Two-degree-of-freedom limited anisotropic flexible bionic ankle joint

Abstract

The invention relates to a two-freedom-degree limit anisotropic flexible biomimetic ankle which comprises a connector for being connected with a prosthetic socket, a connecting rod connected to the lower end of the connector, a spring mounting bracket connected to the middle of the connecting rod, a central sphere pin pair connected to the lower end of the connecting rod, an ankle limit end cover arranged on the upper portion of the central sphere pin pair and a sphere pin pair base arranged below the central sphere pin pair. A limit cambered surface with four spring guide holes is arranged at the upper end of the ankle limit end cover, and an inner spherical surface is arranged at the lower end of the ankle limit end cover. The spring mounting bracket is supported in the limit cambered surface through four spiral compression springs installed in the four spring guide holes. An inner spherical surface is arranged at the upper end of the sphere pin pair base. The central sphere pin pair is in clearance fit with the inner spherical surface of the ankle limit end cover and the inner spherical surface of the sphere pin pair base, and a bolt pin on the side face of the central sphere pin pair is in clearance fit with a bolt pin guide groove in the ankle limit end cover and a bolt pin guide groove in the sphere pin pair base. The two-freedom-degree limit anisotropic flexible biomimetic ankle has two degrees of freedom, can perform plantar flexion, dorsal flexion, introversion and extroversion, has different angle ranges and flexibility in each direction, and enables an amputee to walk on a more complicated pavement.

Description

technical field [0001] The invention relates to the technical field of bionic machinery, in particular to a two-degree-of-freedom limited anisotropic flexible bionic ankle joint with different angle ranges and flexibility in each movement direction. Background technique [0002] There are tens of thousands of disabled people with amputations of lower limbs every year due to various diseases, accidents and traffic accidents all over the world, and a large part of them are calf amputee. Due to the loss of lower limbs, these calf amputees have lost the ability to work, and even cannot take care of themselves. They urgently need calf prostheses to improve their quality of life and restore their ability to work. [0003] The ankle joint is the most important part of the calf prosthesis, because the ankle joint directly affects the daily activities that the amputee can perform (such as walking, going up and down stairs), the efficiency of movement and the naturalness of gait. At...

AI Technical Summary

Problems solved by technology

Although the multi-axis ankle joint can perform dorsiflexion, plantarflexion, varus and valgus within a certain angle range, its structure is complex and there are many areas of stress concentration, so it is easy to suffer from fatigue wear

The central spherical auxiliary ankle joint can imitate the angle of the human ankle joint, but because the human ankle joint is not the ideal symmetrical structure of the spherical auxiliary joint, but a more complex surface structure of the pulley joint, it will lead to unnatural gait of the amputee

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