤压作用，迫使介质接收仓膨胀产生对足趾部在步态运动的末期离地的推顶助力，辅助截肢者自然步态的恢复。

The bionic flexible passive foot-ankle joint prosthesis of the present invention comprises: a foot plate top assembly; a forefoot plate member and a foot plate heel member whose front part is the toe part; the ankle part is arranged on the upper side of the foot plate top assembly, and its front The foot plate is connected above the forefoot plate member through the first elastic member, and the ankle assembly can act on the heel plate of the foot plate by compressing the first elastic member to make it elastically move toward the bottom direction; the foot plate assisting mechanism; including a positioning frame, a medium output bin and In the medium receiving chamber, when the heel member of the foot plate is acted on, the medium output chamber can be squeezed; when the medium output chamber is squeezed, the fluid medium entering the medium receiving chamber is generated, so that the expansion and deformation of the medium receiving chamber can push the toe. The ankle joint prosthesis of the present invention passes the heel of the prosthesis at the initial stage of gait movement, so that the heel member of the foot plate exerts a squeezing effect on the medium output chamber, forcing the expansion of the medium receiving chamber to produce pressure on the toe at the end of the gait movement. The push-up assist from the ground assists the recovery of the amputee's natural gait.

Description

Bionic flexible passive ankle joint artificial limb

Technical Field

The invention belongs to the technical field of human body artificial limbs, and particularly relates to a bionic flexible passive ankle joint artificial limb.

Background

The ankle foot joint lower body artificial limb mainly has the following aspects that 1, the artificial limb supports the weight of a human body; 2. cushioning effect; 3. assisting to restore natural gait walking; 4. boosting is carried out during toe off. However, most of the existing lower body prostheses are rigid prostheses, and although the active rigid prostheses can play a role in supporting the weight of the human body, cushioning and propelling, the active rigid prostheses are not beneficial to the recovery of the natural gait of the amputee and excessively increasing the load of the human body and improving the metabolism rate, so that the natural walking characteristics of the prosthesis user are finally changed.

Compared with a rigid artificial limb, the passive bionic flexible lower body artificial limb has light weight, simple structure and low cost. The multifunctional walking aid not only assists amputees to walk with natural gait as much as possible, but also can be self-adapted to different road surfaces to carry out inward and outward turning deformation and upward and downward slope movement of plantations and dorsiflexion. However, the existing passive bionic flexible lower body prosthesis assists to push the toes to lift off the ground in a lever principle mode through the elastic assistance of the heels and the front side of the foot plate at the end of gait movement, and is different from the normal natural walking posture of a human body, wherein the foot plate is naturally separated from the ground in a toe force applying mode. Therefore, the human body walking posture simulation effect of the existing passive bionic flexible lower body artificial limb is not ideal enough, and the rehabilitation of the natural gait of the amputee is not facilitated.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a bionic flexible passive ankle joint prosthesis which enables toes to have larger propulsion assistance in the off-ground period.

In order to achieve the purpose, the invention adopts the following technical scheme:

a biomimetic flexible passive ankle joint prosthesis comprising: a foot plate top component, an ankle component and a foot plate power-assisted mechanism; the foot plate top component comprises a front foot plate component and a heel foot plate component, wherein the front part of the front foot plate component is a toe part, and the heel foot plate component is connected to the rear side of the front foot plate component and can elastically move towards the direction of the bottom.

The ankle component is arranged on the upper side of the foot plate top component, the front part of the ankle component is connected above the foot front plate component through a first elastic component, and the ankle component can act on the foot plate heel component downwards by using the first elastic component as a fulcrum through compressing the first elastic component so as to enable the ankle component to move elastically towards the bottom direction.

The foot plate power-assisted mechanism is positioned at the lower side of the foot plate top component and comprises a positioning frame, a medium output bin and a medium receiving bin, the medium output bin can convey fluid medium to the medium receiving bin, the medium receiving bin is arranged in the positioning frame and positioned at the lower side of the toe part, the medium output bin is arranged in the positioning frame and positioned at the rear side of the medium receiving bin, and the foot plate heel component can extrude the medium output bin when being acted; when the medium output bin is extruded, fluid medium entering the medium receiving bin is generated, so that the medium receiving bin expands and deforms to generate an ejection effect on the toe part.

Compared with the prior art, the bionic flexible passive ankle joint prosthesis has the advantages that the heel of the foot plate is grounded at the initial stage of gait movement, the heel member of the foot plate is elastically deformed to extrude the medium output bin, so that the medium receiving bin is forced to expand to generate ejection assisting force for lifting the toe part off at the final stage of the gait movement, the gravity of a human body on the heel member of the foot plate is gradually converted into the elastic force for the toe part to assist the toe part of the prosthesis to be pushed off at the final stage of the gait movement, the foot plate is naturally separated from the ground in a mode of simulating normal natural walking posture of the human body and exerting force on the toe, and the recovery of the natural gait of an amputee is effectively assisted.

Furthermore, the foot plate power-assisted mechanism also comprises an elastic buffer structure arranged in the positioning frame, the elastic buffer structure is arranged on the side part of the medium output bin and positioned at the lower side of the heel member of the foot plate, and the heel member of the foot plate can compress the elastic buffer structure when being acted, so that the elastic buffer structure can generate extrusion action to one side of the medium output bin; through the arrangement, after the artificial heel touches the ground, the heel member of the foot plate is naturally separated from the ground under the action of the elastic buffer structure, and the artificial heel is assisted to be pushed and taken off in the middle stage of gait motion.

Furthermore, the elastic buffer structure comprises a buffer air cushion and an elastic resetting piece arranged in the buffer air cushion; through setting up like this, effectively guarantee that elastic buffer structure has the deformable extrusion the effect in medium output storehouse.

Furthermore, a second elastic member is arranged at the bottom of the ankle component, and a gap is formed between the second elastic member and the heel member of the foot plate; through the arrangement, the distance between the second elastic component and the heel component of the foot board is effectively reduced, so that when the prosthetic heel is grounded, the ankle component is improved to push the heel component of the foot board more quickly.

Furthermore, a heel air cushion is arranged at the bottom of the heel component of the foot plate, a first air cavity is arranged in the heel air cushion, and the slope of the top of the first air cavity is reduced along the outer side direction; a front foot air cushion is arranged on the front side of the bottom of the front foot plate component, a second air cavity is arranged in the front foot air cushion, and the slope of the top of the second air cavity is reduced along the inner side direction; by means of the arrangement, when the toe is pointed off in the last stage of gait, the whole ankle part can rotate backwards to the inner side, the first air cavity is designed to enable the artificial limb to assist the human body to incline towards the direction with low gradient along the position with high gradient when the heel is grounded, and the second air cavity is designed to enable the artificial limb to assist the human body to incline towards the direction with low gradient along the position with high gradient when the toe is pointed off, so that the artificial limb simulates the natural gait of the human.

Drawings

FIG. 1 is a schematic view of a bionic flexible passive ankle joint prosthesis

FIG. 2 is a side view of a bionic flexible passive ankle joint prosthesis

FIG. 3 is a longitudinal cross-sectional view of a foot board power assisting mechanism

FIG. 4 is a schematic view of a positioning frame of a foot board power assisting mechanism

FIG. 5 is a bottom schematic view of the footboard top assembly

FIG. 6 is a partial cross-sectional view of the heel cushion

FIG. 7 is a partial cross-sectional view of the forefoot cushion

Detailed Description

The technical scheme of the invention is described in the following with the accompanying drawings:

referring to fig. 1 to 7, the bionic flexible passive ankle joint prosthesis of the present invention comprises: a footplate top component 2, anankle component 1 and a footplate boosting mechanism 3; the footplate top assembly 2 comprises a frontfoot plate member 21 with atoe part 211 at the front part and aheel member 22 of the foot plate, wherein theheel member 22 of the foot plate is connected with the rear side of the frontfoot plate member 21 and can elastically move towards the bottom direction.

Theankle unit 1 is provided on the upper side of the footboard top unit 2, and the front part thereof is connected to the upper part of theforefoot board member 21 via the firstelastic member 11, and theankle unit 1 can elastically move theheel board member 22 in the bottom direction by compressing the firstelastic member 11 and acting downward on theheel board member 22 using the first elastic member as a fulcrum.

The footplate boosting mechanism 3 is positioned at the lower side of the footplate top component 2 and comprises apositioning frame 31, amedium output bin 32 and amedium receiving bin 33, wherein themedium output bin 32 can convey fluid medium to themedium receiving bin 33, themedium receiving bin 33 is arranged in thepositioning frame 31 and positioned at the lower side of thetoe part 211, themedium output bin 32 is arranged in thepositioning frame 31 and positioned at the rear side of the medium receivingbin 33, and the footplate heel member 22 can press themedium output bin 32 when being acted; when themedium output bin 32 is squeezed, fluid medium entering themedium receiving bin 33 is generated, so that themedium receiving bin 33 expands and deforms to generate an ejection effect on thetoe part 211. When theheel member 22 of the foot plate is eliminated by the applied external force, themedium receiving chamber 33 is deformed and restored to enable the fluid medium in the medium receiving chamber to flow back to themedium output chamber 32, so that themedium receiving chamber 33 can continuously generate the ejection effect on thetoe part 211 when a prosthesis wearer continuously walks, and the foot plate is naturally separated from the ground in a manner of simulating the natural walking posture of a normal human body and applying force to the toes.

Preferably, themedium output bin 32 and themedium receiving bin 33 are of thin-walled hollow structures capable of elastic deformation recovery, and the thin-walled size of the top end of the medium receiving bin is 1mm, so that the volume deformation amplitude of the medium receivingbin 33 towards the upper part can be relatively large.

Thepositioning frame 31 is provided with afirst positioning groove 320 and asecond positioning groove 330 with openings at the upper sides, thefirst positioning groove 320 and thesecond positioning groove 330 are communicated with each other, themedium receiving bin 33 is installed in thefirst positioning groove 320, themedium receiving bin 33 is matched with thefirst positioning groove 320 in shape, themedium output bin 32 is installed in thesecond positioning groove 330, themedium output bin 32 is matched with thesecond positioning groove 330 in shape, themedium output bin 32 is communicated with themedium receiving bin 33 through a connecting pipeline, adrain valve 34 or an exhaust valve, and the fluid medium is preferably a liquid medium because the liquid medium has better fluid pressure. When themedium output bin 32 is pressurized, the fluid medium entering themedium receiving bin 33 is generated, and the deformation of the medium receivingbin 33 is limited by the inner wall of thefirst positioning groove 320, so that themedium receiving bin 33 is forced to expand and deform upwards, and thetoe part 211 is pushed and ejected.

Compared with the prior art, the bionic flexible passive ankle joint prosthesis has the advantages that the heel of the foot plate is grounded at the initial stage of gait motion, theheel member 22 of the foot plate is elastically deformed to extrude themedium output bin 32, so that themedium receiving bin 33 is forced to expand to generate ejection assisting force for lifting thetoe part 211 off at the final stage of the gait motion, the gravity of a human body on theheel member 22 of the foot plate is gradually converted into the elastic force for thetoe part 211, thetoe part 211 of the artificial limb is assisted to be pushed off at the final stage of the gait motion, the foot plate is naturally separated from the ground in a mode of simulating the normal natural walking posture of the human body and exerting force on the toe, and the recovery of the natural gait of an amputee is effectively assisted. Compared with a rigid artificial limb, the artificial limb has smaller load in the actual use process, and reduces the useless power consumption of a wearer.

Referring to fig. 1 to 4, in an embodiment, thepositioning frame 31 further has athird positioning groove 350 located behind thesecond positioning groove 330, thesecond positioning groove 330 and thethird positioning groove 350 are communicated with each other, the foot boardpower assisting mechanism 3 further includes anelastic buffer structure 35 located in thethird positioning groove 350, theelastic buffer structure 35 is located at a side portion of themedium output bin 32 and located at a lower side of theheel member 22 of the foot board; theelastic buffer structure 35 is mutually contacted with themedium output bin 32 or has a clearance space with themedium output bin 32, the clearance space is preferably (0, 2) mm, when theheel member 22 of the foot plate is acted, theelastic buffer structure 35 can be compressed, theelastic buffer structure 35 can generate extrusion action to one side of themedium output bin 32, and through the arrangement, after the artificial heel is grounded, theheel member 22 of the foot plate is naturally separated from the ground under the action of theelastic buffer structure 35, so that the artificial heel is assisted to be pushed off in the middle stage of gait motion.

In a further embodiment, theelastic buffer structure 35 includes abuffer air cushion 351 and a plurality ofelastic restoring members 352 disposed inside thebuffer air cushion 351, thebuffer air cushion 351 has a thin-walled cavity structure capable of elastically restoring, and theelastic restoring members 352 may be springs or elastic cushions; through setting up like this, effectively guarantee thatelastic buffer structure 35 has the extrusion of flexible the effect inmedium output storehouse 32,elastic buffer structure 35 is when pressure is eliminated, and elasticity resets 352 and can makebuffer air cushion 351 resume deformation fast to the user can extrudeelastic buffer structure 35 repeatedly with high frequency when walking in succession, exerts the functional role of footboardassist drive device 3.

In one embodiment, the firstresilient member 11 is an S-shaped resilient member, the firstresilient member 11 can be formed by bending a metal piece or by injection molding, and theankle assembly 1 can swing laterally to the rear side and press against theheel member 22 when pressing the firstresilient member 11. A secondelastic member 12 is arranged at the bottom of theankle component 1, the secondelastic member 12 is a C-shaped elastic member, the secondelastic member 12 can be formed by bending metal parts or by injection molding, a gap is arranged between the secondelastic member 12 and theheel member 22 of the foot plate, and the secondelastic member 12 plays a role in buffering when theankle component 1 presses against theheel member 22 of the foot plate; by such arrangement, the provision of the secondresilient member 12 effectively reduces the distance between theankle component 1 and theheel member 22, so that theankle component 1 is raised to push theheel member 22 more rapidly when the prosthetic heel is grounded; in addition, when theankle component 1 is not stressed, the firstelastic member 11 is reset to keep a gap between theankle component 1 and theheel member 22 of the foot board, so that theankle component 1 is prevented from triggering the foot boardpower assisting mechanism 3 through theheel member 22 of the foot board.

In one embodiment, the side portions of the media output bin 32 narrow inward in the direction of themedia receiving bin 33, and preferably, themedia output bin 32 has a trapezoidal shape; by so doing, the rate of delivery of the fluid medium from themedium output chamber 32 is effectively increased, while increasing the response rate of theankle assembly 1 to propel the footplate heel member 22.

Referring to fig. 2, 5 to 7, in one embodiment, aheel air cushion 23 is disposed at the bottom of theheel member 22 of the foot board, afirst air chamber 231 is disposed in theheel air cushion 23, and the slope of the top of thefirst air chamber 231 decreases along the lateral direction; specifically, thefirst air chamber 231 comprises afirst air chamber 232 at the inner side and asecond air chamber 233 at the outer side, the thickness of thefirst air chamber 232 is greater than that of thesecond air chamber 233, and theheel cushion 23 is pressed between theheel member 22 and theelastic buffer structure 35 when the prosthetic heel touches the ground.

A frontfoot air cushion 24 is arranged on the front side of the bottom of the frontfoot plate component 21, asecond air cavity 241 is arranged in the frontfoot air cushion 24, and the slope of the top of thesecond air cavity 241 is reduced along the inner side direction; specifically, thesecond air chamber 241 includes athird air pocket 242 located at the inner side and afourth air pocket 243 located at the outer side, and the thickness of thethird air pocket 242 is smaller than that of thefourth air pocket 243. The "outer direction" is a direction of the opposite outer sides of the two feet of the human body, and the "inner direction" is a direction of the opposite inner sides of the two feet of the human body, so that theforefoot cushion 24 is pressed between thetoe portion 211 and themedium output chamber 32 when the prosthetic toe is lifted off the ground. With this arrangement, when the heel is grounded at the initial stage of gait, the whole ankle of the human body rotates outward, and when the toe is off at the final stage of gait, the whole ankle of the human body rotates inward, thefirst air chamber 231 has a gradient designed so that the artificial limb can incline in the direction of low gradient along the place with high gradient when the heel is grounded, and thesecond air chamber 241 has a gradient designed so that the artificial limb can incline in the direction of low gradient along the place with high gradient when the toe is off, thereby enabling the artificial limb to simulate the natural gait of the human.

In a further embodiment, theheel air cushion 23 is embedded in the bottom of theheel member 22 of the foot plate, the distance between theelastic buffer structure 35 and themedium receiving chamber 33 is preferably [2,4] mm, theforefoot air cushion 24 is embedded in the bottom of thetoe portion 211, the distance between theforefoot air cushion 24 and thebuffer air cushion 351 is preferably [2,4] mm, the rear side of the bottom of theforefoot plate member 21 is provided with a connectingportion 25, and theheel air cushion 23 and theforefoot air cushion 24 are connected to two sides of the connectingportion 25 through the firstelastic arms 26.

Referring to fig. 2 and 4, in one embodiment, thepositioning frame 31 is made of hard material, such as carbon fiber material, the rear side of theforefoot plate 21 is connected to the middle of thepositioning frame 31, the front side of theforefoot plate 21 forms a free end, theheel member 22 is connected to the rear side of theforefoot plate 21 through a secondelastic arm 221, and a designed distance is provided between thetoe portion 211 and themedium receiving bin 33; with this arrangement, the prosthetic limb is separated from thefootboard assisting mechanism 3 when thetoe portion 211 is returned to the natural state, and thetoe portion 211 is prevented from receiving an external force.

Referring to fig. 1 and 2, in an embodiment, theankle component 1 includes anankle bottom plate 14, an ankletop plate 15 and adeformation pressing block 13, the bottom of theankle top plate 15 is rotatably connected to theankle bottom plate 14 along a longitudinal direction, thedeformation pressing blocks 13 are respectively disposed on two sides of theankle bottom plate 14 along the longitudinal direction, thedeformation pressing block 13 is sandwiched between theankle bottom plate 14 and theankle top plate 15, thedeformation pressing block 13 enables theankle top plate 15 to automatically return when swinging laterally, theankle bottom plate 14 and the firstelastic member 11 are preferably an integral structure, and are specifically formed by bending a metal piece integrally or by injection molding, so that the elastic recovery capability between theankle bottom plate 14 and the firstelastic member 11 is better; by means of the arrangement, theankle top plate 15 has a function of automatically resetting towards the middle part when no force is applied, and the lower leg keeps a straight posture when a human body stands.

The artificial limb simulates the plantar flexion and dorsiflexion motions of a human body on a sagittal plane, and because the plantar flexion and the dorsiflexion angles are different (generally, the ankle joint allows 15-25 degrees of dorsiflexion and 40-55 degrees of plantar flexion), the Young modulus values of the two ankledeformation squeezing blocks 13 are different, and the Young modulus of the frontdeformation squeezing block 13 is larger than that of the reardeformation squeezing block 13.

Referring to fig. 1, in one embodiment, theforefoot plate member 21 has anarc surface 212 recessed inward along the length direction in the middle of the upper surface; by this arrangement, thearcuate surface 212 of theforefoot plate member 21 is contoured to visually distinguish the second digit of the prosthesis from the second digit of the human toe.

Referring to fig. 1 and 2, in one embodiment, the bottom of the foot platepower assisting mechanism 3 is provided with a cushioning assembly 4, the cushioning assembly 4 comprises afoot bottom plate 41, a rearcushioning air cushion 42 and a frontcushioning air cushion 43, and thefoot bottom plate 41 is made of a hard material, such as a carbon fiber material. Thefoot bottom plate 41 comprises a front solepressing plate 411, a sole connectingpart 412 and a rear solepressing plate 413 which are sequentially connected, the front solepressing plate 411 and the rear solepressing plate 413 are arranged in a downward staggered mode relative to the sole connectingpart 412, anti-skid lines are arranged at the bottoms of the front solepressing plate 411 and the rear solepressing plate 413, the sole connectingpart 412 is connected to the bottom of thepositioning frame 31, the frontcushioning air cushion 43 is installed between the front solepressing plate 411 and the bottom of thepositioning frame 31, and the front solepressing plate 411 can elastically compress the frontcushioning air cushion 43 relative to the sole connectingpart 412 so as to play a cushioning role; the rear shockabsorption air cushion 42 is arranged at the bottom of the sole rearpressing plate 413 and thepositioning frame 31 to play a role in buffering the fat of the sole of a human body, and the sole rearpressing plate 413 can elastically compress the rear shockabsorption air cushion 42 relative to thesole connecting part 412 to play a role in buffering; through the arrangement, the cushioning component 4 plays a good cushioning role on the bottom of the artificial limb.

In a further embodiment, therear cushioning pad 42 is provided with anexhaust valve 44 for providing air pressure to the outside, so that when the gravity of the human heel is applied downwards, therear cushioning pad 42 will exhaust the internal air through theexhaust valve 44 due to the squeezing action, in such a way as to simulate the process of lowering and cushioning the arch of the foot in human gait kinematics; when the toe-off process is carried out in the last stage of gait, the toe-off force can compress the forefootcushioning air cushion 43, and when the force disappears in the moment that the toe-off force disappears, the forefootcushioning air cushion 43 generates a certain resilience force, and meanwhile, when the force disappears, the rearcushioning air cushion 42 is sucked into the rearcushioning air cushion 42 again through theexhaust valve 44 due to the difference between the air pressure in the cavity and the external air pressure, and the process is similar to the process of the variable-rigidity power-assisted toe-off of the arch of foot, and can also provide a certain power assistance for the artificial limb.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (8)

1. Bionic flexible passive ankle joint prosthesis, characterized in that includes:

the foot plate top component comprises a front foot plate component and a heel foot plate component, the front part of the front foot plate component is a toe part, and the heel foot plate component is connected to the rear side of the front foot plate component and can elastically move towards the bottom direction;

the ankle component is arranged on the upper side of the foot plate top component, the front part of the ankle component is connected above the foot front plate component through a first elastic component, and the ankle component can act on the foot plate heel component downwards by using the first elastic component as a fulcrum through compressing the first elastic component so as to enable the ankle component to elastically move towards the bottom direction;

the foot plate power-assisted mechanism is positioned at the lower side of the foot plate top component and comprises a positioning frame, a medium output bin and a medium receiving bin, the medium output bin can convey fluid medium to the medium receiving bin, the medium receiving bin is arranged in the positioning frame and positioned at the lower side of the toe part, the medium output bin is arranged in the positioning frame and positioned at the rear side of the medium receiving bin, and the heel component of the foot plate can extrude the medium output bin when being acted;

the medium output bin generates fluid medium entering the medium receiving bin when being extruded, so that the medium receiving bin expands and deforms to generate ejection effect on the toe part;

the foot plate power-assisted mechanism also comprises an elastic buffer structure arranged in the positioning frame, the elastic buffer structure is arranged on the side part of the medium output bin and is positioned at the lower side of the heel member of the foot plate, and the elastic buffer structure can be compressed when the heel member of the foot plate is acted, so that the elastic buffer structure can generate extrusion action to one side of the medium output bin;

the elastic buffer structure comprises a buffer air cushion and an elastic reset piece arranged in the buffer air cushion.

2. The biomimetic flexible passive ankle joint prosthesis according to claim 1, wherein a second resilient member is provided at a bottom of the ankle assembly, the second resilient member being spaced from the heel member of the foot plate.

3. The biomimetic flexible passive ankle joint prosthesis according to claim 1, wherein the fluid medium is a liquid medium.

4. The biomimetic flexible passive ankle joint prosthesis according to any one of claims 1-3, wherein lateral sides of the media output bin narrow inward in the direction of the media receiving bin.

5. The bionic flexible passive ankle joint prosthesis according to any one of claims 1 to 3, wherein a heel air cushion is arranged at the bottom of the heel member of the foot plate, a first air cavity is arranged in the heel air cushion, and the slope of the top of the first air cavity is reduced along the lateral direction;

the front side of the bottom of the foot front plate component is provided with a front foot air cushion, a second air cavity is arranged in the front foot air cushion, and the slope of the top of the second air cavity is reduced along the inner side direction.

6. The biomimetic flexible passive ankle joint prosthesis according to any one of claims 1-3, wherein the forefoot plate member posterior side is connected to the spacer medial side, and the forefoot plate member anterior side forms a free end.

7. The bionic flexible passive ankle joint prosthesis according to claim 6, wherein the ankle component comprises an ankle bottom plate, an ankle top plate and deformation extrusion blocks, the bottom of the ankle top plate is rotatably connected to the ankle bottom plate along the longitudinal direction, the deformation extrusion blocks are respectively arranged on two sides of the ankle bottom plate along the longitudinal direction, and the deformation extrusion blocks enable the ankle top plate to automatically reset when swinging laterally.

8. The bionic flexible passive ankle joint prosthesis according to claim 1, wherein the middle of the upper surface of the forefoot plate member is provided with an arc-shaped surface which is concave inwards along the length direction; and the bottom of the foot plate assistance mechanism is provided with a shock absorption assembly.

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