CN101569568B - 脚假肢或脚矫正器形式的被动式矫形辅助装置 - Google Patents
脚假肢或脚矫正器形式的被动式矫形辅助装置 Download PDFInfo
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Abstract
被动式矫形辅助装置包括:通过转动铰链与第二件连接的第一件;测量允许推断辅助装置的瞬态使用要求的参数的传感器装置;与控制装置连接的控制器,用于确定使用要求和生成相应的控制信号;可改变作用于第一件与第二件之间的转动运动阻力的液压阻尼装置;和对处理器装置的控制信号进行转换以控制阻尼装置的控制器。阻尼装置是双作用的液压缸,其具有两个通过活塞分开的液压腔;液压腔通过两个允许液压液体仅在相反方向流动的连接管路连接,连接管路的流动阻力通过控制器单独地分别借助于自己的调节装置来调节;处理器装置被构造用于由传感器装置所测量的参数确定当前零点位置;用于两个连接管路中的流动阻力的控制信号的生成参照零点位置进行。
Description
技术领域
本发明涉及一种被动式矫形辅助装置,呈脚假肢或脚矫正器的形式,该被动式矫形辅助装置包括:一个第一件,该第一件可转动地通过转动铰链与一个第二件相连接;一个传感器装置,用于测量一些允许推断该辅助装置的瞬态使用要求的参数;一个处理器装置,用于确定使用要求和生成相应的控制信号;一个可控制的液压的阻尼装置,通过该液压的阻尼装置可改变作用于该第一件与该第二件之间的转动运动的运动阻力;以及一个对该处理器装置的控制信号进行转换的控制器,用于控制该阻尼装置。
背景技术
这种矫形辅助装置尤其是作为脚假肢已经公知。转动铰链通常是一个使用于小腿假肢的连接件与脚件相连接的踝关节。
在由US 2005/0197717 A1公知的脚假肢中,脚件具有一个在脚件的长度上延伸的弹性的脚掌弹簧。在行走周期的站立时相中通过脚掌弹簧的弹性产生的阻尼在此通过主动地调节脚件相对于用于小腿的连接件的角度来补充。由此可实现适配于倾斜的地面或所穿戴的鞋的变化的后跟高度,其中,为了改变后跟高度而提出相应地手动输入到控制器中。所使用的执行器优选是一个双作用的电机,尤其是呈双螺杆电机的形式。使用双作用的执行器导致用于假肢功能的能量需求显著,由此必须提出或者使用体积大的、具有高储存容量的蓄电池,或者对蓄电池频繁补充充电。
已由US 6,443,993 B1或US 2002/0138153 A1公知了一种开头所述类型的被动式脚假肢。在脚件与用于小腿的接装件之间在踝关节的前面和后面各设置有一个阻尼缸,这些阻尼缸以串联布置形式起作用并且通过一个公共的连接管路彼此相连接。当脚后跟承受负荷时,后面的缸压缩,由此,液压液体通过连接管路到达前面的缸中。液压液体流过连接管路的速度以及由此脚后跟上的相应压缩运动的阻尼这样来调节:作为液压液体使用磁流变液体并且通过一个线圈建立改变磁流变液体粘度的相应磁场。作为传感器在此使用绝对倾斜度传感器和地面接触传感器。在此提出,例如当通过倾斜度传感器确定超过铅垂线时增大行走周期的站立时相中的阻尼,尤其是从第一阻尼水平转换到第二阻尼水平。由此,假肢可在一定程度上适配于地面坡度和不同的后跟高度。
由现有技术得出的问题在于,被动式脚假肢或脚矫正器的控制器虽然可以进行单独适配,但是相对于健康的真脚的动作仍然具有明显的缺陷。
发明内容
因此,本发明的任务在于,通过脚假肢或脚矫正器形式的被动式矫形辅助装置更好地适配于真脚的动作。
根据本发明,提出了一种被动式矫形辅助装置,呈脚假肢或脚矫正器的形式,该被动式矫形辅助装置包括:一个第一件,该第一件可转动地通过转动铰链与一个第二件相连接;一个传感器装置,用于测量一些允许推断该辅助装置的瞬态使用要求的参数;一个与传感器装置相连接的处理器装置,用于确定使用要求和生成相应的控制信号;一个可控制的液压的阻尼装置,通过该液压的阻尼装置可改变作用于第一件与第二件之间的转动运动的运动阻力;以及一个对处理器装置的控制信号进行转换的控制器,用于控制阻尼装置,其中,阻尼装置是一个双作用的液压缸,该液压缸具有两个通过活塞彼此分开的液压腔;液压腔通过两个允许液压液体仅在相反方向上流动的连接管路相连接,这些连接管路的流动阻力可通过控制器单独地分别借助于一个自己的调节装置来调节;处理器装置被构造用于由传感器装置的所测量的参数确定当前的零点位置;用于这两个连接管路中的流动阻力的控制信号的生成参照零点位置进行。
根据本发明,为了解决该任务,开头所述类型的、脚假肢或脚矫正器形式的被动式矫形辅助装置的特征在于:阻尼装置是一个双作用的液压缸,该液压缸具有两个通过活塞彼此分开的液压腔,液压腔通过两个允许液压液体仅在相反方向上流动的连接管路相连接,这些连接管路的流动阻力可通过控制器单独地分别借助于一个自己的调节装置来调节,处理器装置被构造用于由传感器装置的所测量的参数确定当前的零点位置,用于至少一个连接管路中的流动阻力的控制信号的调节从零点位置出发来进行。
根据本发明的脚假肢或脚矫正器由此具有一个双作用的液压缸,该液压缸的同步地彼此相对变化的液压腔通过两个连接管路彼此相连接,其中,两个连接管路设置有自己的用于调节其流动阻力的调节装置。调节装置在此尤其可以是可控制的阀,这些阀的通流横截面可以优选无级地变化。该布置提供可能性:在一个行走周期期间迅速且精确地实现用于液压液体在一个方向上以及在另一个方向上流动的不同的流动阻力。此外,使用自己的调节装置可用于保证脚件在一个方向上以及在另一个方向上的运动稳定过渡。因此例如对于踝关节的控制可在重量负荷从脚后跟过渡到脚尖上时实现从跖屈受控制地过渡到背屈,但另一方面,当从行走周期的站立时相过渡到摆动时相时脚尖解除负荷时在一定时间上保持已形成的背屈,以便如用健康的真脚所进行的那样在摆动时相开始时保持脚尖抬起,直至腿摆过中间位置,由此避免在摆过时脚趾尖碰到地面。
根据本发明应对传感器装置和处理器装置这样进行设计,使得可相应确定一个当前的零点位置。当转动铰链执行踝关节的功能时,适用于此的处理器装置例如由一个踝力矩传感器和一个倾斜度或绝对角度传感器构成。作为其补充优选可设置一个踝角度传感器。当前的向背侧的止挡的确定在此可通过在行走周期的站立时相中测定踝力矩过零点时的绝对角度来实现。由此可在每一个行走周期中无时间延迟地对当前的地面倾斜度或对应的后跟高度予以考虑。因为在此后跟高度和地面倾斜度以相同方式对所测量的信号有影响,所以符合目的的是,通过行走周期的站立时相中的或站立时的信号进行相应的分析处理来求得后跟高度的恒定影响。作为对此的替换方案,后跟高度也可手动地输入到分析处理装置中。
在本发明的一个优选实施形式中,两个连接管路中的流动阻力可调节得这样大,使得转动铰链可在任意位置中锁止。因此可使用调节装置来锁止转动铰链,由此,例如为了在矫形辅助装置穿戴者站立时保证被假肢或矫正器稳定支撑,不需要分开的锁止装置。锁止位置在此可相应于所测定的零点位置。
在本发明的一个特别优选实施形式中,辅助装置的这些件在很大程度上构造成刚性的。一个运动周期内的运动过程的至少一个主要部分的控制在无材料弹性的影响的情况下通过流动阻力的控制来进行。必要时符合目的的可以是,在行走时当脚后跟落到地面时对一定的材料弹性予以利用。
由此,通过根据本发明的矫形辅助装置确定转动运动的零点位置,从该零点位置起在一个周期性的运动过程中确定用于转动铰链的、尤其是踝关节的第一运动方向和第二运动方向的运动阻力。对于确定的使用要求,例如当站立时,通过在两个运动方向上调节出高的运动阻力锁止转动铰链,优选在零点中锁止。运动周期在此优选是一个行走周期。
在本发明的另一个优选实施形式中,连接在转动铰链上的件是一个脚件,该脚件分成一个主脚件和一个前脚件,其中,前脚件与主脚件通过一个铰链相连接。液压缸在此可铰接在前脚件上,以便对主脚件在其角度位置方面间接地、即通过前脚件进行调节。
有利的是,零点位置可根据地面倾斜度来确定。
有利的是,零点位置可根据与该辅助装置一起使用的鞋的当前后跟高度来确定。
有利的是,转动铰链是踝关节。
附图说明
下面要借助于附图中所示实施例对本发明进行详细描述。附图表示:
图1根据本发明的脚假肢的第一实施例的示意性视图;
图2根据本发明的脚假肢的第二实施例的示意性视图;
图3根据本发明的脚假肢的第三实施例的示意性视图;
图4根据本发明的脚假肢的另一个结构详细的实施形式的俯视图;
图5根据图4的脚假肢的平行于矢状面的竖直剖面。
具体实施方式
在图1中所示的实施例中,固定件1构造有一个校准突出部2,该校准突出部呈具有四个斜面的倒棱锥台的形式。固定件1构成一个向下敞开的罐,双臂杠杆4的向上伸的接片3伸入到该罐中。双臂杠杆可以围绕转动铰链5转动,该转动铰链的转动轴线6同时构成人造脚的踝关节的轴线。转动铰链5设置有一个角度传感器7。双臂杠杆4具有一个刚性的向下伸的突出部8。
在固定件1的向下敞开的罐中,通过接片3构成的中间空间通过相对硬的弹性材料9填充,由此,固定件1的运动仅稍微受到阻尼地传递给双臂杠杆4的接片3的运动。因此,突出部8随动于固定件1的运动,但是由于弹性材料9而稍微得到阻尼。
另外,构成踝关节的转动铰链5承载一个主脚件10,该主脚件也是一个双臂杠杆,该双臂杠杆以一个后杠杆臂11延伸到脚的脚后跟区域中,在那里,倾斜地向后下方延伸的后杠杆臂11设置有一个被大致水平地弯圆的端部12。
主脚件具有一个从踝关节5向前延伸的前杠杆臂13,该前杠杆臂几乎直线形地从踝关节5向前稍微倾斜向下伸展地延伸,由此,主脚件10被构造得朝踝关节5向上拱曲并且从踝关节5向后倾斜地下降到脚后跟区域中以及向前倾斜地下降到前脚区域中,其中,向脚后跟区域中的倾斜下降比向前脚区域中的倾斜下降陡。
主脚件10的前杠杆臂13在前脚区域的开始处终止并且在那里承载一个转动铰链14,一个模拟脚趾区域的前脚件15通过该转动铰链可转动地铰接在主脚件的前杠杆臂13上。转动铰链14具有一个转动轴线,该转动轴线相对于踝关节5的转动轴线6平行地在水平方向上延伸。因为前脚件15模仿真脚的脚趾区域,所以该前脚件被构造得向前呈三角形地以一个尖部结束。在转动铰链14下方在前脚件15上存在另一个转动铰链16,一个液压缸17的活塞18的活塞杆通过该转动铰链铰接在前脚件15上。液压缸17通过一个转动铰链19可转动地铰接在双臂杠杆4的向下伸的突出部8的自由端部上,由此,转动铰链19设置在踝关节5下方并且稍微向前(朝前脚区域15的方向)相对于该踝关节错开地设置。
踝关节5包括角度传感器7,该角度传感器用于测量踝角度,即(与小腿对准地取向的)接片3与主脚件10的前杠杆臂13之间的角度。
另外,主脚件10的前杠杆臂13承载一个倾斜度传感器20,该倾斜度传感器测定相对于地心引力(相对于铅垂线)的倾斜度。这种确定相对于重力加速度的绝对倾角的倾斜度传感器20作为具有或不具有陀螺仪的加速度传感器装置已经公知。
双臂杠杆4包括一个与校准突出部2对准的、即与患者(人造)小腿对准的踝力矩传感器21,该踝力矩传感器测量作用在该部位上的转矩。
前脚件15在其后端部上设置有一个支承突出部22,该支承突出部用于保持一个可承受拉负荷和压负荷的弹簧23,该弹簧以其另一个端部支撑在主脚件10的前杠杆臂13上。弹簧23使得前脚件15在背屈之后复位,其中,复位速度通过液压缸17确定。
液压缸17构造成被动式执行器,其方式是由活塞18产生的液压流通过(未示出的)阀控制,其中,阀本身不仅可被接通和断开,而且可针对确定的流量来控制。
图2中所示实施形式基本上相应于根据图1的实施形式。一个区别在于:固定件1′与校准突出部2构造成一体,由此不再存在通过弹性材料9所形成的弹性。取而代之,双臂杠杆4′的向下伸的突出部8′构造有一个材料变薄部,由此,该突出部的承载转动铰链19的自由端部被设置得相对于双臂杠杆4′的其余材料弹性地弹动。
不言而喻,根据第二实施形式的人造脚也如第一实施形式那样具有一个装饰性外罩24。但这种装饰性外罩24对于第二实施形式和第三实施形式没有重复示出。
在根据图3中所示第三实施形式的人造脚中,双臂杠杆4″也与校准突出部2构造成一体。双臂杠杆4″的向下伸的突出部8如在第一实施形式中那样也是刚性的。取而代之,液压缸17通过一个螺线弹簧25弹性地与双臂杠杆4″的向下伸的突出部8相连接。由此,与液压缸17的作用串联地实现弹性,该弹性在图1中所示实施形式中通过弹性材料9实现,在图2中所示实施形式中通过弹动的突出部8′实现。第三实施形式的所有其余部分都相应于第一实施形式的所有其余部分。
图4和图5中所示实施例允许看到带有棱锥体状的校准突出部2的固定件1。在固定件1中存在弹性材料9,该弹性材料减振地与双臂杠杆4的向上伸的接片3共同作用。在该实施形式中,双臂杠杆4的向下伸的突出部8在行走方向上在踝关节5后面延伸并且在那里通过转动铰链19铰接在液压缸17上。活塞18在液压缸17中可纵向移动地运动,该活塞穿过一个位于液压缸17中的轴承26伸出来并且与前脚件15的另外的转动铰链16相连接。另外,踝关节5支承着主脚件10,该主脚件在此构造成刚性壳体的形式并且具有一个向后指向的弹性杠杆11作为脚后跟杠杆。脚件10与脚后跟杠杆11由此可以共同围绕踝关节5相对于固定件1并且相对于双臂杠杆4摆动。固定件1与脚件10之间的摆动运动通过双臂杠杆4和液压缸17控制和阻尼。活塞18的活塞杆18′在前脚件15上的铰接在此仅仅引起对构成脚趾板的前脚件15的附加控制,但该铰接仅稍微改变对主脚件10的控制,因为所述另外的转动铰链16设置在前脚件15与主脚件10之间的转动铰链14的紧附近。液压缸17设置有两个控制阀27、28,这些控制阀设置在液压缸17的上侧。控制阀27、28与液压缸17的处于活塞18两侧的腔29、30相连接,其中,一些(未示出的)止回阀负责:通过第一控制阀27仅可进行液压液体从后腔29到前腔30的流动,由此可实现活塞18到液压缸17中的插入运动,这相应于主脚件10相对于固定件1的跖屈。另一个控制阀28通过一些止回阀仅可实现从前腔30到后腔29中的液压流,由此可实现活塞18从液压缸17抽出,即转动铰链19、16之间的距离变长。这相应于固定件1与主脚件10之间的背屈。同时,通过转动铰链16相对于转动铰链14向前的移动使得前脚件15抬起。
人造脚的功能对于所示实施形式相同。通过用于测量踝角度、踝力矩以及绝对倾角的传感器装置可以测定和区别人造脚的重要的功能状态,其中,一方面分析处理用于测定(固定件1、1′、1″与主脚件10之间的)踝角度的踝角度传感器的信号,另一方面分析处理对应的踝角速度。
因此,通过确定踝力矩过零点时的踝角速度,例如可识别用人造脚是在行走还是在站立。如果踝力矩过零点时的踝角速度低于一个阈值,则这被识别为“站立”并且液压缸17形式的执行器借助于阀被调节到一个高的阻力,通过该高的阻力可形成背屈止挡。
向下倾斜的倾斜度或者后跟高度的识别通过主脚件10的中脚区域中的倾斜度传感器20在踝力矩过零点时确定。
如果探测出在平面上行走,则负责脚跖屈的阀保持在半开启位置中,而确定背屈的阀随着踝角度的增大而闭合,以便形成背屈止挡。
如果探测出上坡行走,则在此允许前脚件15背屈幅度增大。
如果在行走时在摆动时相之后并且在站立时相开始时尤其是通过负的踝力矩探测出脚后跟着地,则这样控制用于跖屈的阀,使得该阀随着跖屈方向上的踝角度增大而闭合并且由此形成用于跖屈的止挡。
如果在站立时相结束时探测出脚趾离地(在踝角度增大时踝力矩下降),则用于背屈的阀在一段死区时间之后完全开启,以便在摆动时相中通过一个弹性元件触发前脚件的抬起(脚趾抬起)。
从这些例子可以看出:在站立时和在行走时对人造脚的重要控制也可以根据地面倾斜度或者后跟高度来正确地进行,其中,通过液压缸已经足以控制运动阻力。
在一个用于识别脚假肢运动状态以及由此产生的控制的实施例中实现下列功能:
辨别站立-行走
站立与行走之间的辨别通过下列判据进行:
1.识别摆动时相
通过踝力矩近似为零来识别摆动时相,因为脚在摆动时相中不承受负荷。
脚件10的绝对角度超过一个针对站立可个别确定的阈值。另外,绝对角速度超过一个确定的阈值。
2.在向前摆动状态中识别脚后跟着地
探测到负的踝力矩(跖屈地)。与针对站立个别确定的阈值相比较,绝对角度信号相应于向前摆动的脚。
可选择,可通过踝角速度来表明脚后跟着地时的跖屈。
3.返回到站立
在探测出脚后跟着地之后,脚件10的绝对角度保持在针对站立个别确定的阈值内。作为替换方案或补充,可以将运动方向在中间站立时相中从背屈向跖屈的主动换向识别为站立的判据。
当探测出站立时,这样调节控制阀27、28,使得针对站立产生向腹侧和背侧的窄的角度(零点位置)的止挡。对于行走周期,使向背侧的止挡移动并且根据步幅调节用于跖屈和背屈的阻尼特性。
辨别平面-斜坡
在行走周期中的中间站立时相开始时、即整个脚落到地面之后所测量的绝对角度大于或小于针对在平面上行走所确定的绝对角度值范围。
按照所确定的斜坡倾斜度改变背屈止挡,并且根据绝对角度和预测步幅对跖屈时的阻尼特性和背屈时的阻尼特性进行调节。
识别后退行走
后退行走识别包括向后摆动时相的识别以及在返回状态中前脚着地的识别。
1.识别向后摆动时相
在所测量的踝力矩近似为零时,绝对角度信号相应于相对于站立返回的脚(倒退)并且绝对角速度超过一个确定的阈值。
2.识别返回状态中的前脚着地
测量到较大的正的踝力矩。
根据所测量的值使向背侧的止挡移位并且根据前脚着地时的绝对角度对跖屈时的阻尼特性和背屈时的阻尼特性进行调节。
适配于不同的后跟高度
优选通过在一个手动触发的触发信号期间读出绝对角度信号来确定后跟高度。与绝对角度成比例地调节用于控制阀27、28的零点。
作为对此的替换方案,也可以通过测量前脚件15相对于主脚件10的角度来在具有铰接式连接的前脚件15的人造脚中由斜坡倾斜度确定后跟高度。这是本发明范围内的一个附加选项。
站立在倾斜的地面上
当踝力矩经历一个过零点时,测量在运动方向从跖屈向背屈换向时的绝对角度。据此,根据地面倾斜度通过控制阀27、28使用于控制液压缸17的背屈止挡移位。
识别楼梯行走
如果绝对角度传感器20由两个用于彼此垂直的加速度分量的加速度传感器组成并且加速度分量可以单独地输出,则可以确定主脚件10竖直地走过的行程和水平地走过的行程。行程距离通过关于相应的加速度分量的二次积分来确定。在这些情况下可以进行上楼梯和下楼梯的辨别并且据此调节用于跖屈时的阻尼特性的止挡和用于背屈时的阻尼特性的止挡。
以类似方式可以利用加速度来调节不同行走速度下的行走,其方式是相应地改变向背侧的止挡以及跖屈时的阻尼特性和背屈时的阻尼特性。
Claims (13)
1.被动式矫形辅助装置,呈脚假肢或脚矫正器的形式,该被动式矫形辅助装置包括:一个第一件,该第一件可转动地通过转动铰链与一个第二件相连接;一个传感器装置,用于测量一些允许推断该辅助装置的瞬态使用要求的参数;一个与传感器装置相连接的处理器装置,用于确定使用要求和生成相应的控制信号;一个可控制的液压的阻尼装置,通过该液压的阻尼装置可改变作用于该第一件与该第二件之间的转动运动的运动阻力;以及一个对处理器装置的控制信号进行转换的控制器,用于控制该阻尼装置,其特征在于:该阻尼装置是一个双作用的液压缸,该液压缸具有两个通过活塞彼此分开的液压腔;这些液压腔通过两个允许液压液体仅在相反方向上流动的连接管路相连接,这些连接管路的流动阻力可通过所述控制器单独地分别借助于一个自己的调节装置来调节;该处理器装置被构造用于由该传感器装置的所测量的参数确定当前的零点位置;用于这两个连接管路中的流动阻力的控制信号的生成参照该零点位置进行。
2.根据权利要求1所述的被动式矫形辅助装置,其特征在于:至少一个连接管路中的流动阻力可调节得这样大,使得所述转动铰链可在任意位置中锁止。
3.根据权利要求2所述的被动式矫形辅助装置,其特征在于:锁止位置相应于该零点位置。
4.根据权利要求1至3中任一项所述的被动式矫形辅助装置,其特征在于:该零点位置可根据地面倾斜度来确定。
5.根据权利要求4所述的被动式矫形辅助装置,其特征在于:该零点位置可根据与该辅助装置一起使用的鞋的当前后跟高度来确定。
6.根据权利要求1或2所述的被动式矫形辅助装置,其特征在于:该辅助装置的该第一件和该第二件在很大程度上构造成刚性的;一个运动周期内的运动过程的至少一个主要部分的控制在无材料弹性的影响的情况下通过所述流动阻力的控制来进行。
7.根据权利要求1或2所述的被动式矫形辅助装置,其特征在于:所述转动铰链是踝关节。
8.根据权利要求4所述的被动式矫形辅助装置,其特征在于:该辅助装置的该第一件和该第二件在很大程度上构造成刚性的;一个运动周期内的运动过程的至少一个主要部分的控制在无材料弹性的影响的情况下通过所述流动阻力的控制来进行。
9.根据权利要求5所述的被动式矫形辅助装置,其特征在于:该辅助装置的该第一件和该第二件在很大程度上构造成刚性的;一个运动周期内的运动过程的至少一个主要部分的控制在无材料弹性的影响的情况下通过所述流动阻力的控制来进行。
10.根据权利要求6所述的被动式矫形辅助装置,其特征在于:所述转动铰链是踝关节。
11.用于控制根据权利要求1至10中任一项所述的被动式矫形辅助装置的方法,其特征在于:确定转动运动的零点位置,从该零点位置起在一个周期性的运动过程中确定用于至少一个运动方向的运动阻力。
12.根据权利要求11所述的方法,其特征在于:该辅助装置对于确定的使用要求通过在两个运动方向上调节出高的运动阻力在该零点位置中锁止。
13.根据权利要求11或12所述的方法,其在用于下肢的被动式矫形辅助装置上使用,其中,行走周期作为可控制的运动周期使用。
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