Control method for artificial limb knee and ankle joints

Abstract

The invention discloses a control method for artificial limb knee and ankle joints and relates to artificial limb knee joints. The control method includes the steps that firstly, the positions, on which Hall sensors are to be installed, on an artificial limb knee joint are determined through a test, the three Hall sensors are installed, a controller is installed in a groove in the rear cover of the artificial limb knee joint, and different gaits are judged and identified by the controller according to signal variation of the three Hall sensors; secondly, according to identification of the gaits in the first step, the controller judges different gaits according to the signal variation of the Hall sensors and controls a knee joint motor and an ankle joint motor to move up and down according to different gaits, different damping is generated according to different gaits and different step speeds, and therefore control of the gaits is achieved and coordination of the knee and the ankle is achieved. The defects that intelligent artificial limbs are not coordinate in gait and are prone to damage and energy consumption of wearers is large in the prior art are overcome.

Description

technical field [0001] The technical solution of the present invention relates to a prosthetic knee joint, in particular to a control method for the prosthetic knee-ankle joint. Background technique [0002] At present, most smart prosthetics only consider the adjustment function of the knee joint. Almost none of the prosthetics can realize the coordinated movement of the knee joint and ankle joint. Therefore, there are problems such as uncoordinated gait, easy damage to the prosthesis, and high energy consumption for the wearer. [0003] In the prior art, there is no special control method for the prosthetic knee-ankle coordination joint, and the ankle joint is only controlled by the mechanical structure, and has no pace-following function. CN201110456535.6 discloses "the control method of prosthetic knee joint motion", this design only judges the knee joint gait and implements control through the Hall sensor, but because there is no ankle joint control, the gait of the dis...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: a control method for prosthetic knee-ankle joints. Only by installing a Hall sensor on the knee joint, the gait information of the ankle joint can be predicted, and the controller can control the gait in different stances and Different speeds produce different damping, which makes the knee and ankle coordinate. The combination of intelligent knee joint control and intelligent ankle joint control ensures good gait following characteristics, making the gait of the disabled tend to be natural, which overcomes the existing technology The smart prosthetics have the disadvantages of uncoordinated gait, easy damage of the prosthesis and high energy consumption of the wearer

Images