CN101296674B - 用于测量力和/或力矩的传感装置和这种传感装置的应用 - Google Patents
用于测量力和/或力矩的传感装置和这种传感装置的应用 Download PDFInfo
- Publication number
- CN101296674B CN101296674B CN2006800399636A CN200680039963A CN101296674B CN 101296674 B CN101296674 B CN 101296674B CN 2006800399636 A CN2006800399636 A CN 2006800399636A CN 200680039963 A CN200680039963 A CN 200680039963A CN 101296674 B CN101296674 B CN 101296674B
- Authority
- CN
- China
- Prior art keywords
- flange
- sensing device
- joint
- sensing
- described sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
- A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
- A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
- A61F2002/30331—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements made by longitudinally pushing a protrusion into a complementarily-shaped recess, e.g. held by friction fit
- A61F2002/30359—Pyramidally- or frustopyramidally-shaped protrusion and recess
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
- A61F2220/0033—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements made by longitudinally pushing a protrusion into a complementary-shaped recess, e.g. held by friction fit
Landscapes
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Prostheses (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
- Air Bags (AREA)
Abstract
Description
Claims (16)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005051495.2 | 2005-10-26 | ||
DE102005051495A DE102005051495A1 (de) | 2005-10-26 | 2005-10-26 | Sensoranordnung für die Messung von Kräften und/oder Momenten und Verwendung der Sensoranordnung |
PCT/DE2006/001791 WO2007048375A1 (de) | 2005-10-26 | 2006-10-12 | Sensoranordnung für die messung von kräften und/oder momenten und verwendung der sensoranordnung |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101296674A CN101296674A (zh) | 2008-10-29 |
CN101296674B true CN101296674B (zh) | 2011-09-21 |
Family
ID=37692571
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2006800399636A Expired - Fee Related CN101296674B (zh) | 2005-10-26 | 2006-10-12 | 用于测量力和/或力矩的传感装置和这种传感装置的应用 |
Country Status (11)
Country | Link |
---|---|
US (1) | US8464597B2 (zh) |
EP (1) | EP1940326B1 (zh) |
JP (1) | JP5173821B2 (zh) |
CN (1) | CN101296674B (zh) |
AT (1) | ATE474530T1 (zh) |
BR (1) | BRPI0617920A2 (zh) |
CA (1) | CA2627007A1 (zh) |
DE (2) | DE102005051495A1 (zh) |
RU (1) | RU2391944C2 (zh) |
TW (1) | TWI360409B (zh) |
WO (1) | WO2007048375A1 (zh) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005051496A1 (de) * | 2005-10-26 | 2007-05-10 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Verfahren zur Durchführung einer Funktionsanalyse an einer künstlichen Extremität |
DE102005051646A1 (de) * | 2005-10-26 | 2007-05-10 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Verfahren zur Überprüfung der Einstellung eines Prothesenkniegelenks |
EP2067010B1 (en) * | 2006-09-11 | 2017-08-30 | Orthocare Innovations LLC | Prosthesis, especially lower-limb prosthesis with alignment system using force and moment transducer |
DE102008010281B4 (de) | 2008-02-21 | 2011-07-14 | Otto Bock Healthcare Products Gmbh | Sensoreinrichtung |
EP2339996B1 (en) | 2008-07-11 | 2013-01-16 | Orthocare Innovations LLC | Robotic prosthesis alignment device and alignment surrogate device |
US8425620B2 (en) * | 2009-12-08 | 2013-04-23 | Hdt Engineering Services, Inc. | Modular limb segment connector |
JP5719521B2 (ja) * | 2010-03-30 | 2015-05-20 | ミネベア株式会社 | 3軸力センサ |
WO2012006462A1 (en) * | 2010-07-07 | 2012-01-12 | össur hf | Ground contact sensing systems and methods for lower-limb orthotic and prosthetic devices |
US9321172B2 (en) | 2011-05-13 | 2016-04-26 | Hdt Expeditionary Systems, Inc. | Modular rotational electric actuator |
US9498883B2 (en) | 2011-12-15 | 2016-11-22 | Korea Institute Of Ocean Science & Technology | Multi-joint underwater robot having complex movement functions of walking and swimming and underwater exploration system using same |
DE102012009507A1 (de) | 2012-05-14 | 2013-11-14 | Otto Bock Healthcare Gmbh | Vorrichtung und Verfahren zur Bestimmung von Fehlstellungen im Aufbau von Prothesen |
JP5812552B2 (ja) * | 2012-08-30 | 2015-11-17 | ナブテスコ株式会社 | 荷重およびモーメントの検知装置、ならびにその検知装置を含む義肢 |
WO2014164207A1 (en) | 2013-03-12 | 2014-10-09 | Stryker Corporation | Sensor assembly and method for measuring forces and torques |
CN103364115B (zh) * | 2013-07-02 | 2015-03-25 | 中国矿业大学 | 一种拉力与扭矩复合型测量装置 |
JP6372213B2 (ja) * | 2014-07-15 | 2018-08-15 | Smc株式会社 | アクチュエータのガイドユニット |
EP3597376A1 (de) * | 2018-07-17 | 2020-01-22 | Baumer Electric AG | Greifsystem |
JP7206546B2 (ja) | 2019-04-19 | 2023-01-18 | トヨタホーム株式会社 | 手摺付き台座 |
WO2021040998A1 (en) * | 2019-08-30 | 2021-03-04 | Össur Iceland Ehf | Ground contact sensor array for lower-limb prosthetic and orthotic devices |
CN112611497B (zh) * | 2019-09-18 | 2022-01-28 | 马洪文 | 并联杆系多维力传感器结构 |
RU2715400C1 (ru) * | 2019-11-25 | 2020-02-27 | Ассистирующие Хирургические Технологии (Аст), Лтд | Тензоплатформа для роботохирургического комплекса |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4640138A (en) * | 1985-03-06 | 1987-02-03 | Mts Systems Corporation | Multiple axis load sensitive transducer |
DE3701372A1 (de) * | 1987-01-19 | 1988-07-28 | Bayerische Motoren Werke Ag | Flaechenfoermiger kraftaufnehmer |
DE10013059A1 (de) * | 2000-03-19 | 2001-09-27 | Deutsch Zentr Luft & Raumfahrt | Kraft-Momenten-Sensor |
DE10139333A1 (de) * | 2001-08-10 | 2003-03-06 | Biedermann Motech Gmbh | Sensoreinrichtung, insbesondere für eine Prothese und Prothese mit einer solchen Sensoreinrichtung |
EP1559384A1 (de) * | 2004-01-29 | 2005-08-03 | Otto Bock HealthCare GmbH | Drehmomentsensor für eine Prothese |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4488441A (en) * | 1983-04-15 | 1984-12-18 | Jr3, Inc. | Apparatus for simultaneous measurement of mutually perpendicular forces and moments |
US4849730A (en) * | 1986-02-14 | 1989-07-18 | Ricoh Company, Ltd. | Force detecting device |
JPH0668460B2 (ja) * | 1987-08-17 | 1994-08-31 | ジェイアールスリー インコーポレイティッド | 力―モーメント・センサー・ユニット |
EP0575634B1 (de) * | 1992-05-25 | 1996-10-09 | Hottinger Baldwin Messtechnik Gmbh | Drehmomentsensor |
JP3175034B2 (ja) * | 1993-05-22 | 2001-06-11 | 株式会社共和電業 | 起歪体構造物およびこの起歪体構造物を用いた多軸力検出センサ |
DE4412377A1 (de) * | 1994-04-13 | 1995-10-19 | Hottinger Messtechnik Baldwin | Aufnehmer zum Messen von Belastungen |
JP2722171B2 (ja) * | 1994-05-20 | 1998-03-04 | 財団法人日本自動車研究所 | 歩行者の脚部保護試験に用いるダミー脚部用センサー |
US5490427A (en) * | 1994-10-17 | 1996-02-13 | Fanuc Usa Corporation | Six axis force sensor employing multiple shear strain gages |
JPH1123392A (ja) * | 1997-06-30 | 1999-01-29 | Toyota Central Res & Dev Lab Inc | ステアリングホイール用3軸荷重計測装置 |
US6105438A (en) * | 1998-09-11 | 2000-08-22 | The United States Of America As Represented By The Secretary Of The Navy | Reconfigurable multiple component load measuring device |
EP1133682B1 (en) * | 1998-10-30 | 2004-03-17 | Vernon A. Lambson | Method and apparatus for measuring torque |
JP4192084B2 (ja) * | 2003-06-17 | 2008-12-03 | ニッタ株式会社 | 多軸センサ |
-
2005
- 2005-10-26 DE DE102005051495A patent/DE102005051495A1/de not_active Withdrawn
-
2006
- 2006-10-12 WO PCT/DE2006/001791 patent/WO2007048375A1/de active Application Filing
- 2006-10-12 DE DE502006007498T patent/DE502006007498D1/de active Active
- 2006-10-12 CA CA002627007A patent/CA2627007A1/en not_active Abandoned
- 2006-10-12 RU RU2008120595/14A patent/RU2391944C2/ru not_active IP Right Cessation
- 2006-10-12 CN CN2006800399636A patent/CN101296674B/zh not_active Expired - Fee Related
- 2006-10-12 BR BRPI0617920-7A patent/BRPI0617920A2/pt not_active IP Right Cessation
- 2006-10-12 EP EP06805408A patent/EP1940326B1/de not_active Not-in-force
- 2006-10-12 US US12/091,854 patent/US8464597B2/en not_active Expired - Fee Related
- 2006-10-12 JP JP2008536921A patent/JP5173821B2/ja not_active Expired - Fee Related
- 2006-10-12 AT AT06805408T patent/ATE474530T1/de active
- 2006-10-13 TW TW095137649A patent/TWI360409B/zh not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4640138A (en) * | 1985-03-06 | 1987-02-03 | Mts Systems Corporation | Multiple axis load sensitive transducer |
DE3701372A1 (de) * | 1987-01-19 | 1988-07-28 | Bayerische Motoren Werke Ag | Flaechenfoermiger kraftaufnehmer |
DE10013059A1 (de) * | 2000-03-19 | 2001-09-27 | Deutsch Zentr Luft & Raumfahrt | Kraft-Momenten-Sensor |
DE10139333A1 (de) * | 2001-08-10 | 2003-03-06 | Biedermann Motech Gmbh | Sensoreinrichtung, insbesondere für eine Prothese und Prothese mit einer solchen Sensoreinrichtung |
EP1559384A1 (de) * | 2004-01-29 | 2005-08-03 | Otto Bock HealthCare GmbH | Drehmomentsensor für eine Prothese |
Also Published As
Publication number | Publication date |
---|---|
BRPI0617920A2 (pt) | 2011-08-09 |
TW200731958A (en) | 2007-09-01 |
CN101296674A (zh) | 2008-10-29 |
JP2009513955A (ja) | 2009-04-02 |
JP5173821B2 (ja) | 2013-04-03 |
US8464597B2 (en) | 2013-06-18 |
US20080276725A1 (en) | 2008-11-13 |
RU2008120595A (ru) | 2009-12-10 |
DE502006007498D1 (de) | 2010-09-02 |
EP1940326A1 (de) | 2008-07-09 |
RU2391944C2 (ru) | 2010-06-20 |
ATE474530T1 (de) | 2010-08-15 |
TWI360409B (en) | 2012-03-21 |
EP1940326B1 (de) | 2010-07-21 |
DE102005051495A1 (de) | 2007-05-03 |
WO2007048375A1 (de) | 2007-05-03 |
CA2627007A1 (en) | 2007-05-03 |
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PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: OTTO BOKE HEALTH CARE CO., LTD. Free format text: FORMER OWNER: OTTO BOKE HEALTH CARE IP LIMITED PARTNERSHIP Effective date: 20090814 |
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C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20090814 Address after: German Duderstadt Applicant after: Otto Bock Gesundheitsschutz GmbH Address before: German Duderstadt Applicant before: Bock Orthopaed IP Co. KG |
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Granted publication date: 20110921 Termination date: 20171012 |