DE19521464A1 - Procedure for controlling the knee brake of a prosthetic knee joint and thigh prosthesis - Google Patents

Description

The invention relates to a method for controlling the knees brake a stump bed with a prosthesis base connected prosthetic foot connecting knee joint the computer controlled braking torque depending on the Walking movement of the prosthesis wearer between continuously "free" and blocked is changeable, and the walking movement by EMG values measured in the stump bed, measured in the foot area pressure values, through the respective knee angle and the respective, measured between the upper and lower leg of the prosthesis its angular velocity in the form of electrical signals (hereinafter "measurement data") is characterized.

The invention further relates to a thigh prosthesis with

• - a stump bed that connects to a thigh the stump of the prosthesis wearer is formed;
• - a lower leg of the prosthesis, to which a prosthetic foot connected;
• - a knee joint that has an upper knee axis Connects knee joint for the stump bed with a lower knee joint connection for the prosthesis  lower leg;
• - a computer-controlled brake on a brake shaft a continuously between "free" and "blocked" changeable braking torque applies;
• - A knee joint transmission for transmitting the braking torque tes from the brake shaft to the knee axis;
• - A control unit that uses a control algorithm Brake depending on the walking movement of the prosthesis carrier charged;
• - EMG sensors used in the stump bed for contact with certain Thigh muscles are arranged and signals to the Deliver control unit;
• - Foot pressure sensors in the tread of the prosthetic foot ßes are arranged and signals to the control unit give;
• - A coding device that the respective knee angle as well the respective angular velocity between prostheses upper and lower leg measures and in the form of electrical Outputs signals to the control unit.

EP 0 549 855 A2 discloses a knee brake control in which a hydraulic damper the angular velocity in Controls knee joint. A microprocessor determines from one Load measurement and a knee angle measurement the usual Gait pattern and applied at different gear transition score one engine, which in turn is one in the hydraulic damper provided valve device adjusted. This execution form enables the prosthesis wearer to use the Pro thesis in different gaits including stair and sit down.

DE 39 09 672 C2 discloses a swing phase controlled Thigh prosthesis with an upper shaft, which with an Un articulated joint via a knee joint shaft and is acted upon by a pressure cylinder. The impression cylinder is controlled by a valve, the degree of opening by  a regulator depending on several during Trying selected walking speeds set becomes. An operating mode selector is provided for Choice of different degrees of opening for several different ones Walking speeds in a tutorial entry mode like this as for a playback operation. There are also one the detection device determining the degrees of opening, a Opening degrees of the operating mode selector storing Establishment, phases that capture swing and stance phases determination device, a walking speed determination facility based on the actual walking speed the respective periods of time determined by the phase determination establishment detected swing and stance phases, so like a control device that actually goes from the go speed determining device determined walking speed with the corresponding stored opening degrees of the operating mode selector and the Valve opening degree. It is only controlled the swing phase. A knee winch is used as sensors sensor and stretch limit switch. The duration of the stand phase se is used as a parameter to control the damping coefficient efficient in the swing phase.

French patent application 89 194 844 also discloses a pneumatic knee actuator. As sensors are used either foot contact sensors or load measurements in combination with a stretch limit switch. The The control releases an automatic knee during the stance phase blocking and fits the damper during the swing phase ging cycle duration.

The invention has for its object one the different knee brake control better adapted to natural gaits tion and a more suitable thigh prosthesis to develop.  

Based on the method described at the beginning, this is Object achieved according to the invention by the following features:

• a) Determine the respective gait from a number before given, previously determined for this prosthesis wearer Gait by evaluating at least some of each Weil transmitted measurement data;
• b) Selection of the tax assigned to this determined gait program;
• c) for each control program one is defined as a time span nated step period between two consecutive Heel / floor contacts divided into several phases, de their respective end point by default for this phase ne, respectively transmitted measurement data is determined;
• d) each phase will be determined during this phase if necessary, assigning changing braking values with which the knee brake is applied.

It is advantageous if the knees are acted upon brake with a constant frequency.

It may also be useful if additional measurement data are determined from the pain on the knee and hip moments.

Different gaits can be defined or defined beforehand be kidneyed (e.g. walking on a level surface; Trep pen climbing; Descent of stairs; walking on an upward slope or sloping surface; Movements at a standstill etc.).

According to the invention one starts from a step period, the is defined as the time interval between two heels / -  Ground contacts. This step period is on a time axis se and then into a certain number of Step phases divided, each between two phases a transition, i.e. a change from one to the other Pha se is provided. Each phase thus represents a time Section of a step period, wherein during the Phase a controlled knee movement takes place. Everyone phases transition is based on measurement data.

In the method according to the invention there is basically Possibility of changing from one gait to another at any time Change gait, each gait a special one Control program is assigned. But it can be determined who that a change of the control program of the just be used gait to control another gait only in a previously selected special phase of Step period of the currently used or the new gear art is made.

According to the invention, the exercise carried out is determined Gait by comparing the transmitted actual measurement data with the reference measurement data specified for each gait. Here it is useful if the reference measurement data from the for Every single gait measured EMG data can be determined.

According to the invention, it is advantageous if a curve showing the muscle activity is generated for each of the specified gaits for each scanned hip joint muscle over a step period. In practice, this curve can e.g. B. created by thirty measurements. When comparing the actual measurement data with the reference values, however, it is not readily ascertainable with which of the thirty measurement values, for example, of a muscle activity curve, the actual value just determined must be compared. It must therefore be assigned within the step period. However, this step period is different for different gaits and can vary even within the same gait. However, since the actual measurement data are transmitted in real time, i.e. over a certain time period, the reference data are available for a predetermined time period and therefore usually in percentages related to the step period, but a comparison of the real time with percentages is not possible the actual step period in its "time length" of the reference step period who adapted. This is done as follows:
After a curve representing the muscle activity has been created for each of the specified gaits for each scanned hip joint muscle over a step period, the EMG measurement data defining this curve is then reduced by equidistant linear interpolation to a specific number of EMG reference values, which then Define reference curve. The first and the last EMG reference value then corresponds to the EMG measurement data for heel / ground contact. To compare a certain number of actual EMG measurement data with matching reference EMG measurement data, the respective point in time within the step period is determined, namely by pre-calculating the time of the end point of the respective phase the next closest EMG reference values of the EMG reference curve are found. It has proven to be useful not to use all EMG data for the entire step period, but only EMG data from a specific section of the step period, depending on the gait.

The determination of the gait time looks for an answer to the question:
Where are we in the stride period ?. It has proven to be useful to define certain fixed gait points within a step period. For example in the following order:

• 1. Heel / ground contact: rising edge of the heel pressure, determined by means of a threshold value;
• 2. Begin stance phase: rising flank of the knee angle, determined by means of a threshold value;
• 3rd foot flat: metatarsal head I - pressure becomes greater than the heel pressure;
• 4. Maximum at metatarsal head I: metatarsal head I - pressure becomes maximum;
• 5. Diffraction swing phase: rising flank of the knee angle, determined by means of a threshold value;
• 6. maximum flexion swing phase: knee angle becomes maximum;
• 7. Extension swing phase: falling flank of the knee angle, determined by means of a threshold value;
• 8. full extension: knee angle becomes minimal or negative (hyperextension).

These fixed gait points are spread over a stride period and divide the stride period into the above phases.

The "on-line" gait time base determines the gomen's gait time tan time before the current stride period has ended det. And this is done according to the invention by advance calculation the time of the arrival of a future event with a known gear time.

The main advantage of the method according to the invention can  can be seen in that when changing gait too the control of the knee brake is changed in each case adapting a stored reference pattern.

The object underlying the invention is based on follow the thigh prosthesis described at the beginning Features solved:

• a) at least two foot pressure sensors are open at the bottom Recesses arranged in the sole of the foot and that in the Fer metatarsal area and in the head area of an OS;
• b) the brake is a magnetic powder brake that is pulsed Control signals of a pulse width modulation circuit (PWM Circuit) is controlled, the pulse width current flowing through the brake and thus the brake mo ment determined;
• c) an adjustment and calibration system to adapt the Brake actuating control algorithm to the gear of the Prosthesis wearer.

According to the invention, at least two EMG sensors are preferably used ren used. It can also use sensors to measure the knee moment and / or the hip moment are provided.

The knee brake is preferably with a constant Fre quenz, e.g. B. 100 Hz. Basically, fully process all measurement data at any time; in the Pra xis, however, are only selected measurement data for the one individual calculations. In any case, everyone Measurement data saved by a computer over a certain period of time chert (e.g. over 2.5 sec.), i.e. not immediately destroyed.

According to the invention, three ages for the knee joint transmission  native suggested.

According to the invention, it is fundamentally possible to use the aforementioned EMG electrodes to identify the gait, the gait phase within one step period and the transitions between To use gait and phases, even if only for Check the pressure values measured in the foot area and / or the knee angle measurements.

According to the invention, a control method is preferred for which the EMG values measured in the stump bed in connection with the pressure values measured in the foot area and the respective Knee angles fed into the microprocessor as information are used to identify the gait and phases and the Transitions between them. In each of the gait phases, the Combination of the pressure values measured in the foot area with the measured knee angle as control parameter for the feedback Control algorithm used. A closed trained Knee impact device includes a gear and a Magnetic particle brake, which is a direct, continuous control knee braking torque both in the stance phase and enable in the swing phase. The combination of these three Feature complexes leads to a two-tier control system: the first layer involves the identification of the gait and phase as well as the selection of the gang specific tax algorithm, while the second layer is defined by using the direct control of the knee braking torque the appropriate algorithm.

As a result, the prosthesis adapts automatically the gait and phase of the prosthesis wearer. An essential cher advantage of the designed according to the invention Thigh prosthesis can be seen in the fact that an adjustment on the respective prosthesis wearer only in the soft goods, but not in the hardware. This unite  increases the adjustment considerably.

Further features of the invention are the subject of the Unteran sayings and are combined with other advantages of Invention explained using several exemplary embodiments.

In the drawing are some examples which serve as examples tion forms of the invention. Show it:

Figure 1 is a schematic representation of a thigh prosthesis.

Fig. 2 in an enlarged scale, the stump bed of Figure 1 in front view.

Fig. 3 is a cross-section according to the line III-III in Fig. 2;

Fig. 4 is a prosthetic foot in a side view;

FIG. 5 shows in enlarged scale a Fußdrucksensor in vertical longitudinal section;

Fig. 6, the foot pressure sensor of Figure 5 in Unteran view.

Fig. 7 in the lateral rear view of a knee joint in a first embodiment;

Deransicht Figure 8, the knee joint according to Fig 7 in a lateral ago..;

Fig. 9 is a vertical section in the front plane through the knee joint of FIG. 7;

FIG. 10 is a vertical section in the sagittal plane through the hinge of FIG. 7;

FIG. 11 is a plan view of a horizontal section through the knee joint of FIG. 8;

FIG. 12 shows a second embodiment of a knee joint in a representation according to FIG. 9;

FIG. 13 shows the knee joint according to FIG. 12 in a representation according to FIG. 10;

FIG. 14 shows the knee joint according to FIG. 12 in a representation according to FIG. 11;

Figure 15 guide die in a perspective view a third off for a knee joint.

Fig. 16, the knee joint of FIG 15 in longitudinal section.

Fig. 17 is a schematic representation for the definition of the knee angle;

Fig. 18 is a schematic representation of a thigh prosthesis, the prosthesis lower leg is equipped with pairs of strain gauges;

FIG. 19 is a diagram are plotted in the foot print and knee angle a step period and these curves verdeutlichendes Phasendia program;

FIG. 20 is a somewhat modified phase diagram in a representation according to FIG. 19;

Fig. 21 electronic hardware in a block diagram;

Fig. 22 is a block diagram for a digital control unit and

Fig. 23 is a block diagram of a control unit comprising two controllers.

The thigh prosthesis shown in Fig. 1 consists essentially of a stump bed 1 , which is designed for connection to a thigh stump of the prosthesis wearer, from a lower leg prosthesis 2 , to which a prosthetic foot 3 is connected and from a knee joint 4 , which has a knee axis 5 connects an upper knee joint connection 6 for the stump bed 1 with a lower knee joint connection 7 for the lower leg of the prosthesis 2 . In the stump bed 1 are EMG sensors 8 and in the bottom of the Prothe senfußes 3 foot pressure sensors 9 are indicated. On the knee joint 4 , a knee angle sensor 10 and a brake 11 are shown schematically. To control this brake 11 also serve a schematically shown microcomputer 12 and batteries 13 , which the prosthesis wearer can wear on a belt, but which can also be integrated directly into the lower leg 2 of the prosthesis. In an alternative solution, the knee brake 11 can be controlled by an external computer.

See Fig. 2 and 3 can be that three EMG-sensors 8 are provided, which are each associated with one of the hip joint beaufschla constricting muscle namely rectus muscles fe Moris, adductor longus and hamstrings. The EMG sensors 8 are resiliently fixed in the inner wall of the stump bed 1 in order to ensure permanent, reliable contact with the associated muscle. The electrical connections to the EMG sensors 8 are on the outside of the stump bed 1 . The distance of the EMG sensors 8 from the edge 1 a of the stump bed 1 is approximately 10 cm.

Fig. 1 shows that four foot pressure sensors 9 are provided, of which Fig. 4 shows only two. The first foot pressure sensor is in the heel area, the second in the area of an OS metatarsal, the third in the head area of an OS metatarsal and the fourth in the toe area. Each foot pressure sensor 9 is supported against a metal insert 14 which is inserted into a recess 15 which is filled around the foot pressure sensor 9 with the material of the prosthetic foot tread.

A knee joint transmission is provided to reinforce the braking force acting on the knee joint. FIGS. 7 to 11 show a first embodiment for a knee joint transmission 16. The knee axis 5 sits together with a first gear wheel 17 firmly on the upper knee joint connection 6 , while the lower knee joint connection 7 is designed as a gear housing 18 , which forms the bearing for the knee axis 5 and includes the actual transmission, the brake 11 and a coding device, which measures the respective knee angle and also the respective angular velocity between the upper and lower leg of the prosthesis via the knee angle sensor 10 and outputs it in the form of electrical signals to a control unit 19 (see FIG. 21).

The brake se 11, which is not shown in detail in the drawing, is a magnetic powder brake which is controlled via pulsed control signals of a pulse width modularization circuit (PWM circuit), the pulse width determining the current flowing through the brake and thus the braking torque. The first knee joint transmission 16 is a two-stage reduction gear with a parallel arranged knee axis 5 , intermediate shaft 20 and brake shaft 21 which are rotatably mounted in the transmission housing 18 and are each equipped with a gear 17 , 22 , 23 , the intermediate shaft 20 being one with the Gear 23 of the brake shaft 21 carries intermeshing intermediate gear 24 .

FIGS. 7 and 8 show a stop 25 for the extended position of the prosthesis lower leg 2. FIG. 8 also shows a spring-elastic feeder 26 , while in FIG. 9 a knee angle coding disk 27 is indicated on the brake shaft 21 , to which the above-mentioned coding device 28, which is indicated in FIG. 11, is assigned.

Figs. 12 to 14 show a second embodiment for a knee joint mechanism 29. Here, the knee axis 5 is also designed as a brake shaft and rotatably mounted in both the upper and lower knee joint connections 6 , 7 . On this, the brake shaft forming knee axis 5 sits a toothed wheel 30 , which meshes with a gear 31 of an intermediate shaft 32 , which engages via a second gear 33 with a gear 34 fixedly connected to the upper knee joint 6th

Otherwise, the components matching the first knee-joint transmission 16 were seen with the same reference numerals.

FIGS. 15 and 16 show a third embodiment for a knee joint gear 35. This has a lever 36 at one end which is fixedly connected to the upper knee joint connection 6 and which is supported with its free end on a spindle 37 and the rotary nut 38 representing its rotary drive. The latter is displaceable against the action of a spring 39 on the spindle 37 , which forms the brake shaft and is rotatably supported with its lower end on the lower knee joint connection 7 .

Fig. 17 shows a relative pivoting between the stump bed 1 and the lower leg prosthesis 2 and the resulting knee angle α.

Fig. 18 shows in a schematic representation that the Prothe sen lower leg 2 is equipped with two strain gauges 40 be, wherein - seen in the sagittal plane - each strain gauge pair 40 each have a strain gauge at the front and the other at the rear of the prosthesis lower leg 2 . It is a sensor for measuring the knee moment. The same strain gauge pairs 40 or two additional strain gauge pairs also serve as a sensor for measuring the hip joint. The lower arrow A symbolizes the ground reaction force; The bending moment is plotted on axis B. Points B1 and B2 indicate the bending moments determined by the two pairs of strain gauges 40 . By linear extrapolation of these two measuring points B1, B2, the value for the knee moment B _K is obtained in the “height” of the knee axis 5 and, with further linear extrapolation up to the “height” of the hip joint 41, the value for the hip moment B _H. In this type of measurement of the hip torque, the knee joint 4 must be blocked in the extended position of the lower leg 2 .

In the diagram shown in FIG. 19, the foot pressure measured in percent or the knee angle α measured in each case is plotted in angular degrees on the vertical axis, while the horizontal axis indicates the time span of a complete step period. Of the four foot pressure sensors 9 shown in FIG. 1, only a pressure curve D1 for the heel pressure sensor and a pressure curve D2 for a pressure sensor in the head region of the OS metatarsal I are shown. The curve K _α for the respective knee angle is also an input.

The step period shown in the diagram is the time span ne between two successive heel / floor contacts of the prosthetic foot 3 . This step period is according to the invention divided into several phases (in the example shown in eight phases), the respective end point of which is determined by measurement data predetermined for this phase. Each phase is assigned certain braking values, which may change during this phase, with which the knee brakes 11 are applied.

In the lower representation of FIG. 19, the three phases 1 to 3 to the right of the dashed line show the posture phase, the phases 4 to 8 to the left of the dashed line never show the swing phase. In this case, for example, the possibilities are provided for moving directly from phase 1 to phase 4 and / or from phase 4 directly to phase 6 .

Fig. 20 shows for the phase diagram shown in Fig. 19 a somewhat simplified example of walking on level ground. Here, too, the phases symbolized by a circle each mean a short period of one step period, with a controlled knee movement taking place during each phase. The arrows between the phases indicate the respective phase transition. These are predefined threshold values or fixed points which define the end point of a phase and are determined in each case by measurement data averaged by sensors.

Fig. 21 shows an example of the electronic hardware provided to control the knee brake 11 . This includes the control unit 19 already mentioned, which has interfaces for the three EMG sensors 8 , for two foot pressure sensors 9 and for the coding device 28 . The power supply for the control unit 19 is designated 42 with net. The control unit 19 is connected to an external computer 43 and has a control line 44 for the control of the brake 11 .

Referring to FIG. 22, the control unit 19 comprises a micro control leraufbau on which at least one comprises a microcontroller 45, RAM and a serial interface for bidirectional data exchange with the external computer 43. The microcontroller 45 includes an internal 2 kB EEPROM for storing the operating and control software and the fixed data and is connected to an external 8 kB RAM for recording the volatile data during operation.

Fig. 23 shows an alternative embodiment with two con trollers. Here, the control unit 19 has a microcontroller structure in a master-slave configuration, the master controller 46 being connected to the coding device 28 and the foot pressure sensors 9 and the slave controller 47 connected to the master controller 46 in direct data exchange being connected to the EMG sensors 8 . Both controllers 46 , 47 each have their own peripheral circuit, RAM and a serial connection to the external computer 43 .

Claims (30)

1. Method for controlling the knee brake ( 11 ) of a stump bed ( 1 ) with a prosthesis lower part ( 2 ) with attached prosthesis foot ( 3 ) connecting knee joint ( 4 ), the computer-controlled braking torque depending on the walking movement of the prosthesis wearer continuously between " freely "and" blocked "can be changed, and the walking movement by EMG values measured in the stump bed ( 1 ), pressure values measured in the foot area, by the respective knee angle and the respective angular velocity measured between the upper and lower leg of the prosthesis in the form of electrical signals ( hereinafter "measurement data") is characterized by the following features:

• a) determining the respective gait from a number of predetermined gaits previously determined for this prosthesis wearer by evaluating at least some of the measurement data transmitted in each case;
• b) selection of the control program assigned to this determined gait;
• c) for each control program, a step period defined as a time period between two successive heel / floor contacts is divided into several phases, the respective end point of which is determined by measurement data which are predetermined for this phase and transmitted;
• d) each phase is assigned certain braking values, which may change during this phase and with which the knee brake is applied.

2. The method according to claim 1, characterized in that applying a constant to the knee brake Frequency. 3. The method according to claim 1 or 2, characterized net that additional measurement data are determined from the moments attacking the knee and hip. 4. The method according to claim 3, characterized in that the given gaits using the difference lichen, from the measurement of the knee and the Defi measurement data resulting from hip attacking moments be kidneyed. 5. The method according to any one of the preceding claims characterized in that the determination of the respective gait by comparing the transmitted actual measurement data with the reference given for each gait Measurement data takes place. 6. The method according to claim 5, characterized in that the reference measurement data from the for each individual gear type of measured EMG data can be determined. 7. The method according to claim 6, characterized in that  for each of the given gaits for everyone constant hip joint muscle over a stride period the muscle activity curve is created, that then the EMG measurement data defining this curve by equidistant linear interpolation to a certain number of EMG reference values are reduced, which then define the EMG reference curve, and that for Comparison of a certain number of actual EMG measurement data with corresponding reference EMG measurement data of the respective Time within the step period is determined by predicting the time of the end point of the respective phase, in which case the actual measurement data EMG reference closest to them in the running time values of the EMG reference curve are selected. 8. The method according to any one of the preceding claims, characterized in that a change from the tax program of the gait just used for the steering program of a different gait only at a previous one selected special phase of the crotch period just used or the new gait men will. 9. The method according to any one of the preceding claims, characterized in that all measurement data at short notice get saved. 10. Thigh prosthesis, with

• - A stump bed ( 1 ) which is ausgebil det for connection to a thigh stump of the prosthesis wearer;
• - A prosthesis lower leg ( 2 ) to which a prosthetic foot ( 3 ) is connected;
• - A knee joint ( 4 ), which via an knee axis ( 5 ) connects an upper knee joint connection ( 6 ) for the stump bed ( 1 ) in an articulated manner with a lower knee joint connection ( 7 ) for the lower leg prosthesis ( 2 );
• - A computer-controlled brake ( 11 ), the on a brake shaft ( 21 ; 5 ; 37 ) applies between "free" and "blocked" continuously changeable Bremsmo element;
• - A knee joint transmission ( 16 ; 29 ; 35 ) for transmission of the braking torque from the brake shaft ( 21 ; 5 ; 37 ) to the knee axis ( 5 );
• - A control unit ( 19 ) which applies the brake ( 11 ) as a function of the walking movement of the prosthesis wearer via a control algorithm;
• - EMG sensors ( 8 ), which are arranged in the stump bed ( 1 ) for contacting certain thigh muscles and emit signals to the control unit ( 19 );
• - Foot pressure sensors ( 9 ) which are arranged in the tread of the prosthetic foot ( 3 ) and emit signals to the control unit ( 19 );
• - A coding device ( 28 ) which measures the respective knee angle and the respective angular velocity between the upper and lower leg of the prosthesis ( 2 ) and emits it in the form of electrical signals to the control unit ( 19 );
  in particular for carrying out the method according to one of the preceding claims, characterized by the following features:
  • a) at least two foot pressure sensors ( 9 ) are arranged in downwardly open recesses ( 15 ) in the sole of the foot, namely in the heel area and in the head area of an OS metatarsal;
  • b) the brake ( 11 ) is a magnetic powder brake which is controlled via pulsed control signals of a pulse width modulation circuit (PWM circuit), the pulse width determining the current flowing through the brake and thus the braking torque;
  • c) a setting and calibration system for adapting the brake algorithm ( 11 ) acting control algorithm to the gear of the prosthesis wearer.

11. Thigh prosthesis according to claim 10, characterized by a third foot pressure sensor ( 9 ) in the area of an OS metatarsal and a fourth foot pressure sensor ( 9 ) in the toe area. 12. Thigh prosthesis according to claim 10 or 11, characterized in that in the inner wall of the stump bed ( 1 ) at least two EMG sensors ( 8 ) are fixed, the electrical connections of which are laid outside on the stump bed ( 1 ). 13. Thigh prosthesis according to claim 12, characterized in that the two EMG sensors ( 8 ) are assigned to the muscles rectus femoris and hamstrings. 14 thigh prosthesis according to claim 12 or 13, characterized marked by a third, the adductor longus to assigned EMG sensor ( 8 ). 15. thigh prosthesis according to claim 12, 13 or 14, characterized in that the EMG sensors federela are stipulated. 16. Thigh prosthesis according to one of claims 10 to 15, characterized in that the distance of the EMG sensors ( 8 ) from the edge ( 1 a) of the stump bed ( 1 ) is about 10 cm. ( Fig. 2). 17. Thigh prosthesis according to one of claims 10 to 16, characterized in that each foot pressure sensor ( 9 ) against a metal insert ( 14 ) is supported, which is inserted into a recess ( 15 ) around the foot pressure sensor ( 9 ) with the material of the prosthetic foot tread is filled. ( Figs. 5 and 6). 18. Thigh prosthesis according to one of claims 10 to 17, characterized in that each foot pressure sensor ( 9 ) outputs the size of the pressure exerted by the sensor contact surface on the floor in the form of electrical signals. 19. Thigh prosthesis according to one of claims 10 to 18, characterized by a sensor for measuring the Knee moment. 20. Thigh prosthesis according to claim 15, characterized in that the knee moment sensor consists of at least two pairs of strain gauges ( 40 ) which are each arranged in the sagittal plane at the front and rear of the prosthesis lower leg ( 2 ). ( Fig. 18). 21. Thigh prosthesis according to one of claims 10 to 20, characterized by a sensor for measuring the Hip moment. 22 thigh prosthesis according to claim 21, characterized in that the hip moment sensor consists of at least two strain gauges pairs ( 40 ) which are each arranged in the sagittal plane front and back of the lower leg of the prosthesis ( 2 ), and that the knee joint ( 4th ) is blocked. ( Fig. 18). 23. Thigh prosthesis according to one of claims 10 to 22, characterized in that the knee axis ( 5 ) as well as a first gear wheel ( 17 ) sit firmly on the upper knee joint connection ( 6 ), while the lower knee joint connection ( 7 ) is a transmission housing ( 18 ) forms, which forms the bearing for the knee axis ( 5 ) and includes gear, brake ( 11 ) and coding device ( 28 ). 24. Thigh prosthesis according to claim 23, characterized by a two-stage reduction gear ( 16 ) with a parallel knee axis ( 5 ), inter mediate shaft ( 20 ) and brake shaft ( 21 ) rotatably mounted in the gear housing ( 18 ) and each with a gear ( 17th ) are fitted, the intermediate shaft ( 20 ) also carrying an intermediate wheel ( 24 ) which meshes with the gear ( 23 ) of the brake shaft ( 21 ). ( Fig. 7-11). 25. Thigh prosthesis according to claim 23, characterized in that the knee axis ( 5 ) is simultaneously formed as Bremswel le and is rotatably mounted both in the upper and in the lower Ren knee joint connection ( 6 , 7 ) and rotatably carries a gear ( 30 ) meshes with a gear ( 31 ) of an intermediate shaft ( 32 ) which is in engagement via a second gear ( 33 ) with a gear ( 34 ) fixedly connected to the upper knee joint connection ( 6 ). ( Fig. 6). 26. Thigh prosthesis according to one of claims 10 to 25, characterized in that the knee joint gear ( 35 ) has at one end firmly connected to the upper knee joint connection ( 6 ) on the lever ( 36 ), with its free end on one a spindle ( 37 ) guided and the rotary drive representing rotating nut ( 38 ) which is displaceable on the spindle ( 37 ) which forms the brake shaft and with its lower end on the lower knee steering connection ( 7 ) is rotatably mounted. ( Figs. 15 and 16). 27. A femoral prosthesis according to one of claims 10 to 26, characterized in that the encoder (28) comprises an optical encoder as well as on a transmission shaft (21; 32; 37) fitting encoder disk (27). ( Figs. 11 and 14). 28. Thigh prosthesis according to one of claims 10 to 27, characterized in that the electronic hardware is composed of the digital control unit ( 19 ), its cabling with an energy source ( 42 ), the EMG and foot pressure sensors ( 8 , 9 ), the coding device ( 28 ) and the brake ( 11 ), and from an external, the setting and calibration system forming computer ( 43 ) for temporary data exchange, adaptation and calibration of the control unit ( 19 ). ( Fig. 21). 29. Thigh prosthesis according to one of claims 10 to 28, characterized in that the digital control unit ( 19 ) is arranged in a housing on the lower leg of the prosthesis ( 2 ). 30. Thigh prosthesis according to claim 28 or 29, characterized in that the external computer ( 43 ) has its own interfaces for the sensors and actuators with which it can be connected directly via parallel cables.