DE19521464C2 - 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 knee brake se one a stump bed with a prosthesis lower part with attached closed prosthetic foot connecting knee joint, the computer-controlled braking torque depending on the walking movement the prosthesis wearer continuously between "free" and "blocked" is changeable, and the walking movement by im Butt bed measured EMG values, pressure measured in the foot area values, through the respective knee angle as well as the respective, two between the stump bed and the lower leg of the prosthesis speed in the form of electrical signals (hereinafter "Meßda ten ") 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 prosthetic lower leg, to which a prosthetic foot is attached is closed;
• - 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 changing between "free" and "blocked" applicable braking torque applies;
• - A knee joint transmission to transfer the braking torque 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 are arranged and emit signals to the control unit;
• - A measuring device that the respective knee angle and the respective angular velocity between the upper and lower dentures - Measures lower leg and in the form of electrical signals to the Control unit delivers.

EP 0 549 855 A2 discloses a knee brake control in which a hydraulic damper reduces the angular velocity in the knee steering controls. A microprocessor determines from a load measurement and a knee angle measurement the usual gait pattern and applies a motor to different gear transition points, which in turn is a valve provided in the hydraulic damper direction adjusted. This embodiment enables the prothe wearer the use of the prosthesis in different gaits including climbing stairs and sitting down.

DE 39 09 672 C2 discloses a swing phase controlled upper prosthetic thigh with a shaft, with a shaft articulated via a knee joint shaft and by one Printing cylinder is acted on. The impression cylinder is over a Valve controlled, its degree of opening by a regulation direction depending on several during walking attempts selected walking speeds. Is provided  an operating mode selector for selecting various public degrees for several different walking speeds in a teaching program input company as well as for a playbackbe drifted. A degree of opening is also provided Detection device, one of the degrees of opening of the operating mode Dialer storing device, a swing and Steady-state detecting device, a go speed determining device which is the actual Walking speed due to the respective periods of time the phase determination device detected swing and stance phase sen determined, as well as a control device that actually determined by the walking speed determining device Walking speed with the corresponding stored opening degrees of the operating mode selector and the Valve opening degree. Only that is controlled Swing phase. A knee angle sensor is used as sensors and stretch limit switches. The duration of the stance phase is as Parameter used to control the damping coefficient in the swing phase.

French patent application 26 23 086 A1 also discloses a pneumatic knee actuator. As sensors who uses either foot contact sensors or load measurement in combination with a stretch limit switch. The control releases an automatic knee lock during the stance phase and adjusts the damping coefficient during the oscillation phase the gait cycle duration.

US-A-5,062,857 discloses a method for automatic Blocking of a hydraulic knee brake depending on myo electrical measurement signals. Process this known method only EMG signals and only give the choice between two values: complete blockage or release of the knees brake. The control only reacts in dangerous situations (the prosthesis wearer loses balance or he stoles  pert); a control of the knee brake during normal walking is neither intended nor possible.

The essay HORN, G. W .: Electro-Control: on EMG-Controlled A / K Prosthesis (Med. & Biol. Engn, Vol. 10, 1972, pages 61 to 73) also discloses only a knee brake control between the positions gene "blocked" and "free" depending on only egg an EMG signal. Only a joint block is provided in the bent position, but not in the extended position. Is revealed moreover, only a mechanical blocking that no con allows continuous, controlled braking.

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

Based on the method described in the introduction, this object is achieved according to the invention by the following features:

• a) Determination of the respective gait from a number given bener gangar previously determined for this prosthesis wearer ten such. B. Walking on a flat surface, stairs climb, descent of stairs, walking on an ascending or sloping surface, movements at a standstill, through Evaluation of at least some of the respectively transmitted Measurement data;
• b) Selection of the tax assigned to this determined gait programs;
• c) one is defined as a time period for each control program te step period between two successive Fer sen / ground contacts divided into several phases, the respective end point specified by this phase, respectively transmitted measurement data is determined;  
• d) during each phase, the exact, continuously from the selected control program for this phase cut the braking value resulting from the current gait calculated, which is then applied to the knee brake.

Furthermore, it can be expedient if additional measurement data are obtained are measured from the moons attacking the knee and hip ment.

According to the invention, one proceeds from a step period which is defi is defined as the time interval between two heels / floor cones clock. This step period is plotted on a time axis gene and then into a certain number of step phases divides, with a transition between two phases Change from one phase to another is provided. Each Phase thus represents a partial time step period, with a controlled knee movement during the phase supply takes place. Each phase 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 to change, with each gait a special tax pro gram is assigned. But it can be determined that a Change from the control program to the gait just used the control program of a different gait only at a previous one selected special phase of the step period of the just be used or the new gait 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. It is useful if the reference measurement data from the for each Gait measured EMG data can be determined.  

According to the invention, it is advantageous if for each of the given a gait for each scanned hip joint muscle over one Crotch period a curve showing the muscle activity is posed. In practice, this curve can e.g. B. by thirty Measured values are created. When comparing the actual measurement data with however, the reference values cannot be determined easily, with which one of the thirty measured values mentioned, for example Muscle activity curve compared to the actual value just determined must become. So there must be an assignment within the step period. However, this step period is for different Gait different and can even within the same Gait vary. But since the actual measurement data in real time, so are transmitted over a certain period of time, the Refe but reference data for a given period of time and thus usual usually in percentages based on the step period but not a comparison of real time with percentages is possible, the actual step period must be in its "time length "of the reference step period. This will as follows:

After you have abge for each of the specified gaits palpated the hip muscles over a stride period created activity curve, then the EMG measurement data defining this curve by equidistant linea re interpolation to a certain number of EMG reference values reduced, which then define the EMG reference curve. The first and the last EMG reference value then corresponds to the EMG measurement data on heel / ground contact. To compare a specific one Number of actual EMG measurement data with matching reference EMG measurement data is the respective point in time within the step period determined and in advance by calculating the time of the end point tes of the respective phase. It then becomes the actual measurement data EMG reference values of the EMG reference curve selected. It has proven to be useful Proven, not all EMG data of the complete step period  to use, but only EMG data from a certain Ab cut the stride 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 / floor contact:
  rising edge of the heel pressure, determined by means of a threshold value;
• 2. Beginning of the stance phase:
  rising edge of the knee angle, determined by means of a threshold value;
• 3rd foot flat:
  Metatarsal head I - pressure becomes greater than the remote pressure;
• 4. Maximum at metatarsal head I:
  Metatarsal head I - pressure becomes maximum;
• 5. Diffraction swing phase:
  rising edge of the knee angle, determined by means of a threshold value;
• 6. Maximum diffraction swing phase:
  Knee angle becomes maximum;
• 7. Stretch swing phase:
  falling flank of the knee angle, determined by means of a threshold value;
• 8. full extension:
  Knee angle becomes minimal or negative (hyperex tension).

These gait fixed points are spread over a step period and divide the stride period into those explained above  Phases.

The "online" gear time base determines the gear time of the momenta before the current stride period ends is. And this is done according to the invention by precalculating 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 the fact that when changing gait also Control of the knee brake is changed and that under Adaptation of a stored reference pattern.

The object on which the invention is based is achieved on the basis of the thigh prosthesis described at the outset by the following features:

• a) at least two foot pressure sensors are open at the bottom Recesses arranged in the sole of the foot and in the heel area as well as in the head area of a metatarsal bone;
• 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 by the brake flowing current and thus the braking torque be Right;
• 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 used. In addition, sensors can be used to measure the knee torque and / or the hip moment can be provided.  

The knee brake is preferably operated at a constant frequency, e.g. B. 100 Hz. Basically, all measuring fully process data at any time; in practice but only selected measurement data for each calculation responses. In any case, all measurement data from egg stored on a computer for a certain time (e.g. via 2.5 sec.), So not immediately destroyed.

According to the invention, three alternatives are used for the knee joint transmission tives suggested.

According to the invention, it is fundamentally possible to Electrodes to identify the gait, the gait phase inside half a step period and the transitions between gait and - to use phases, even if only to control the im Pressure range and / or the knee angle measurement gene.

According to the invention, a control method is preferred in which the EMG values measured in the stump bed in connection with the in the Pressure range and the respective knee angles are fed as information into the microprocessor for Identification of the gait and phases and the transitions between you. In each of the gait phases, the combination of the Pressure range measured with the measured knee angle used as control parameters for the feedback control algorithm. A closed knee impact device comprises a gearbox and a magnetic particle brake, which provide a direct, continuous control of the knee braking torque both in the Enable stance phase as well as in the swing phase. The station wagon Nation of these three feature complexes leads to a two-layer tax system: the first layer contains the identification gait and phase as well as the selection of the gait spec fishing control algorithm while defining the second layer is through the direct control of the knee braking torque under Ver  the appropriate algorithm.

As a result, the prosthesis automatically adapts to the Gait and phase of the prosthesis wearer. An essential one The advantage of the thigh prosthesis designed according to the invention is to be seen in the fact that an adaptation to the respective prosthesis only in the software, but not in the hardwa re must be done. This considerably simplifies adaptation.

Further features of the invention are the subject of the dependent claims che and are combined with other advantages of the Erfin tion explained using several exemplary embodiments.

In the drawing, some are exemplary embodiments Shown forms of the invention. Show it:

Fig. 1 shows a schematic representation of a thigh pro thesis;

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 shows the Fußdrucksensor of FIG 5 in a bottom view.

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

Fig. 8, the knee joint view of FIG 7 in the lateral front.

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;

Fig. 15 is a diagrammatic representation of a third embodiment 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 knee angle;

Fig. 18 shows a schematic representation of a thigh prosthesis whose 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 phase diagram;

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 Steuerein 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, a lower leg prosthesis 2 , to which a prosthetic foot 3 is connected, and a knee joint 4 , which is connected to a knee axis se 5 connects an upper knee joint connection 6 for the stump bed 1 in an articulated manner to a lower knee joint connection 7 for the lower leg of the prosthesis 2 . EMG sensors 8 are indicated in the stump bed 1 and foot pressure sensors 9 are indicated in the underside of the prosthetic foot 3 . A knee angle sensor 10 and a brake 11 are shown schematically on the knee joint 4 . To control this brake 11 are also used only 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 prosthesis lower leg 2 . 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, the muscle is associated with one pressurize the hip joint namely, the rectus femoris muscle, 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 of the EMG sensors 8 are laid 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 metatar sale, the third in the head area of an os metatarsale 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 prosthesis foot tread.

A knee joint transmission is provided to amplify the braking force acting on the knee joint. FIGS. 7 to 11 zei gene, 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 the actual transmission, which includes the brake 11 and a coding device, the knee angle sensor 10 measures the respective knee angle and also the respective angular velocity between the upper and lower leg of the prosthesis and emits it in the form of electrical signals to a control unit 19 (see FIG. 21).

The brake 11, which is not shown in detail in the drawing, is a magnetic powder brake which is actuated 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 gear 16 is a two-stage reduction gear par allel to each other arranged knee axis 5, the intermediate shaft 20 and braking shaft 21 are rotatably supported in the gear housing 18 and respectively fitted with a gear 17, 22, 23, the intermediate shaft 20 still 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 fe derelastic Vorbringer 26 , while in Fig. 9 a seated on the brake shaft 21 knee angle encoder disc 27 is indicated, which is the above-mentioned, in Fig. 11 indicated measuring device 28 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 gear 30 , which meshes with a gear 31 of an intermediate shaft 32 , which is engaged via a second gear 33 with a fixed to the obe ren knee joint 6 gear 34th

Otherwise, the same reference numerals have been provided with the first knee joint transmission 16 via matching components.

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 prosthesis lower leg 2 and the result is α thereof to the knee angle.

Fig. 18 shows in a schematic representation that the prosthesis lower leg 2 is equipped with two pairs of strain gauges 40 , wherein - seen in the sagittal plane - one strain gauge of each pair of strain gauges 40 is arranged at the front and the other at the rear on the lower leg of the prosthesis 2 . It is a sensor for measuring knee torque. 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 borne up via 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 BR is obtained in the “height” of the knee axis 5 and, for 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 of the prosthesis 2 .

In the diagram shown in FIG. 19, the respectively measured foot pressure in percent or the respectively measured knee angle α in angular degrees are plotted 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 metatarsal I are shown. The curve Kα is also entered for the respective knee angle.

The step period shown in the diagram is the time span between two successive heel / floor contacts of the prosthetic foot 3 . According to the invention, this step period is subdivided into several phases (eight phases in the example shown), the respective end point of which is determined by measurement data predetermined for this phase. Each phase be determined, possibly changing braking values associated with this phase, with which the knee brake 11 is applied.

In the lower representation of the. Fig. 19 show the three right lying on the dashed line phases 1 to 3, the posture phase, which is indicative Neten left of the dashed line phases 4 to 8, 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 a flat surface. 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 predetermined threshold values or fixed points that define the end point of a phase and are determined in each case by measurement data transmitted by sensors.

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

Referring to FIG. 22, the control unit 19 comprises a microcontroller construction on which at least one comprises a microcontroller 45 of 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 measuring device 28 and the foot pressure sensors 9 and the slave controller 47 connected to the master controller 46 in direct data exchange with 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 (29)

1. Method for controlling the knee brake ( 11 ) of a stump bed ( 1 ) with a prosthesis lower part ( 2 ) with a connected prosthesis foot ( 3 ) connecting knee joint ( 4 ), the computer-controlled braking torque depending on the walking movement of the prosthesis wearer continuously between "free""and" blocked "is changeable, 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 stump bed ( 1 ) and prosthesis lower leg in the form of electrical signals nale (hereinafter "measurement data") is characterized by the following features:

• a) Determination of the respective gait from a number of predetermined, previously determined for this prosthesis wearer gaits, such as. B. Walking on a level surface, climbing stairs, descending stairs, walking on a rising or sloping surface, movements at a standstill, by evaluating at least some of the measurement data transmitted;
• 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 / ground contacts is divided into several phases, the respective end point of which is determined by measurement data that are predetermined for this phase and transmitted;
• d) during each phase, the exact braking value resulting from the selected control program for this phase section of the current gait is calculated, which is then applied to the knee brake.

2. The method according to claim 1, characterized in that to Additional measurement data are determined from the on the knee as well moments attacking the hip. 3. The method according to claim 2, characterized in that the given gaits with the help of the different from the measurement of the knee and hip measurement data resulting moments. 4. The method according to any one of the preceding claims, characterized characterized that the determination of the respective gait by comparing the transmitted actual measurement data with that for Each gait is given reference measurement data. 5. The method according to claim 4, characterized in that the Reference measurement data from the measured for each individual gait its EMG data can be determined.   6. The method according to claim 5, characterized in that for each of the given gaits for each sampled Hip joint muscle over a stride period activity-reproducing curve is created that then the EMG measurement data defining this curve by equidistante linear interpolation to a certain number of EMG Refe limit values are reduced, which then the EMG reference curve define, and that to compare a certain number Actual EMG measurement data with matching reference EMG measurement data the respective point in time within the step period is determined by predicting the time of the end point tes of the respective phase, then to the actual measurement data the EMG reference closest to them in the running time values of the EMG reference curve are selected. 7. The method according to any one of the preceding claims, characterized characterized in that a change from the control program of the just used gait to control another's program gait only with a previously selected special Phase of the step period of the currently used or the new gait is made. 8. The method according to any one of the preceding claims, characterized characterized in that all measurement data are saved at short notice become. 9. Thigh prosthesis, with

• 1. a stump bed ( 1 ) which is designed for connection to a thigh stump of the prosthesis wearer;
• 2. a prosthetic lower leg ( 2 ) to which a Prothe senfuß ( 3 ) is connected;
• 3. 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 to a lower knee joint connection ( 7 ) for the prosthetic lower leg ( 2 );
• 4. a computer-controlled brake ( 11 ), which applies a continuously variable braking torque between "free" and "blocked" to a brake shaft ( 21 ; 5 ; 37 );
• 5. a knee joint transmission ( 16 ; 29 ; 35 ) for transmitting the braking torque from the brake shaft ( 21 ; 5 ; 37 ) to the knee axis ( 5 );
• 6. a control unit ( 19 ) which acts on the brake ( 11 ) via a control algorithm depending on the movement of the prosthesis wearer Gehbe;
• 7. EMG sensors ( 8 ) which are arranged in the stump bed ( 1 ) for abutment on certain thigh muscles and emit signals to the control unit ( 19 );
• 8. foot pressure sensors ( 9 ) which are arranged in the tread of the prosthesis foot ( 3 ) and emit signals to the control unit ( 19 );
• 9. a measuring 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 metatarsale;
  • 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) an adjustment and calibration system for adapting the control algorithm acting on the brake ( 11 ) to the gear of the prosthesis wearer.

10. Thigh prosthesis according to claim 9, characterized by a third foot pressure sensor ( 9 ) in the region of an os meta tarsale and a fourth foot pressure sensor ( 9 ) in the toe region. 11. Thigh prosthesis according to claim 9 or 10, characterized in that in the inner wall of the stump bed ( 1 ) at least two EMG sensors ( 8 ) are fixed, the electrical connections are laid outside on the stump bed ( 1 ). 12. Thigh prosthesis according to claim 11, characterized in that the two EMG sensors ( 8 ) are assigned to the muscles rectus femo ris and hamstrings. 13. thigh prosthesis according to claim 11 or 12, marked net by a third, the adductor longus associated EMG sensor ( 8 ). 14. Thigh prosthesis according to claim 11, 12 or 13, characterized characterized in that the EMG sensors are spring-loaded sets are. 15. Thigh prosthesis according to one of claims 9 to 14, 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) 16. Thigh prosthesis according to one of claims 9 to 15, characterized in that each foot pressure sensor ( 9 ) is supported against a metal insert ( 14 ) which is inserted into a recess ( 15 ) which is around the foot pressure sensor ( 9 ) the material of the prosthetic foot tread is filled. ( Figs. 5 and 6) 17. Thigh prosthesis according to one of claims 9 to 16, 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. 18. Thigh prosthesis according to one of claims 9 to 17, ge characterized by a sensor for measuring the knee torque tes. 19 thigh prosthesis according to claim 9, characterized in that the knee moment sensor consists of at least two strain gauges pairs ( 40 ) which are arranged in the sagittal plane in each case front and rear of the lower leg of the prosthesis ( 2 ). ( Fig. 18) 20. Thigh prosthesis according to one of claims 9 to 19, characterized by a sensor for measuring the hip mo mentes. 21 thigh prosthesis according to claim 20, characterized in that the hip moment sensor consists of at least two strain gauges pairs ( 40 ) which are arranged in the sagittal plane in each case front and rear of the lower leg of the prosthesis ( 2 ), and that the knee joint ( 4 ) is blocked. ( Fig. 18) 22. Thigh prosthesis according to one of claims 9 to 21, characterized in that the knee axis ( 5 ) and a st transmission gear ( 17 ) he sit firmly on the upper knee joint connection ( 6 ), while the lower knee joint connection ( 7 ) as a gear housing ( 18 ) is formed, which forms the bearing for the knee axis ( 5 ) and includes gear, brake ( 11 ) and Ko diergerät ( 28 ). 23 thigh prosthesis according to claim 22, characterized by a two-stage reduction gear ( 16 ) with a parallel knee axis ( 5 ), intermediate shaft ( 20 ) and brake shaft ( 21 ) which are rotatably mounted in the gear housing ( 18 ) and each with a gear ( 17 ) 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) 24. Thigh prosthesis according to claim 22, characterized in that the knee axis ( 5 ) is simultaneously designed as a brake shaft and is rotatably mounted both in the upper and in the lower knee joint connection ( 6 , 7 ) and rotatably carries a gear ( 30 ) with a Gear ( 31 ) meshes 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) 25. Thigh prosthesis according to one of claims 9 to 24, characterized in that the knee joint gear ( 35 ) has a fixed at one end to the upper knee joint connection ( 6 ) connected lever ( 36 ), which 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) 26. Femoral prosthesis according to one of claims 9 to 25, characterized in that the measuring device ( 28 ) comprises an optical encoder and a coding disk ( 27 ) seated on a gear shaft ( 21 ; 32 ; 37 ). ( Figs. 11 and 14) 27. Thigh prosthesis according to one of claims 9 to 26, 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 Measuring device ( 28 ) and the brake ( 11 ), and from a connection for an external, the setting and calibration system forming computer ( 43 ) for temporary data exchange, adaptation and calibration of the control unit ( 19 ). ( Fig. 21) 28. Thigh prosthesis according to one of claims 9 to 27, characterized in that the digital control unit ( 19 ) is arranged in a housing on the lower leg of the prosthesis ( 2 ). 29 thigh prosthesis according to claim 27 or 28, characterized in that said connection for the external computer ( 43 ) via parallel cable with interfaces for the sensors and actuators can be connected.