CN105228559A - 具有增强的稳定性和弹性能恢复的假足 - Google Patents

具有增强的稳定性和弹性能恢复的假足 Download PDF

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CN105228559A
CN105228559A CN201480017999.9A CN201480017999A CN105228559A CN 105228559 A CN105228559 A CN 105228559A CN 201480017999 A CN201480017999 A CN 201480017999A CN 105228559 A CN105228559 A CN 105228559A
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阿林比约恩·克劳森
比亚德尼·安德烈松
维尔希奥米尔·弗雷尔·琼森
克里斯托弗·勒孔特
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Abstract

一种假足，其包括附接构件和两个或更多个挠性构件。附接构件可以包括连接件，该连接件构造成将附接构件连接至用户或另一假体装置。所述两个或更多个挠性构件可以通过可旋转的接头以可旋转的方式附接至附接构件以使得在假足接触地面时挠性构件相对于附接构件既能够旋转又能够挠曲。

Description

具有增强的稳定性和弹性能恢复的假足
技术领域
本发明涉及包括弹簧的假足和其他假体设备，并且更特别地涉及具有位于两个或更多个接头(例如，枢轴)之间的一个或更多个挠性构件并且允许使用期间的可变刚度的假足和其他假体装置。
背景技术
在假体特别是假足领域中，所期望的是提供具有可靠性能的高水平功能。此外，由于每个用户是不同的，因此所期望的是提供一种可以适于各个用户的特定需求的假体。
发明内容
特别是在假足领域中，所期望的是提供一种在整个步态周期中以及在例如站立的其他活动中提供稳定性的假体。此外，在运动期间，通常期望假足在于走动期间承受并恢复弹性能的同时具有增强的能量贮存。甚至此外，期望假足能够根据具有不同重量、高度、步幅长度等的个体进行调节以及期望假足的设计根据截肢者的活动程度而允许可变的刚度。
根据一个实施方式，提供了一种下述假足：该假足具有位于两个或更多个接头(例如，枢轴)之间的一个或更多个挠性构件，以在步态周期的站立相期间提供改善的控制和稳定性(例如，在站立期间提供更大的运动)。在一个实施方式中，假足仅是机械足。在另一实施方式中，假足可以包括致动器。在一些实施方式中，致动器可以是有源致动器(例如，电动马达)，该有源致动器可以被选择性地致动(例如，经由电控制器)以向假足赋予机械运动(例如，以在步态周期的摆动相期间将假足踝的取向改变成背屈以及随后的跖屈)。在另一实施方式中，致动器可以是无源致动器(例如，弹性构件、弹簧或刚性梁)。
在另一实施方式中，提供了一种具有可变刚度控制件的假足，该可变刚度控制件允许针对不同类型的步态调节假足的刚度。在一些实施方式中，可变刚度控制件能够被机械地致动(例如，由用户手动地致动)以改变假足的一个或更多个弹性元件的刚度(例如，通过改变弹性元件的杆臂的长度，或者通过改变相邻弹性元件之间的间隙)。在另一实施方式中，例如，可变刚度控制件可以基于用户的活动程度或步态周期的相由用户在走动期间自动地或主动地调节(例如，自动调节弹性元件的杆臂，或主动改变相邻弹性元件之间的间隙)。在一些实施方式中，可变刚度控制件可以基于感测到的步态参数(例如，通过假体装置上的一个或更多个传感器所感测到的)自动地调节。
在又一实施方式中，假足或假体装置可以包括壳体或接合件(例如，用于将假足或假体装置联接至另一假体部件)，该壳体或接合件具有提供了一个或更多个平面(例如矢状的、冠状的、横向的)中的灵活运动的机构，从而允许壳体或接合件在内-外、前-后或扭转方向上的运动。在假体装置为假足的一个实施方式中，壳体或接合件可以大致位于与自然人体足踝相关联的位置处，并且提供与自然人体足踝的运动类似的运动。在一些实施方式中，该机构可以包括位于壳体或接合件的一个或更多个表面中的一个或更多个槽或开口(例如，壳体或接合件的内表面和外表面上的槽)，所述一个或更多个槽或开口以可运动的方式接纳将壳体或接合件与假足的其他部件(例如，弹性元件或足板)连接的一个或更多个销、轴或接头构件。
在一个实施方式中，提供了一种包括附接构件和两个或更多个挠性构件的假足。该附接构件可以包括构造成将附接构件连接至用户或另一假体装置的连接件。所述两个或更多个挠性构件能够通过可旋转的接头以可旋转的方式附接至附接构件以使得在假足接触地面时挠性构件相对于附接构件既可以旋转又可以挠曲。
在另一实施方式中，提供了一种可以包括附接构件、两个或更多个挠性构件以及可调节固定构件的假足。附接构件可以包括构造成将附接构件连接至用户或另一假体装置的连接件。所述两个或更多个挠性构件可以附接至附接构件。此外，所述两个或更多个挠性构件可以从附接构件延伸至假足的足部并且能够沿着所述两个或更多个挠性构件的长度相对于彼此充分地移动。可调节固定构件可以构造成使所述两个或更多个挠性构件沿着假足的足部固定。此外，可以在沿着所述两个或更多个挠性构件的长度的多个位置处设置固定件以改变所述两个或更多个挠性构件的弹性和阻力。
在另外的实施方式中，提供了一种可以包括附接构件、两个或更多个挠性构件以及可变刚度控制构件的假足。附接构件可以包括构造成将附接构件连接至用户或另一假体装置的连接件。所述两个或更多个挠性构件可以附接至附接构件并且可以从附接构件延伸至假足的足部。挠性构件能够沿着其长度相对于彼此充分地移动。然而，可变刚度控制构件可以构造成沿着假足的足部调节所述两个或更多个挠性构件的杆臂的长度。例如，可变刚度控制构件可以限制挠性构件之间的相对运动。
在另外的实施方式中，提供了一种下述假足：该假足可以包括一个或更多个挠性足板、附接构件以及用于改变假足的刚度的装置。所述一个或更多个挠性足板可以构造成沿着其长度弯曲。附接构件可以包括构造成将附接构件连接至用户或另一假体装置的连接件。用于改变假足的刚度的装置可以在使用之前或使用期间改变挠性足板中的一个或更多个挠性足板的弯曲长度。
在另外的实施方式中，提供了一种可以包括一个或更多个弹性元件和附接构件的假足。所述一个或更多个弹性元件可以构造成沿着其长度弯曲。附接构件可以包括构造成将附接构件连接至用户或另一假体装置的连接件。此外，附接接合件可以经由至少两个可枢转的接头连接至所述一个或更多个弹性元件。弹性元件中的至少一个弹性元件可以在所述至少两个可枢转的接头之间延伸。
附图说明
下面参照优选实施方式的附图来描述本文中公开的本发明的这些和其他特征、方面及优点，这些和其他特征、方面及优点意在说明而非限制本发明。此外，在各个附图中使用相同的附图标记来标示所示出的实施方式的相同部件。以下是附图中的每幅附图的简要说明。
图1是假足的实施方式的立体图。
图2是图1的假足的正视图。
图3是图1的假足的后视图。
图4是图1的假足的侧视图。
图4A是与图1的假足类似的假足的另一实施方式的侧视图。
图5是图1的假足的俯视图。
图6是图1的假足的仰视图。
图7是图1的假足的截面侧视图。
图8是图1的假足具有附加紧固件的视图。
图9是假足的另一实施方式的立体图。
图10是图9的假足的正视图。
图11是图9的假足的后视图。
图12是图9的假足的侧视图。
图13是图9的假足的俯视图。
图14是图9的假足的仰视图。
图15是图9的假足的截面侧视图。
图15A是与图9的假足类似的假足的另一实施方式的截面图。
图16是假足的另一实施方式的立体图。
图17是图16的假足的正视图。
图18是图16的假足的后视图。
图19是图16的假足的侧视图。
图20是图16的假足的俯视图。
图21是图16的假足的仰视图。
图22是图16的假足的截面侧视图。
图23是图16的假足具有附加紧固件的视图。
具体实施方式
图1至图8描绘了假足1的实施方式。假足1可以通过附接构件10附接至用户或另一假体装置。附接构件10被描绘为包括第一连接部12，第一连接部12被示出为角锥形连接件。角锥形连接件可以附接至用户的残肢、另一假体装置或任何其他适当的对象。此外，应当理解的是，第一连接部12除可以包括角锥形连接件以外，还可以包括诸如带螺纹的孔或螺钉、闩锁、磁性构件、管夹紧件之类的附接特征或其他特征。
附接构件10还可以包括第二连接部14和第三连接部16(参见图4、图7)。附接构件10可以用于提供连接部12、14、16之间的刚性连接。例如，附接构件10可以包括大致刚性的材料，例如铝、钢、钛、其他金属或金属合金、碳纤维、复合材料或大致刚性的塑料。然而，在其他实施方式中，附接构件10可以构造成可能地在多个平面中提供挠性。因此，在一些实施方式中，附接构件10可以包括更具挠性的材料或者包括在附接构件10的单独部件之间的挠性接头。例如，在一些实施方式中，附接构件10可以通过第一连接部12具有挠性连接，从而允许内/外以及/或者前/后方向上的运动。此外，这种连接可以通过第一连接部12允许扭转挠性。在其他实施方式中，如下面所进一步描述的，附接构件10可以通过第二连接部14和第三连接部16中的一者或两者具有挠性连接。
此外，在一些实施方式中，附接构件10可以包括假足的其他特征如下述传感器：所述传感器构造成例如测量假足的位置和运动、假足上的各个接头和部件的位置和运动(例如，如下面所进一步论述的连接部14、16和致动器20处的旋转位置和运动)、假足1的各个部件上(例如，下面所进一步论述的附接构件10、致动器20或弹性构件30、40、50上)的压力和力以及假足的其他可测量特性。传感器还可以构造成测量假足的环境，例如假足1移动的地形。应当理解的是，这些传感器可以定位在假足1的其他元件上，例如下面所进一步论述的致动器20、弹性构件30、40、50和其他元件上。
附接构件10还可以包括电子设备(例如，计算机处理器)。例如，附接构件10可以包括构造成接收来自上述传感器的信息的电子设备。此外，在一些实施方式中，附接构件10可以包括下述电子设备：所述电子设备构造成将信息(例如，来自传感器的信息)通信至其他电子器件，例如通信至其他假体装置或外部计算机(例如，经由有线通信或诸如RF通信之类的无线通信)。这些电子设备还可以构造成接收来自其他假体装置或外部计算机的信息，这种信息可能包括来自其他传感器的信息和/或用于假足1的操作指令。
附接构件10还可以包括或限定罩18。罩18可以保护假足1的各个部件，例如电子设备(如上所述)、致动器20(在下面描述)或其他部件。在一些实施方式中，罩18可以在冠状平面中包括敞开部，从而允许内-外方向上的运动的灵活性。在另外的实施方式中，罩18可以在矢状平面中包括敞开部，从而允许前-后方向上的运动的灵活性。在一些实施方式中，敞开部可以是形成在罩18中的竖向或横向的槽，从而允许与连接部12、14、16中的任一者相关联的枢轴的运动。
如图1中所示，附接构件10可以在第三连接部16处连接至第一弹性构件30。在一些实施方式中，第三连接部16可以提供可旋转的连接，但是也可以使用不可旋转的连接。在一些实施方式中，可以通过牢固地安装至附接构件10的轴来提供上述旋转——第一弹性构件30可以绕该轴旋转。在其他实施方式中，第一弹性构件30可以固定至该轴，并且可以允许该轴与附接构件30之间的相对旋转。在一个实施方式中，第一弹性构件30可以包括或限定衬套或开口——轴延伸穿过该衬套或开口。第一弹性构件30可以由足够挠性的材料如碳纤维形成，但是也可以使用其他合适的材料或材料的组合(例如，碳纤维和玻璃纤维)。在其他实施方式中，第一弹性构件30可以是大致无弹性的以提供刚性连接。应当理解的是，其他弹性构件40、50(下面所进一步描述的)可以由类似的材料形成并且具有与第一弹性构件30类似的连接。
此外，第一弹性构件30可以形成为构造成提供所需挠性或刚性的形状。如图1中所示，弹性构件30包括位于第一弹性构件的上部部分(近端部)处并靠近第三连接部16的C状部32。C状部32被描绘为包括面向前的开口(例如，C状部32向前弯曲以使得C状部32朝向假足的前部凹入)，但是在其他实施方式中，C状部也可以具有面向后的开口(例如，C状部32可以向后弯曲以使得C状部32朝向假足的后部凹入)。在一些实施方式中，C状部32在卸载时可以弯曲得多于90度、多于110度、130度、150度或170度。C状部32的弯曲会影响第一弹性构件30的阻力或挠性。应当指出的是，可以对该阻力或挠性进行调节，如下面所进一步描述的。
在图1的实施方式中，弹性构件30可以从C状部32的下部部分延伸到足部34中。弹性构件30的足部34可以是大致平的并且从假足1的后部部分朝向假足1的足尖区域延伸。足部34还可以包括缝36。如所示出的，缝36纵向地延伸至弹性构件30的足尖端部以将足部34分成可以独立地进行挠曲的两个或更多个足构件，但是在一些实施方式中，缝36也可以在足尖端部处闭合(例如在这种情况下，弹性构件30、40、50中的至少一个弹性构件在足尖部处是实体的以使得该缝在所述至少一个弹性构件的端部之前终止)。如将在下面进一步论述的，缝36可以允许改变弹性构件30的挠性和阻力。在另一实施方式中，弹性构件30、40、50可以是整体式的而没有任何缝。
如图4中进一步示出的，附接构件10可以在第二连接部14处连接至致动器20。像第三连接部16那样，第二连接部14能够旋转或者不能够旋转。应当指出的是，在图4中，第三连接部16处于附接构件10的前部部分中，并且第二连接部14处于附接构件10的后部部分中。类似地，致动器20位于假足1的后部部分处。然而，在其他实施方式中，致动器20可以定位在假足1的前部部分中，如下面所进一步描述的。
致动器20可以呈各种形式并且可以以各种方式进行操作，如通过示例的方式在于2011年3月1日作为美国专利No.7,896,927公布的美国专利申请No.11/367,049中以及于2010年12月23日作为美国2010/0324698公布的美国专利申请No.12/816,968中所描述的，这两个美国专利均通过参引并入本文。例如，致动器20可以是有源致动器如螺杆马达、或者无源构件如弹性构件(例如，弹簧)或具有磁流变流体的室、或者可以是液压或气动系统。此外，致动器20可以构造成以各种方式进行操作，如另外在附录A和B中所论述的。例如，致动器20可以构造成在步态周期期间延伸或缩回以帮助用户。例如，致动器20可以在步态周期的摆动相期间将假足1的取向改变成背屈并且随后跖屈以使得假足1的足尖部在摆动相的初始部分期间被提起。在另一实施方式中，致动器20可以在用户处于放松(例如，坐着的)位置中时将假足1的取向改变为跖屈。此外，致动器20的这种运动可以改变弹性构件30、40、50的挠性或阻力，如下面进一步所描述的。在一些实施方式中，致动器20还可以进入低功率模式(例如，休眠模式)，例如放松模式或者非工作模式。例如，致动器20可以在站立期间进入低功率模式，原因在于本文中所描述的实施方式可以在站立期间提供更大的稳定性，如下面进一步所描述的。有利地，低功率模式允许保存用以对致动器20提供动力的电池电力，从而允许致动器20在电池充电之间操作更长的时间段。
致动器20被描绘为在第四连接部22处连接至第二弹性构件40。像第二连接部14和第三连接部16那样，第四连接部22能够旋转或者不能够旋转。在一个实施方式中，第二弹性构件40可以包括或限定衬套或开口——轴延伸穿过该衬套或开口以在第二弹性构件40与致动器20之间提供可旋转的连接或枢转轴线。第二弹性构件40可以以与第一弹性构件30的足部34类似的方式延伸到足部中。在一个实施方式中，第二弹性构件40可以延伸至假足1的远端，使得第一弹性构件30和第二弹性构件40延伸至假足1的远端处的大致相同的位置。此外，第二弹性构件40可以包括与第一弹性构件30的缝36类似的缝。甚至此外，第二弹性构件40可以由与用于第一弹性构件30的材料类似的材料如碳纤维构成。如所示出的，第二弹性构件40设置在第一弹性构件30的下方，并且切向地向前且朝向第一弹性构件延伸以沿着第一弹性构件30的足部34抵接第一弹性构件30。尽管第一弹性构件30和第二弹性构件40被描绘为在假足的足尖部处的近似相同的位置处终止，但是在一些实施方式中，第一弹性构件30可以延伸得更远，或者第二弹性构件40可以延伸得更远。例如，如图4A中所描绘的，第一弹性构件30和第三弹性构件50可以比第二弹性构件40延伸得更远，从而在第一弹性构件30与第三弹性构件50产生间隙。在其他实施方式中，可以在第一弹性构件30与第二弹性构件40之间、假足的足尖区域中设置间隙，如图8中所示。作为另一示例，例如，如图12中所描绘的，第三弹性构件50(例如，下面所描述的构件50A)可以在假足1的足尖部之前如足的跖骨区域处终止。第一弹性构件30和/或第二弹性构件40(例如，在图12中为仅第二弹性构件40A)此时可以延伸越过第三弹性构件50至足尖部。
假足1还可以包括第三弹性构件50。如所示出的，第三弹性构件50可以从位于假足1的底部且后部部分处的足跟部56(例如，悬臂端或自由端)延伸。如所示出的，该足跟部56可以与致动器20和第二弹性构件40间隔开，从致动器20朝下弯曲离开致动器20。第三弹性构件50可以从足跟部56延伸至假足1的足尖部，并且可以如第二弹性构件40抵接第一弹性构件30那样大致抵接第二弹性构件40的足部。此外，第三弹性构件50可以具有沿着该足部的缝，该缝与第一弹性构件30和第二弹性构件40中的缝大致相匹配。此外，如所示出的，第三弹性构件50可以在弹性构件的足跟部56中包括足跟缝54。
如图中所示，足部34中的第一弹性构件30中的缝36可以与第二弹性构件40中的缝以及第三弹性构件50中的缝52对准。在一个实施方式中，假足1可以具有刚度控制构件60，刚度控制构件60可以被致动以改变假足的刚度。在一些实施方式中，刚度控制构件60可以是使弹性构件30、40、50中的两者或更多者联接至彼此的固定构件60(例如，螺栓和螺母、夹紧件、U形钉、铆钉等)，其中，固定构件60可以沿着缝36或沿着至少部分地由缝限定的在图8中最佳地示出的槽行进，或者在弹性构件不具有缝的情况下沿着弹性构件30、40、50中的槽行进。可以在弹性元件30、40、50之间——例如大致在假足1的跖骨区域中——设置附接部。有利地，在一些实施方式中，固定构件60的位置能够沿着缝36的长度进行调节。例如，当固定构件60为螺栓和螺母时，螺栓可以移动至沿着缝36的任何所需位置并且随后通过拧紧螺母而固定就位。在一些实施方式中，可以在弹性构件30、40、50中设置底切部或凹部以防止螺栓和螺母向外突出。应当指出的是，固定构件沿着缝36的位置可以改变弹性构件30、40、50的挠性和阻力。代替弹性构件30、40、50在保持在一起的情况下结合成单个弹性构件，在弹性构件30、40、50没有保持在一起(例如，通过固定构件)的情况下，弹性构件30、40、50可以分离并且用作有区别的弹性构件。因此，如果固定构件60向前移动，则弹性构件30、40、50在较短的范围内保持在一起，从而允许其间有更大的间隔，并且因此允许更大的挠性(例如，第二弹性构件40的杆臂相对较长，从而导致假足1的更大的挠性)。替代性地，如果固定构件向后移动，则弹性构件30、40、50在较长的范围内保持在一起，从而减小了所允许的间隔和挠性(例如，第二弹性构件40的杆臂相对较短，从而导致假足1的增大的刚度)。有利地，可以调节固定构件60以改变假足1的刚度。
在一些实施方式中，刚度控制构件60可以或者由用户手动地或者由用户在走动期间自动地(例如，主动调节)(例如，基于用户的活动程度或步态周期的相)机械致动。
应当指出的是，如上面所论述的，在一些实施方式中，弹性构件30、40、50的挠性和阻力还可以通过致动器20(独立于刚度控制构件60或与刚度控制构件60结合)来改变。因此，应当理解的是，弹性构件30、40、50的挠性和阻力可以手动地和/或通过致动器来改变。在另外的示例中，刚度控制构件60可以通过致动器来移动(例如，自动地移动)以调节弹性构件30、40、50的阻力和挠性。
在一些实施方式中，优选地可以调节弹性构件30、40、50的挠性和阻力以在水平地面上移动时减小阻力并增大挠性。因此例如，在水平地面上走动时刚度控制构件60可以向前移动以在足跟着地之后提供更快的跖屈。在例如步行下楼的其他步态模式下，可以通过使刚度控制构件60向后移动来减小挠性并增大阻力。在一些实施方式中，这些步态模式可以由设置在假足1上或与假足1通信的传感器和处理器来检测。此时，可以控制致动器以根据所检测到的步态模式来调节弹性构件30、40、50的挠性和阻力。
图1至图8中的实施方式的变型也是可以的。例如，在所描绘的实施方式中，刚度控制构件60(例如，固定构件60)可以移动至沿着缝36的各种位置以使得可以改变弹性构件30、40、50的阻力和挠性。然而，在其他实施方式中，优选地可以移除缝36以使得弹性构件30、40、50更坚固并且提供更均匀的阻力。此外，在一些实施方式中，优选地可以使弹性元件30、40、50以另一方式如用粘合剂粘合，从而使得弹性元件30、40、50被永久性地附接。弹性元件30、40、50除通过可调固定构件60保持在一起以外，还可以通过在图8中被描绘为螺母和螺栓的附加固定构件62保持在一起。在其他实施方式中，弹性元件30、40、50中的一者或更多者可以一起形成为单件。例如，在一些实施方式中，第二弹性构件40和第三弹性构件50可以形成为单件。
在另外的实施方式中，该阻力可以通过其他方法来改变。例如，在一些实施方式中，刚度控制构件可以是楔形件或插入件，该楔形件或插入件可以插入到弹性构件30、40、50中的两者或更多者相遇的位置处。例如，可以在第一弹性构件30与第二弹性构件40之间(例如，在第二弹性构件上方且第一弹性构件下方)插入楔形件。类似地，可以在第二弹性构件40与第三弹性构件50之间——例如，在图4中所描绘的楔入位置64处——插入楔形件。楔形件可以限制弹性构件30、40、50相对于彼此的运动范围，从而增大弹性构件30、40、50的阻力。可以选择楔形件的尺寸和形状以产生特定的所需阻力。此外，楔形件可以向前或向后移动以改变弹性构件30、40、50之间的挠性和阻力。
所描绘的实施方式还结合三个单独的弹性元件30、40、50，弹性构件30、40、50各自提供单独的功能。例如，第一弹性元件30用作与致动器20并联的弹簧。此外，第二弹性元件40用作与致动器20串联的弹簧。因此，弹性元件30、40二者可以构造成在步态周期的不同相时与致动器20一起作用或抵抗致动器20作用。另外，弹性元件30、40可以通过致动器20来加载或卸载。使一个弹簧并联地设置且另一个弹簧串联地设置允许每个弹簧在运动期间对假足1的动力学产生不同的影响。例如，在足跟着地期间，致动器20和第二弹性构件40可以串联地起作用以便除了向假足1提供由第三弹性构件所储存的能量以外，还向假足1提供一定水平的挠性(例如，在足跟着地时相对不太硬)，而在足尖离地期间，致动器20和第一弹性元件30可以并联地起作用以向假足提供不同水平的挠性(例如，在足尖离地时相对更硬)。因此，可以单独地选择弹性元件30、40的独立的挠性和阻力以优化假足1的性能。
应当指出的是，在所描绘的实施方式中，第一弹性构件30和第二弹性构件40二者均沿着足部34朝向足尖延伸。然而，第一弹性构件30和第二弹性构件40没有朝向假足1的足跟延伸。第三弹性构件50包括足跟部56。因此，足跟部56在足跟着地期间为假足1提供了挠性和阻力。足跟着地期间的这种响应可以独立于步态周期期间的足尖着地或足尖离地期间的挠性和阻力来确定，原因在于第三弹性元件50为与第一弹性元件30和第二弹性元件40分离的单独件。因此，例如，单独的弹性构件30、40、50的系统可以包括每个弹性构件具有变化的挠性和阻力的类型。此时可以根据特定用户的需求对每个弹性构件30、40、50进行选择以提供在步态周期期间的不同时间处所需的挠性和阻力。
在另外的实施方式中，致动器20可以被移除或用刚性构件来替代。例如，在一些实施方式中，第二弹性构件40可以直接连接至第二连接部14。在这些实施方式中，第一弹性构件30和第二弹性构件40二者均可以以可旋转的方式连接至附接构件10。此外，在第二弹性构件40不直接连接至第二连接部14的实施方式中，第二弹性构件40仍然可以在第四连接部22(如上所述)处以可旋转的方式连接至中间构件(例如，替代致动器20的刚性构件)。在这些实施方式中，所述三个可旋转的连接部14、16、22可以形成具有至少一个弹性部的三角形，所述弹性部既是第一弹性构件30又是第二弹性构件40并且位于第四连接部22与第三连接部16之间。
可旋转的连接部14、16、22与弹性构件30、40可以为附接构件10的旋转提供挠性阻力。有利地，第一弹性构件30和第二弹性构件40二者的使用可以在站立期间提供自然的摇摆运动，该自然的摇摆运动可以为假足1提供改善的稳定性。在包括致动器20的实施方式中，例如当致动器20被锁定在特定的位置中或基本处于非工作状态时也可以提供这种稳定性。
图9至图15描绘了假足1A的第二实施方式。应当理解的是，这些图中的假足1A具有与上述假足1类似的特征，并且因此将对其差异进行描述。如所示出的，假足1A包括第一弹性构件30A，第一弹性构件30A具有与先前所描述的实施方式中的C状部类似的C状部32A。然而，在本实施方式中，C状部32A可以被颠倒以具有面向后的开口(例如，C状部32A具有面向假足1A的后部的凹形形状)。此外，如所示出的，第一弹性构件30A可以包括两个平行的弹性件。此外，如所示出的，第一弹性构件30A可以在不能够旋转的第二连接部16A处附接至附接构件10A，但是在其他实施方式中，第二连接部16A能够旋转(例如，经由如先前实施方式中所示的枢转位置)。此外，如所示出的，第一弹性构件30A可以被缩短成不包括像先前实施方式中的足部34那样的足部。代替地，第一弹性构件30A还可以经由不可旋转的连接部附接至第五连接本体38A。然而，第五连接本体38A可以如图中所示的经由补充连接本体39A提供与第二弹性构件40A的可旋转连接，补充连接本体39A可以被认为是第五连接本体38A的一部分。
应当指出的是，图9至图15中的实施方式中的特征也形成了具有至少一个弹性部和三个可旋转连接部的三角形，该三角形与上面在先前实施方式中所论述的三角形类似。例如，如图15中最佳地示出的，假足1A包括附接构件10A与致动器20A之间的第二连接部14A。致动器20A可以包括连接至第二弹性构件40A的第四连接部22A。第二弹性构件40A可以通过第五连接本体59A连接至第一弹性构件30A。第一弹性构件30A可以附接至附接构件10A，从而完成三角形。在一些实施方式中，三角形的仅一部分可以具有弹性部。例如，在一些实施方式中，第二弹性构件40A可以是无弹性的或刚性的构件。
此外，在一些实施方式中，C状部32A可以与图9至图15中所示的C状部大致类似，但其包括与C状部32A大致对准的附加弹性构件66A，如图15A中最佳地示出的。附加弹性构件66A可以以与第一弹性构件30A类似的方式连接至附接构件10A。附加弹性构件66A此时可以沿着C状部32A切向于第一弹性构件30A延伸并且在未附接至第五连接本体39A的自由端处终止。此时可以在C状部32A与附加弹性构件66A之间设置与刚度控制构件60类似的刚度控制构件。例如，如所示出的，可以在C状部32A和附加弹性构件66A中设置用以接纳下述固定构件的缝：该固定构件可以沿着该缝的长度移动以调节C状部32A的挠性和阻力。在另外的实施方式中，对弹性构件30A、40A、50A的挠性和阻力的这种可调性可以通过其他合适的机构来提供。例如，在一些实施方式中，第五连接本体38A(包括补充连接本体39A)能够沿着第二弹性构件40A沿前-后方向移动以改变第五连接本体38A在第二弹性构件40A上的位置。例如，在一些实施方式中，第二弹性构件40A可以包括槽，该槽可以接纳用以使第五连接本体38A沿着第二弹性构件固定就位的紧固件。然而，可以使用其他合适的机构(例如，轨道和蜗轮装置)来调节第五连接本体38A相对于第二弹性构件40A的位置。
此外，所描绘的假足1A描绘了用于使第二弹性构件40A与第三弹性构件50A附接的替代性方法。如所示出的，这些构件可以通过位于缝36A的相反两侧上的两个螺栓62A来附接。然而，应当理解的是，可以使用例如上述附接方法的其他附接方法。此外，可以在缝36A中设置如上所述的可调节固定构件来改变假足1A的挠性和阻力。
图16至图23描绘了假足1B的又一实施方式。还应当理解的是，这些图中的假足1B具有与上述假足1类似的特征，因此将对其差异进行描述。如所示出的，假足1B提供了致动器20B位于假足的前部中的设计。如所示出的，附接构件10B仍然可以在可旋转的第三连接部16B处附接至第一弹性元件30B。然而，第三连接部16B可以设置在附接构件10B的上后部处。第二连接部14B可以在附接部10B的下前部处连接至致动器20B。致动器20B此时可以从第二连接部14B向上延伸以附接至第二弹性构件40B。第二弹性构件40B此时可以形成依循第一弹性构件30B中的面向前的C状部32B的C状部。
第三弹性构件50B的连接被描绘为与图9至图15中所描绘的第三弹性构件50A大致类似。还可以提供如上所述的类似的变型。此外，如所示出的，第一弹性构件30B可以延伸至足部34A并且通过相同的螺栓62B附接至第二弹性构件40B和第三弹性构件50B。此外，如所示出的，第二弹性构件40B可以延伸超出第一弹性构件30B和第三弹性构件50B至假足1B的足尖部。
应当指出的是，图16至图23中的实施方式中的特征也形成了具有至少一个弹性部和三个可旋转连接部的三角形，该三角形类似于上面在先前实施方式中所论述的三角形。例如，如图22中最佳地示出的，假足1B包括附接构件10B与致动器20B之间的第二连接部14B。致动器20B可以包括连接至第二弹性构件40B的第四连接部22B。第二弹性构件40B可以抵接第一弹性构件30B，如上面关于先前的实施方式所描述的。第一弹性构件30B可以在第三连接部16B处附接至附接构件10B，从而完成三角形。
此外，如图23中最佳地示出的，第一弹性构件30B和第二弹性构件40B可以通过刚度控制构件60B来连接。在示出的实施方式中，刚度控制构件60B为可调节固定构件60B并且可以允许以与上述实施方式中的方式类似的方式改变阻力和挠性。在本实施方式中，可调节固定构件60B仅设置在第一弹性构件30B与第二弹性构件40B(而非第三弹性构件50B)之间且位于假足1B的后部部分中。使可调节固定构件60B向下且向前移动导致了第一弹性构件30B和第二弹性构件40B在固定构件60B与附接构件10B之间的相对较长的杆臂，从而使假足1B的挠性增大。替代性地，使可调节固定构件60B向上移动导致了第一弹性构件30B和第二弹性构件40B在固定构件60B与附接构件10B之间的相对较短的杆臂，从而使假足1B的刚度增大。
有利地，所公开的假足1、1A、1B的实施方式可以在步态的站立相期间提供自然的摇摆运动，该自然的摇摆运动可以为假足1、1A、1B提供改善的稳定性(例如，附接构件10、10A、10B可以在站立期间相对于弹性构件中的一个或更多个弹性构件移动)。在包括致动器20、20A、20B的实施方式中，例如在致动器20、20A、20B被锁定在特定位置中或基本处于非工作状态时也可以提供这种改善的稳定性。此外，在一些实施方式中，假足可以包括刚度控制构件，该刚度控制构件可以被(例如手动地或自动地)机械致动以改变假足的一个或更多个弹性构件的刚度，从而提供不同水平的刚度(例如，在不同类型的步态期间)。
除非另有具体地陈述或者另外如所使用的在上下文中理解的，否则本文中所使用的条件语言——例如除此之外、“能够”、“能”、“可能”、“可以”、“例如”等——一般意在传达某些实施方式包括而其他实施方式不包括某些特征、元件和/或状态。因此，这种条件语言一般无意于暗示一个或更多个实施方式在任何情况下都要求这些特征、元件和/或状态，或者暗示一个或更多个实施方式必须包括用于在具有或没有用户输入或提示的情况下判断在任一特定实施方式中是否包括或要执行这些特征、元件和/或状态的逻辑。
尽管以上详细的描述已经示出、描述并指出了应用于各种实施方式的新颖特征，但可以理解的是，在不背离本公开的精神下，可以在地面接触感测系统——包括传感器部件、逻辑块、逻辑模块以及示出的逻辑过程——的形式上和细节上做出各种省略、替换及改变。如可以意识到的，本文中所描述的系统的某些实施方式可以在没有提供本文中所阐述的所有特征和益处的形式下来实施，原因在于一些特征可以与其他特征单独地使用或实施。此外，即使本文中未明确地论述，但是结合一个实施方式所描述的特征仍可以并入到所公开的实施方式中的另一实施方式中，并且具有这些特征的组合的假体装置仍然落入本发明的范围内。

Claims (41)

1.一种假足，包括：
附接构件，所述附接构件包括构造成将所述附接构件连接至用户或另一假体装置的连接件；以及
两个或更多个挠性构件，所述两个或更多个挠性构件通过可旋转连接部连接至所述附接构件，使得在所述假足接触地面时所述挠性构件相对于所述附接构件既能够旋转又能够挠曲。
2.根据权利要求1所述的假足，其中，所述挠性构件中的至少一个挠性构件的至少一部分位于至少两个可旋转接头之间。
3.根据权利要求1和2中的任一项所述的假足，其中，所述挠性构件包括足板。
4.根据权利要求1所述的假足，其中，所述两个或更多个挠性构件中的至少两个挠性构件沿着所述假足的足部附接至彼此。
5.根据权利要求4所述的假足，其中，沿着足部附接的所述至少两个挠性构件在可调节位置处附接。
6.根据权利要求5所述的假足，其中，沿着足部附接的所述至少两个挠性构件包括构造成接纳紧固件的槽。
7.根据权利要求6所述的假足，其中，所述紧固件包括螺栓和螺母。
8.根据权利要求7所述的假足，其中，所述紧固件和所述槽构造成使得所述紧固件能够定位在沿着所述槽的长度的多种位置处以改变所述至少两个挠性构件之间的附接位置，由此改变所述假足的刚度。
9.根据前述权利要求中的任一项所述的假足，其中，所述挠性构件中的至少一个挠性构件包括C状部。
10.根据权利要求9所述的假足，其中，所述C状部包括面向前的开口。
11.根据权利要求9所述的假足，其中，所述C状部包括面向后的开口。
12.根据权利要求1所述的假足，包括三个或更多个挠性构件。
13.根据权利要求1所述的假足，其中，所述挠性构件中的至少一个挠性构件通过致动器以可旋转的方式连接至所述附接构件，使得所述至少一个挠性构件与所述致动器串联。
14.根据权利要求13所述的假足，其中，所述致动器为有源致动器。
15.根据权利要求13所述的假足，其中，所述挠性构件中的至少一个挠性构件与所述致动器并联地设置。
16.根据权利要求12所述的假足，其中，所述致动器构造成伸出或缩回以调节所述两个或更多个挠性构件中的至少两个挠性构件之间的空间。
17.根据权利要求16所述的假足，其中，所述空间的调节导致至少一个挠性构件的挠性和阻力的改变。
18.根据权利要求1所述的假足，还包括足跟挠性构件，所述足跟挠性构件附接至所述两个或更多个挠性构件的底部部分并且延伸到所述假足的足跟区域中。
19.根据权利要求1所述的假足，其中，所述连接件包括角锥形连接件。
20.一种假足，包括：
附接构件，所述附接构件包括构造成将所述附接构件连接至用户或另一假体装置的连接件；
致动器，所述致动器连接至所述附接构件；
一个或更多个挠性构件，所述一个或更多个挠性构件相对于所述附接构件串联地连接至所述致动器，所述一个或更多个挠性构件背离所述致动器延伸至所述假足的足部并且能够沿着所述一个或更多个挠性构件的长度相对于另一构件充分地移动；以及
可变刚度控制构件，所述可变刚度控制构件构造成调节所述假足的所述一个或更多个挠性构件的杆臂的长度。
21.根据权利要求20所述的假足，其中，所述另一构件为挠性构件。
22.根据权利要求20和21中的任一项所述的假足，其中，所述另一构件延伸至所述假足的足部。
23.根据权利要求20所述的假足，其中，所述可变刚度控制构件为可调节固定构件，所述可调节固定构件构造成将所述一个或更多个挠性构件在沿着所述一个或更多个挠性构件的长度的多个位置处固定至所述另一构件以改变所述一个或更多个挠性构件的挠性。
24.根据权利要求20至23中的任一项所述的假足，其中，所述杆臂沿着所述假足的足部设置。
25.一种假足，包括：
一个或更多个挠性足板，所述一个或更多个挠性足板构造成沿其长度弯曲；
附接构件，所述附接构件包括构造成将所述附接构件连接至用户或另一假体装置的连接件；以及
用于在使用之前或使用期间通过改变所述挠性足板中的一个或更多个挠性足板的弯曲长度来改变所述假足的刚度的装置。
26.根据权利要求25所述的假足，其中，所述装置自动地改变所述假足的刚度。
27.一种假足，包括：
至少一个长形足构件；以及
附接构件，所述附接构件包括构造成将所述附接构件连接至用户或另一假体装置的连接件，
其中，所述附接接合件经由至少两个可枢转接头连接至所述至少一个长形足构件，其中，所述至少两个可枢转接头之间延伸有至少一个弹性元件。
28.根据权利要求27所述的假足，其中，所述弹性元件构造成在所述假足接触地面时允许所述至少一个长形足构件相对于所述附接构件弯曲并旋转。
29.根据权利要求27和28中的任一项所述的假足，其中，所述一个或更多个弹性元件包括两个弹性元件。
30.根据权利要求27所述的假足，还包括致动器，所述致动器以可枢转的方式联接至所述附接构件和所述至少一个长形足构件。
31.根据权利要求30所述的假足，其中，所述至少一个弹性元件构造成与所述致动器并联地弯曲。
32.根据权利要求30所述的假足，其中，所述致动器设置在所述假足的前部部分中且在所述一个或更多个弹性元件的至少一部分的前面。
33.根据权利要求30所述的假足，其中，所述致动器设置在所述假足的后部部分中且在所述一个或更多个弹性元件的至少一部分的后面。
34.根据权利要求27所述的假足，还包括刚度控制构件，所述刚度控制构件构造成改变所述一个或更多个弹性元件中的至少一个弹性元件的杆臂的长度，由此改变所述假足的刚度。
35.根据权利要求34所述的假足，其中，所述刚度控制构件包括紧固件，所述紧固件构造成联接所述至少一个弹性元件或所述长形足构件，所述紧固件能够以可调节的方式移动至沿着纵向缝的多个位置，由此改变长形足板或者所述一个或更多个弹性元件中的所述至少一个弹性元件的所述杆臂的长度的长度。
36.根据权利要求34所述的假足，其中，所述刚度控制构件包括插入件，所述插入件能够定位在所述一个或更多个弹性元件中的至少两个弹性元件或长形足板之间，所述插入件的位置能够进行调节以改变所述两个弹性元件之间的间隙，由此改变所述假足的刚度。
37.根据权利要求27所述的假足，其中，所述至少一个长形足构件构造成沿着其长度弯曲。
38.根据权利要求27所述的假足，其中，所述至少一个弹性元件包括C状部，所述C状部限定了面向所述假足的后端的凹形表面，所述至少一个弹性元件附接至所述至少一个长形足构件。
39.根据权利要求38所述的假足，还包括致动器，所述致动器安装在所述附接构件与足板之间。
40.根据权利要求38和39中的任一项所述的假足，其中，所述足板与所述至少一个弹性构件附接的位置是能够调节的，从而对所述弹性构件和所述足板的挠性和阻力进行调节。
41.根据权利要求38至40中的任一项所述的假足，还包括：
张紧构件，所述张紧构件附接至所述附接构件；以及
刚度控制构件，所述刚度控制构件构造成将所述弹性构件在一个或更多个可变位置处固定至所述张紧构件，从而允许所述弹性构件的可变挠性和阻力。
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