CN1678257A - 用于膝上截肢患者的动力假腿 - Google Patents

用于膝上截肢患者的动力假腿 Download PDF

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CN1678257A
CN1678257A CNA038198819A CN03819881A CN1678257A CN 1678257 A CN1678257 A CN 1678257A CN A038198819 A CNA038198819 A CN A038198819A CN 03819881 A CN03819881 A CN 03819881A CN 1678257 A CN1678257 A CN 1678257A
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斯特凡·贝达尔
皮埃尔-奥列弗·罗伊
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Victhom Human Bionics Inc
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Abstract

动力假体(10)包括：膝盖部件(12)；在膝盖部件(12)上面提供的承窝连接器(22)；延长的贯胫部件(14)，其具有底端(14C)，在其下面连接了假脚(20)；和线性致动器(16)。第一枢轴组件(30)允许可动地将贯胫部件(14)连接到膝盖部件(12)。第二枢轴组件(80)允许可动地将致动器(16)的顶端(16A)连接到膝盖部件(12)。第三枢轴组件(100)允许可动地将致动器(16)的底端(16B)连接到贯胫部件(14)的底端(14C)。该假体(10)可被提供为前致动器设置或者后致动器设置。

Description

用于膝上截肢患者的动力假腿
技术领域
本发明涉及用于膝上截肢患者的动力假腿。
背景技术
近年来，设计了多种假腿，致力于取代截肢患者失去的腿。所有这些假腿具有为截肢患者提供尽可能正常的生活的困难的任务。然而，人类运动的复杂性使得迄今为止传统的假腿仅使用无源机构，即使是在最精密的可利用的设备中。相比于真正的人腿，传统的假腿是非常有限的，因此不能由其完全满足某些需要。
取决于截肢患者，传统假腿的使用的具体条件，诸如重复性的动作和连续的负重，典型地带来了这样的问题，诸如，新陈代谢能量消耗的增加、腔压的增加、运动速度的限制、骨盆/脊椎对准的错乱以及体位临床康复程序的使用的增加。
另一问题在于，由于传统的假腿不具有自行推进的能力，因此用于移动假体的能量主要来源于用户本身。这具有很大的短期和长期的负面影响。在节能假体部件领域中的最新进展部分地致力于改善截肢患者和假体之间的能量传输。然而，能量消耗的问题仍未得到全面的解决，仍是主要的问题。
另一问题在于，在截肢患者运动过程中由该假腿承担的动力任务，使得该传统假腿的长期佩戴是困难的。特别地，这可能产生皮肤问题，诸如毛囊炎、接触性皮炎、水肿、囊肿、皮肤划伤、疤痕和溃疡。尽管这些皮肤问题可以通过使用硅鞘、完整的接受腔或者散剂而得到部分缓解，但是仍需考虑如何将这些皮肤问题减到最小。
考虑到该背景，显而易见的是，需要发展用于膝上截肢患者的改进的假腿。
发明内容
根据本发明的第一主要方面，提供了改进的假腿，其包括：膝盖部件；第一装置，用于在膝盖部件上连接承窝(socket)；延长的贯胫(trans-tibial)部件；第二装置，用于在贯胫部件的底端的下面连接假脚；线性致动器；第三装置，用于可动地将贯胫部件连接到膝盖部件；第四装置，用于可动地将致动器的顶端连接到膝盖部件；和第五装置，用于可动地将致动器的底端连接到贯胫部件的底端。
根据本发明的另一主要方面，提供了改进的假腿，其包括：膝盖部件；在膝盖部件上面连接的承窝；延长的贯胫部件；在贯胫部件的底端的下面连接的假脚；和线性致动器。第一枢轴组件允许可动地将贯胫部件连接到膝盖部件。第一枢轴组件定义了第一枢轴，其垂直于贯胫部件的主长轴。第二枢轴组件允许可动地将致动器的顶端连接到膝盖部件。第二枢轴组件定义了第二枢轴，其基本上平行于第一枢轴。第二枢轴还与第一枢轴和主长轴隔开。第三枢轴组件允许可动地将致动器的底端连接到贯胫部件的底端。第三枢轴组件定义了第三枢轴，其基本上平行于第一枢轴并且与其隔开。
在下文的详细描述中，描述了本发明的这些和其他的特征，或者本发明的这些和其他的特征在其中是显而易见的，其中该描述是结合附图而进行的。
附图说明
图1是根据本发明的优选实施例的具有前致动器设置的动力假体的透视图。
图2是图1所示的假体的部分分解透视图。
图3是图1所示的膝盖部件和第一枢轴组件的分解透视图。
图4是图1所示的贯胫部件和第三枢轴组件的分解视图。
图5是图1所示的线性致动器和第二枢轴组件的部分分解视图。
图6是说明了具有前致动器设置的几何模型的图示。
图7是图4所示的光学开关支架的分解视图。
图8是根据本发明的另一可行的实施例的具有后致动器设置的动力假体的透视图。
图9是图8所示的假体的部分分解透视图。
图10是图8所示的假体的侧视图。
图11是图8所示的膝盖部件、第一枢轴组件和第二枢轴组件的分解透视图。
图12是图8所示的贯胫部件和第三枢轴组件的部分分解视图。
图13是说明了具有后致动器设置的几何模型的图示。
图14是示出了用于假体的致动器的控制系统的示例的框图。
具体实施方式
附图示出了根据本发明的优选实施例和本发明的可替换的实施例的动力假体(10)。应当理解，本发明不限于所说明的实现方案，在不偏离附属权利要求的范围的前提下，可以进行不同的修改和变化。
假体(10)具有两个主要设置，一个是前致动器设置，另一个是后致动器设置。前致动器设置是优选的。图1～7示出了具有前致动器设置的假体(10)，而图8～13示出了具有后致动器设置的假体(10)。
前致动器设置
图1和2示出了假体(10)的基本部件，其包括：膝盖部件(12)、延长的贯胫部件(14)以及设置在膝盖部件(12)和延长的贯胫部件(14)之间的线性致动器(16)。假体(10)还包括用于在膝盖部件(12)上面连接承窝(18)的装置，以及用于在贯胫部件(14)的底端的下面连接假脚(20)的装置。
承窝(18)可以实现假体(10)和截肢患者的残肢之间的充分的作用力传输。承窝(18)的设计通常是定制的操作，以便于实现任选的关于残肢机动性的负重传输、稳定性和有效控制。承窝(18)通常通过由适当的系统(诸如例如，由Otto Bock Inc.制造的型号为“Thermolyn”的挠性吸力衬垫)产生的吸力作用，固定在用户残肢上的适当的位置。假体(10)还可以使用可自市场获得的任何适当的承窝。
用于连接承窝(18)的装置可以包括，在膝盖部件(12)上面提供的底部承窝连接器(22)。优选地，该底部承窝连接器(22)通过接合装置，例如螺钉或螺栓，可拆卸地进行连接。底部承窝连接器(22)的实际类型可以变化。一个示例是具有标准的公锥(male pyramid)设置的连接器，诸如由Otto Bock Inc.制造的型号为4R45的公锥。另一示例是具有由Ossur Inc.制造的型号为2045-2的公锥的滑动连接器。承窝(18)将配备相应的顶部连接器，其与底部的公连接器(22)配合。还可以使用其他类型的连接器。
膝盖部件(12)确保了承窝(18)和贯胫部件(14)之间的具有至少一个旋转自由度的连接。膝盖部件(12)的活动范围优选地是约105度，其中0度是位于全伸展处，而105度是位于最大膝盖弯曲处。
图3示出了膝盖部件(12)的放大的视图。该膝盖部件(12)预选地是叉形机件，其两个凸缘(24)自顶板(26)凸出。顶板(26)包括四个用于底部承窝连接器(22)的可拆卸螺钉的螺纹孔(28)。
优选实施例中的膝盖部件(12)借助于第一枢轴组件(30)连接到贯胫部件(14)。第一枢轴组件(30)允许将贯胫部件(14)可动地连接到膝盖部件(12)，由此使得这两个部件之间的相对旋转是可能的。应当注意，第一枢轴组件(30)也可以是多中心的。这意味着，膝盖部件(12)和贯胫部件(14)之间的运动不单纯是旋转的，而是可以采用更加复杂的形式。而且，该部件的左侧和右侧可以稍有不同，由此导致围绕垂直轴的微小的扭转运动。然而，通常整体运动基本上是围绕枢轴的旋转。
在优选实施例中，第一枢轴组件(30)定义了第一枢轴(31)，其基本上与主长轴(15)垂直，该主长轴(15)在纵向平面中沿贯胫部件(14)的长度方向延伸，如图1所示。
第一枢轴组件(30)还包括由两个轴承(34)支撑的轴(32)，每个轴承安装在膝盖部件(12)的凸缘(24)中的相应的壳体(36)中。轴承(34)的一个示例是由NSK Inc.制造的型号为6300-ZZ的单滚道轴承。当然，也可以使用其他类型的轴承(34)。10mm的轴肩螺母(37)和一组外部垫圈(35)允许使轴承(34)固定在轴(32)的螺纹末端上。在膝盖部件(12)的两个凸缘(24)之间，围绕轴(32)安装图2、4和7示出的光学开关支架(38)。该支架(38)将在下文中详细描述。
优选地，如图3中最佳示出的，在膝盖部件(12)的背面处提供了一组能量吸收缓冲器(44)，用以预防超出范围的运动。这些缓冲器(44)可以是，例如，由Tecspak Inc.制造的型号为GBA-1的缓冲器。当然，也可以使用其他类型的缓冲器(44)。它们安装在位于膝盖部件(12)的顶板(26)的侧面和正面上的相应的支架(42)上。支架(42)还用于支撑连接器(78)，其将在下文中详细描述。
图4示出了根据优选实施例的贯胫部件(14)。其包括三个主要部分，即顶端部分(14A)、中间部件(14B)和底端部分(14C)。
贯胫部件(14)的顶端部分(14A)优选地是具有两个凸缘(50)叉形机件，这两个凸缘(50)从安装基座(52)上凸出。安装基座(52)刚性连接到一对贯胫柱形杆(54)。在后面提供了背板(56)。杆对(54)和背板(56)是中间部分(14B)的一部分。它们均连接到底端部分(14C)，在优选实施例中，其自身是两部分的机件。第一部分(60)是略具U形形状的部件，其下面附连了第二部分(62)。第二部分(62)是延伸部分，在其下面提供了假脚(20)。用于连接假脚(20)的装置可以包括一组螺纹孔，其中插入了螺钉。也可以使用其他类型的连接器。
假脚(20)可以是，例如，由College Park Industries Inc.制造的标准26cm的Trustep假脚，或者由Ossur Inc.制造的Allurion型号ALX5260的假脚。如果所选的其他类型的动力假脚或者非动力假脚(20)提供了与某些上文提及的动力学响应至少近似相同的动力学响应，则其也可以使用。假体(10)的设计是模块化的，因此其可以调节为任何形态。假脚(20)可以具有暴露的金属或者合成物结构。其还可以具有装饰性的覆盖物，使其具有人类脚踝和脚的外观。
杆对(54)和背板(56)提供了空间(58)，其中安置了大部分致动器(16)。多种电子元件和电气元件还可以附加到背板(56)的两个侧面上。该紧凑的设计允许使整个尺寸保持在正常人腿的尺寸内。
图5示出了根据优选实施例的线性致动器(16)。该致动器(16)的顶端(16A)连接到膝盖部件(12)，而底端(16B)连接到贯胫部件(14)的底端部分(14C)。致动器(16)的功能是为假体(10)提供必要的机械动力，用以在径向平面中执行与截肢患者运动同步的角位移。致动器(16)的线性运动用于控制膝盖部件(12)相对于贯胫部件(14)的角度。致动器(16)包括电动机(70)，其通过机构(72、74)联接，用以将旋转运动转换为线性运动。电动机(70)的一个示例是由Poly-Scientific制造的型号BN2328EU。电动机(70)操作螺杆(72)，其在致动器(16)的底端接合到固定的随动件(74)。随动件(74)通过随动件支架(76)支撑。随动件(74)和随动件支架(76)构成了致动器(16)的底端(16B)。在使用中，当电动机(70)旋转时，螺杆(72)旋入或者旋出随动件(74)。这推动或者拉动膝盖部件(12)，由此引起了膝盖部件(12)和贯胫部件(14)之间的相对旋转。
线性致动器(16)的选择主要基于可利用的电动机技术的重量-扭矩比和速度。优选的是通过直接驱动系统直接联接到膝盖部件(12)，这是因为对于人类运动中的扭矩需要，其占用较小的空间。已经发现，理想地，致动器(16)必须能够提供约515N的连续的力以及约2250N的峰值力。
优选实施例的假体(10)进一步包括第二枢轴组件(80)。该第二枢轴组件(80)可动地将致动器(16)的顶端(16A)连接到膝盖部件(12)。该第二枢轴组件(80)定义了第二枢轴(81)，其基本上与第一枢轴(31)平行。同样地，其与由第一枢轴(31)和主长轴(15)定义的平面隔开。在图6中示意性地说明了该设置的一个示例。第一枢轴(31)被定义为“O”。第二枢轴(81)通过字母“C”定义。两个轴(C，O)隔开距离“r”。该距离产生了杠杆臂，允许致动器(16)相对于膝盖部件(12)移动贯胫部件(14)。
图5示出了优选实施例的第二枢轴组件(80)，其包括插入到机械连接器(84)中的轴承(82)，形成了致动器(16)的顶端(16A)。轴承(82)可以是滚针轴承，例如，由INA Inc.制造的型号为NK14/16的滚针轴承。其借助于轴肩螺钉(86)和铝垫圈(88)固定在适当的位置。已经发现，理想地，轴承(82)必须能够承受高达约11500N(2600Ibf)的静态负荷，并且允许典型的为1～3°的失准。由于滚针轴承(82)相比于轴衬末端或者杆状末端，实际上不具有机械运动，并且具有低的摩擦系数，因此其是优选的。当然，也可以使用其它类型的轴承。轴(90)使机械连接器(84)联接到膝盖部件(12)的凸缘(24)中的相应的孔。使用负载单元(92)使机械连接器(84)固定在电动机(70)上，该负载单元(92)将在下文中详细描述。
使用第三枢轴组件(100)，将致动器(16)的底端(16B)可动地连接到优选实施例的贯胫部件(14)，如图4和5所示。该第三枢轴组件(100)定义了第三枢轴(101)，并且同样优选地包括一个或者多个滚针轴承(102)，每个滚针轴承(102)安装在相应的壳体(64)中，该壳体(64)是在贯胫部件(14)的底端部分(14C)的第一部分(60)上提供的。两个标准的滚针轴承(102)可以用于这样的目的，例如，由INA Inc.制造的型号为NK14/16的滚针轴承。当然，在第二(80)和第三枢轴组件(100)中也可以使用其它类型的轴承。一组螺钉(106)和垫圈(108)完善了该第三枢轴组件(100)。
假体(10)的多种结构部件优选地由轻的材料制成，例如，铝或者合成材料，诸如碳纤维、玻璃纤维等。特别适合的材料是热处理6061T6的铝。不同的部件优选地通过螺钉连接在一起，尽管它们可以通过焊接或者其他的固定方式连接在一起。通过螺钉使部件连接在一起是优选的，这是因为这增加了制造能力，有助于部件的维护和替换，并且通常改善了整体的美观特征。
图7示出了出现在图2和4中的专用的机械支架(38)。该专用的机械支架(38)首先用于固定如下文所解释的光学开关。其次，该专用的机械支架(38)用于协助，假体(10)的相对固定的部分与假体(10)的相对移动的部分之间的电缆部分(未示出)之间的转换。附连到膝盖部件(12)的支架(42)的连接器(78)提供了所需的连接。在电动机(70)上提供了相似的连接器(78)。部件(254)上的具有两个部件的导线夹(39A、39B)允许将导线固定在支架(38)上。
后致动器设置
图8～13示出了根据第二可行实施例的假体(10)。这说明了具有后致动器设置的假体(10)。该实施例与使用前致动器设置的实施例非常相似。其是通过另一种类的致动器(16)和另一型号的假脚(20)进行说明的。贯胫部件(14)的中间部分(14B)使用四个杆(54)而不是两个。其不具有背板。而且，在贯胫部件(14)上没有提供底端延伸部分。
贯胫部件(14)还具有壳式构造，其包括，例如，1/2”的贯胫柱形杆(54)，其使膝盖部件(12)和假脚(20)联接在一起。在所说明的实施例中，致动器(16)可以是标准的线性电动机(图5)，或者是配备了定制的商用电动机(70)的串行弹性致动器(SEA)(图8)，尽管假体(10)被设计为能够接收具有近似相同的尺寸的任何类型的线性致动器。SEA致动器(16)(图8)具有滚珠螺旋传动系统，其包括与具有已知特性的弹性设备(110)相联接的螺杆(72)。该致动器(16)(图8)允许基于弹性元件形变的力控致动。而且，该设计允许能量存储，忍受振动和相对稳定的力控制。SEA致动器(16)(图8)由MIT Leg Laboratory的Gill Pratt所发展，并且在1997年获得美国专利No.5,650,704。在一个实施例中，配备了Litton BN23-28电动机(70)和3/8”直径的具有1/8”螺距的滚珠螺杆(72)。SEA致动器(16)(图8)由Yobotic Inc.进行了商业化。
图13说明了后致动器设置的几何模型。其基本上与图6所示的前致动器设置的几何模型相似。
控制系统
图14说明了可用于操作假体(10)的致动器(16)的控制系统(200)。该图首先示出了本体感受器(210)的集合，其是用于实时地捕获关于截肢患者的运动的动力学信息的传感器。该本体感受器(210)的集合为控制器(220)提供感应信息。控制器(220)确定关节轨迹和必须由致动器(16)施加的所需的力。然后经由功率驱动器(230)将设置点(关节轨迹和所需的力)发送到致动器(16)，该功率驱动器(230)自身连接到电源(240)。
电源(240)可以是，例如，柔性电池组带，诸如由Cine PowerInternational Ltd.制造的型号Lighting Powerbelt。电源(240)的其他示例是由Worley Inc.制造的型号为SLPB526495的电池和由Cap-XX制造的超级电容器。功率驱动器(230)的示例是由Copley Controls CorpInc.制造的型号5121和由Advanced Motion Control制造的型号BE40A8。应当注意，电源(240)的设计和功率驱动器(230)的设计不限于上文提及的设备，并且，如果所选的设备满足假体(10)使用的所选致动器(16)的电器规格，其可以由任何定制或者商业产品执行。
优选地，假体(10)进一步包括传感器(250)的集合，用以向控制器(220)提供反馈信息。该反馈允许控制器(220)调节力和多种其他参数。可以监视的参数的示例是膝盖部件(12)的相对角度和致动器(16)在膝盖部件(12)处施加的扭矩。可以获得其他类型的测量结果。例如，可以通过标准的商用光学增量型编码器(260)，诸如型号为EM1-0-250的读光学头，以及Mylarstrip(262)，其由US Digital Inc.制造具有均匀分割的增量模型LIN-250-16-S2037，可以获得膝盖部件(12)的相对角度的测量结果。其他的用于限制假体(10)的角运动的用作限制开关的传感器是光学开关，其优选地安装在专用机械支架(38)上。图1和2所示的电缆连接器(78)允许将外部设备联接到假体(10)的内部元件。
光学开关(252)固定在第一枢轴(31)上，并且用于设置膝盖部件(12)的参考角位置。一旦知道了该参考角位置，通过电动机的旋转、滚子螺杆的螺距和假体的几何特征，使用光学编码器信息计算膝盖部件(12)的角度。而且，通过在膝盖部件(12)接近临界位置时向控制器(220)发送信号，该光学开关(252)用于防止超出活动范围。当然，该光学开关(252)还可以根据与开关检测相关的命令的性质用于其他的目的。测量膝盖部件(12)的相对角度的另一可行的方法是使用光学绝对编码器，诸如例如，由US Digital Inc.制造的型号为E2-512-250-1的编码器，以及光学开关。这些开关的一个示例是由SUNX制造的型号为PM-L24的开关。
例如，由标准的商用电位计测量后致动器设置(图8)中的致动器(16)的弹性设备的压缩，诸如由Novotechnik Inc.制造的型号为PTN025的传导性塑料电阻元件，获得了扭矩的测量结果。还可以测量由致动器(16)施加的力作为负载单元(92)。负载单元的一个示例是由Omegadyne制造的型号LC 202 1K。电动机(70)上的连接器允许将内部传感器联接到电缆。应当注意，假体(10)的传感器(250)不限于上文提及的设备，并且可由其他适当的仪器执行。
示例——关于最优角度的计算
可以假设下列技术规范：
·几何体积对应于具有70kg重量和170cm高度的人的正常胫部的人体体积；
·最大距离r设置为0.055m，即r＜0.055m；
·LT的最小和最大长度分别设置为0.3m和0.4m，即0.3m＜LT＜0.4m；
·dT的最小和最大长度分别设置为-0.015m和+0.015m，即-0.015m＜dT＜+0.015m。
可以通过下式定义几何模型：
β＝π-θfix-α-θK                                  式1
L A = L T 2 + d T 2 式2
α = arctan ( d T L T ) 式3
L2＝LA 2+r2-2·LA·r·cosβ    式4
b r = r · L A · sin β L A 2 + r 2 - 2 · L A · r · cos β 式5
其中
θK：膝盖角度∠DOA
r：膝盖部件(12)的旋转“O”的中心和致动器(16)在膝盖部件(12)上的附着点之间的距离
θfix：r和残肢中心轴之间的角度∠EOC
LA：膝盖部件(12)的旋转中心和致动器(16)在贯胫部件(14)上的附着点之间的距离 OB
LT：膝盖部件(12)的旋转中心和贯胫部件(14)的附着点之间的距离 OA
dT：贯胫部件(14)的中心轴和贯胫部件(14)的致动器(16)的附着点之间的距离 AB
α：在LT，LA之间形成的角度∠AOB
L：致动器(16)的长度， BC
β：在LA和r之间形成的角度∠BOC
br：致动器(16)的杠杆臂相对于第一枢轴(31)
优选地，假设杠杆臂br在35度的膝盖角度θk处最大。机械设计的几何计算基于距离r、长度LT、距离dT和角度θfix的设置。因此，根据截肢患者的人体测量结果和所选致动器(16)定义这些参数。
对于角度θfix，当式5处于最大值时，找到了关于最大杠杆臂br的最优值，即：
∂ b r ∂ θ fix = 0 式6
其中θfix＝π-α-θK-β
对于图6和13所示的设置，当满足下式时达到该条件：
β = ± 3 2 π 式7
通过式1，距离r和承窝中心轴之间的最优角度，用θfix|optimal表示，被定义为：
θ fix | optimal = + π / 2 - π / 2 - θ k - α 式8
其中
+π/2和-π/2分别对应于前致动器设置和后致动器设置。
结果是，最优角度θfix优选地设置为125±3度。

Claims (22)

1.一种用于膝上截肢患者的动力假腿，该假体包括：
膝盖部件；
第一装置，用于在膝盖部件上连接承窝；
延长的贯胫部件，其具有顶端和底端，该贯胫部件定义了主长轴；
第二装置，用于在贯胫部件的底端的下面连接假脚；
线性致动器，其具有顶端和底端；
第三装置，用于可动地将贯胫部件连接到膝盖部件；
第四装置，用于可动地将致动器的顶端连接到膝盖部件；和
第五装置，用于可动地将致动器的底端连接到贯胫部件的底端。
2.权利要求1的假体，其中
第三装置包括定义了与主长轴垂直的第一枢轴的第一枢轴组件；
第四装置包括定义了基本上平行于第一枢轴的第二枢轴的第二枢轴组件，该第二枢轴与第一枢轴和主长轴隔开；和
第五装置包括定义了基本上平行于第一枢轴并与其隔开的第三枢轴的第三枢轴组件。
3.权利要求1或2的假体，其中贯胫部件具有中间部分，其包括至少两个空间隔开的杆，该杆通常定义了安置大部分致动器的空间。
4.权利要求1～3中的任何一个的假体，进一步包括在贯胫部件的底端下面附连的假脚，该假脚定义了该假体的前面和后面。
5.权利要求4的假体，其中致动器的顶端连接到假体的前面。
6.权利要求5的假体，其中贯胫部件包括在贯胫部件的顶端和底端之间延伸的背板。
7.权利要求4的假体，其中致动器的顶端连接到假体的后面。
8.权利要求7的假体，其中贯胫部件具有中间部分，其包括至少两个空间隔开的杆，该杆通常定义了安置大部分致动器的空间。
9.权利要求1～8中的任何一个的假体，进一步包括在膝盖部件上附连的承窝。
10.权利要求1～9中的任何一个的假体，进一步包括用于控制致动器的第六装置。
11.权利要求10的假体，其中第六装置包括控制器，其响应来自本体感受器的输入信号输出控制信号。
12.权利要求11的假体，其中控制器具有连接到功率驱动器的输出端，该功率驱动器响应控制信号，向致动器提供来自电源的电能。
13.权利要求11或12的假体，其中输入信号进一步包括来自安装在该假体上的和位于该假体外部的传感器的信号。
14.一种用于膝上截肢患者的动力假腿，该假体包括：
膝盖部件；
在膝盖部件上面连接的承窝；
延长的贯胫部件，其具有顶端和底端，该贯胫部件定义了主长轴；
在贯胫部件的底端的下面连接的假脚，该假脚定义了该假体的前面和后面；
线性致动器，其具有顶端和底端；
第一枢轴组件，用于可动地将贯胫部件连接到膝盖部件，该第一枢轴组件定义了第一枢轴，其垂直于贯胫部件的主长轴；
第二枢轴组件，用于可动地将致动器的顶端连接到膝盖部件，该第二枢轴组件定义了第二枢轴，其基本上平行于第一枢轴，该第二枢轴与第一枢轴和主长轴隔开；和
第三枢轴组件，用于可动地将致动器的底端连接到贯胫部件的底端，第三枢轴组件定义了第三枢轴，其基本上平行于第一枢轴并且与其隔开。
15.权利要求14的假体，其中贯胫部件具有中间部分，其包括至少两个空间隔开的杆，该杆通常定义了安置大部分致动器的空间。
16.权利要求14或15的假体，其中致动器的顶端连接到假体的前面。
17.权利要求16的假体，其中贯胫部件包括在贯胫部件的顶端和底端之间延伸的背板。
18.权利要求14或15的假体，其中致动器的顶端连接到假体的后面。
19.权利要求18的假体，其中贯胫部件具有中间部分，其包括至少两个空间隔开的杆，该杆通常定义了安置大部分致动器的空间。
20.权利要求14～19中的任何一个的假体，进一步包括用于控制致动器的控制器，该控制器响应来自本体感受器的输入信号输出控制信号。
21.权利要求20的假体，其中控制器具有连接到功率驱动器的输出端，该功率驱动器响应控制信号，向致动器提供来自电源的电能。
22.权利要求20或21的假体，其中输入信号进一步包括来自安装在该假体上的和位于该假体外部的传感器的信号。
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CN106974750A (zh) * 2017-05-03 2017-07-25 哈尔滨理工大学 一种动力型膝关节假肢

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