EP3302393A1 - Lower limb articulation for bipedal locomotion - Google Patents
Lower limb articulation for bipedal locomotionInfo
- Publication number
- EP3302393A1 EP3302393A1 EP16733636.1A EP16733636A EP3302393A1 EP 3302393 A1 EP3302393 A1 EP 3302393A1 EP 16733636 A EP16733636 A EP 16733636A EP 3302393 A1 EP3302393 A1 EP 3302393A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- lower limb
- articulation
- elements
- joint
- connecting means
- 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.)
- Withdrawn
Links
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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
- A61F2/642—Polycentric joints, without longitudinal rotation
- A61F2/644—Polycentric joints, without longitudinal rotation of the single-bar or multi-bar linkage type
-
- 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
- A61F2/64—Knee joints
- A61F2/642—Polycentric joints, without longitudinal rotation
- A61F2/646—Polycentric joints, without longitudinal rotation of the pin-guiding groove linkage type
-
- 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
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0127—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the feet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- A61F2002/608—Upper legs
-
- 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
- A61F2/68—Operating or control means
- A61F2002/6854—Operating or control means for locking or unlocking a joint
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0137—Additional features of the articulation with two parallel pivots
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0146—Additional features of the articulation combining rotational and sliding movements, e.g. simulating movements of a natural joint
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0158—Additional features of the articulation with locking means
- A61F2005/0162—Additional features of the articulation with locking means when weight is applied
Definitions
- the invention relates to a lower limb joint for bipedal locomotion, in particular for a robot or to act as an orthosis for a patient.
- the locomotion of this type of robot is devoid of blocking phase, for example of the knee joint, by, among other things, the nature of the motor primitives used excluding any singularities. As a result, it follows that the supporting leg is constantly flexed, implying a very high engine torque in the motorization of one joint.
- exoskeletons that make it possible to compensate for the muscle weaknesses of certain patients and whose joints are based on the previous principles of the single pivot link, are bulky equipment, limited in energy and topographic autonomy. Moreover, these exoskeletons are expensive.
- An object of the invention is to provide a lower limb joint for biped locomotion which is simple, compact and effective regardless of the walking surface.
- a lower limb joint for biped locomotion comprising a first element, a second element and articulation means of the first and second elements relative to each other , the articulation means comprising a hinge mechanism comprising first and second connecting means connected in series, and means for guiding and locking in position of one of the first and second elements relative to the other.
- first and second elements when the lower member bears on a surface, the locking means in position having a potential well.
- the hinge according to the invention has at least one of the following additional technical characteristics:
- the first and second connecting means are pivot connection means, pivot axis orthogonal to a sagittal plane of the lower member, mounted at a distance from one another;
- the first connecting means is a pivot connection means, pivot axis orthogonal to a sagittal plane of the lower limb, and the second connecting means is a slide connection means in a direction parallel to the sagittal plane of the lower limb;
- one of the first and second articulation means comprises a system for limiting a deflection
- the other of the first and second connecting means comprises a system for limiting a travel
- the guiding and locking means comprise a means forming a cradle integral with one of the first and second elements and arranged to cooperate with a free end of the other of the first and second elements;
- the guiding and locking means comprise a cam located on the free end of the other of the first and second elements and arranged so as to bear against a surface of the cradle;
- the cam comprises a roller mounted free to rotate on the free end of the other of the first and second elements;
- the cradle means comprises an opening generally of "V” or “U” shape in a sagittal plane of the lower limb;
- the joint is a knee or ankle joint.
- a lower limb orthosis comprising at least one lower limb joint having at least one of the above characteristics.
- FIGS. 1a and 1b are schematic diagrams of a first embodiment of the lower limb articulation according to the invention.
- FIG. 2 is a partial three-dimensional view of a first embodiment, at the knee, of the embodiment of the invention of FIGS. 1a and 1b;
- FIG. 3 is a partial three-dimensional view of a second application, at the ankle, of the embodiment of the invention of FIGS. 1a and 1b;
- FIG. 4 is a partial three-dimensional view of a lower limb equipped with the joints of FIGS. 2 and 3;
- FIGS. 5a and 5b are schematic diagrams of a second embodiment of the lower limb articulation according to the invention.
- FIG. 6 is a partial three-dimensional view of an application of the embodiment of the invention of FIGS. 5a and 5b; and,
- FIGS. 7a to d are diagrams illustrating a biped walking cycle with lower limb joints according to the invention.
- the lower limb joint 1 comprises a first element 2, which may be, in the context of a lower limb, the equivalent of the femur or foot, and a second element 3, which may be in the case of a lower limb, the equivalent of the tibia / fibula.
- the lower limb joint 1 according to the invention comprises articulation means 4, 5, 6, 7, 8 of these first 2 and second 3 elements relative to each other.
- the articulation means 4, 5, 6, 7, 8 comprise a hinge mechanism 6, 7, 8.
- the hinge mechanism 6, 7, 8 comprises a first connecting means 7 and a second connecting means 8
- the first connecting means 7 is here pivot connecting means including a pivot axis is orthogonal to a sagittal plane of the lower limb having the lower limb articulation 1 according to the invention.
- the first pivot connecting means 7 is positioned between an arm 22 of the first element 2, the arm 22 extending in the sagittal plane from one end 21 of the element 2 and back, here, of the limb articulation. 1 of the invention, and an end of a connecting rod 6.
- the second connecting means 8 is here pivot connecting means including a pivot axis is orthogonal to a sagittal plane of the lower limb having the lower limb articulation 1 according to the invention.
- the second connecting means 8 pivot is positioned, meanwhile, between another end of the link 6 and the element 3, at one end 31 of this element 3.
- the first 7 and second 8 connecting means pivot are connected in series with respect to each other, and at a distance from each other, their pivot axes being parallel to one another. This allows for a hinge mechanism that has two degrees of freedom.
- the hinge means 4,5,6,7,8 comprise means for guiding and locking 4,5 of one 2 of the first 2 and second 3 elements relative to the other 3 , first 2 and second 3 elements when the lower limb comprising the lower limb articulation 1 according to the invention bears on a walking surface, as will be explained later.
- the guiding and locking means 4,5 comprise cradle means 5.
- This cradle means 5 is here secured to the end 21 of the first element 2. It comprises an opening generally of "V” or “U” shape ", Here returned to the figures la and lb.
- the opening is in the sagittal plane of the lower limb including the lower limb joint 1 according to the invention.
- Said opening has an inner guide surface 51 which comprises a portion 52 forming a bottom.
- the cradle means 5 is arranged to cooperate with the end 31 of the second element 3.
- the end 31 is free.
- the guiding and locking means 4,5 comprise a cam 4 positioned on the end 31 of the second element 3.
- this cam 4 is intended to bear on the inner surface 51 of the guiding of the cradle means 5 and to slide along this surface towards the bottom forming portion 52.
- the cam 4 comprises a roller mounted free to rotate on the end 31 of the second element 3.
- the roller may be a ball bearing, for example.
- FIG. la is illustrated a situation where the lower limb comprising the lower limb articulation 1 according to the invention is not supported on a walking surface.
- the second element 3 is then free and its end 31 is not necessarily in contact with the inner guide surface 51 of the cradle means 5, in particular with a portion of the inner guide surface 51 located on one of the branches of the overall shape in "V" or "U” of the opening.
- the cradle means 5 may be arranged to limit an amplitude of movement in this situation.
- Figure lb is illustrated a situation where the lower limb comprising the lower limb joint 1 according to the invention bears on the walking surface.
- the weight of the body which is transmitted by the first element 2 of the lower limb articulation 1 according to the invention causes a contact between the end 31 of the second element 3, via the cam 4, and the inner surface for guiding the cradle means 5. Consequently, the inner guide surface 51 serves as a guide for the end 31 of the second element 3 and the lower limb articulation 1 according to the invention is stretched, driven by the force exercised by the weight of the body under the effect of gravity.
- This bottom portion 52 corresponds to a potential well for the lower limb articulation 1 according to the invention.
- the contact between the cam 4 and the inner guide surface 51 of the cradle means allows the transmission of a force due to gravity in a direction orthogonal to a tangent to the inner guide surface 51, at the 4. It is this force thus generated which drives the lower limb articulation 1 according to the invention in the locking position as illustrated in FIG. 1b.
- the only force induced by gravity is sufficient to bring the lower limb joint 1 according to the invention of a flexed position ( Figure la) to a locking position ( Figure lb). Consequently, this change of position induces a horizontal displacement in the direction of travel (and therefore towards the front) of an end, opposite the end 21, referred to as the top of the first element 2.
- the locking position of the lower limb articulation 1 according to the invention provided by the positioning of the cam 4 against the bottom portion 52 of the cradle means 5, operates independently of an initial amplitude of a flexion of the lower limb comprising the lower limb joint 1 according to the invention.
- the lower limb joint 1 according to the invention operates regardless of the irregularities of the walking surface.
- FIG. 2 there is illustrated a knee joint 10 according to the invention.
- the first element 12 corresponds to the femur and the second element 13 to the tibia / fibula.
- the end 121 of the femur 12 integrally comprises the cradle 15 comprising an opening having an inner guide surface 151 and a bottom portion 152.
- the tibia / fibula has a free end 131 on which is mounted free to rotate a roller / cam 14.
- the articulation mechanism of the knee joint 10 according to the invention comprises the two pivot connection means 17 and 18 similar to the pivot connection means 7 and 8 above.
- the first pivot connecting means 17 is between an arm 122 of the femur 12, the arm 122 extending in the sagittal plane from the end 121 of the femur 12 and back, here, of the knee joint 10 according to the invention, and an end of a link 16.
- the second pivot connecting means 18 is positioned, as to it, between another end of the rod 16 and the tibia / fibula 13, at the end 131.
- the knee joint 10 comprises a system for limiting a deflection 20.
- the system for limiting a deflection 20 is in the form of a bar comprising an oblong slot 23 on a first part.
- the bar is pivotally mounted 21 on the tibia / fibula 13 (for the pivot connection means 18) and / or on the arm 122 (for the pivot connection means 17).
- the bar is mounted on the other part of the pivot connection means 17, 18, sliding along the oblong slot 23, via a pin 22 sliding in this oblong slot 23.
- the pin 23 is positioned here on the rod 116 , in both cases.
- the system for limiting a deflection comprises adjustment means 24,25 for a stroke of the pin 22 in the oblong slot 23.
- the adjustment means 24, 25 are in the form of a set screw.
- FIG 3 is shown a second application of the first embodiment of a lower limb articulation 1 according to the invention described above.
- This is, here, an ankle joint 30 according to the invention.
- the first element 32 corresponds to the foot, while the second element 13 is still the tibia / fibula.
- the foot 32 includes an end 321 comprising the cradle means 35 having the inner guide surface 351 similar to the inner guide surfaces 51 and 151 previously described.
- a second end 132 of the tibia / fibula 13 comprises one (e) roller / cam 34 mounted freely rotatable which cooperates with the cradle means 35.
- the hinge mechanism comprises two pivot connecting means 37,38 separated by a link 36 and which is similar to the hinge mechanisms 6, Previous 7.8 and 16.17.17.
- the ankle joint 30 comprises, here, a single system for limiting a deflection 20 associated with pivot connection means 37.
- FIG. 4 is illustrated a lower limb equipped with a knee joint 10 according to the invention and an ankle joint 30 according to the invention.
- the hinge mechanism 9,91 comprises a first connecting means 91 and a second connecting means 9.
- the first connecting means 91 is a pivot pivot connection means orthogonal to the sagittal plane of the lower limb having the lower limb joint 100 according to the invention.
- the first connecting means 91 pivot is between the end 31 of the second element 3 and one end of a slide body 99.
- the second connecting means 9 is a sliding connection means in a direction parallel to the sagittal plane of the lower limb comprising the lower limb joint 100 according to the invention.
- the second slide connection means 9 is between the end 21 of the first element 2 and the slide body 99: the end 21 can slide in translation in the slide body 99.
- the first 91 and second 9 means of link are connected in series with each other.
- the operation of the lower limb joint 100 according to the invention is identical to that of the lower limb articulation 1 according to the invention of the first embodiment described above.
- FIG 6 is shown an application of the articulation mechanism 9,91 of the lower limb joint 100 according to the invention.
- the slider body 99 has two flanks 92, 93 extending one opposite the other at a distance from each other. At a free end, lower in the figure, the flanks 92, 93 comprise the first pivot connection means 91 with the second element 3.
- the slide body 99 comprises two spacers 94, 95 '. extending opposite one another and at a distance from each other. These spacers 94,95 are fixed on the sides of the flanks 92, 93 and determine therewith a volume in which are positioned pads 96 which then surround a sliding rod of the first element 2.
- This rod carries the end 21 on which is fixed the cradle means 5 not shown in Figure 6.
- These pads 96 are arranged to allow sliding of the rod in the slide body in a longitudinal direction of this rod. This achieves the second slide link means. The end 21 can then move in translation between the flanks 92, 93 opposite their lower parts in the figure.
- This structure makes it possible to integrate in a manner a system for limiting a clearance of the second sliding connection means 9: the deflection is limited upwards in the figure by the bearing of the end 21 carrying the cradle means 5 on the spacers 94, 95 and down by the contact between the cradle means 5 and the (the) roller / cam 4 of the second element 3.
- phase 1 Figure 7a
- the support of the body is transferred from the lower lower limb (in dashed lines) to the front lower limb (in solid lines). It is during this phase that energy is supplied to the system by pushing on the rear pin 30 '. Note that in humans, this thrust is provided by the calf muscle, resting on the toes.
- the front peg 30 is placed on the ground S and its hinge 30 according to the invention is in blocking phase as previously described.
- phase 2 (FIG. 7b), the thrust of the ankle 30 'stops and the lower lower limb is no longer supported. Its knee joints 10 'and ankle 30' are released (a situation then similar to that of FIGS. 1a and 4a according to the embodiment of the articulations 10 'and 30' according to the invention) and the lower lower limb takes a position inflected, for example by means of return springs which can be provided for this purpose at the level of first and second connecting means of the articulation mechanism of the joints 10 'and 30' according to the invention. Alternatively, this last movement can also be produced by motors. Note that in this case, the engines in question move while the lower limb is not supported and, therefore, require only a low torque and a reduced size.
- the lower front member continues its blocking process by locking its knee joint 10, and without using a driving force other than that due to gravity acting on the body.
- phase 4 (Figure 7d) the lower support member (solid lines) is unbalanced forward, rolling on the end of the foot 32, under the action of movement and inertia of the body.
- the foot 32 'of the other lower limb (dotted lines) is placed on the ground S. Note that the shock resulting from this contact is transmitted to a lesser extent to the rest of the body because of the free nature of the joints of ankle 30 'and knee 10'.
- the cycle then starts again in phase 1.
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1554774A FR3036613A1 (en) | 2015-05-27 | 2015-05-27 | LOWER MEMBER JOINT FOR BIPEDE LOCOMOTION |
PCT/FR2016/051243 WO2016189253A1 (en) | 2015-05-27 | 2016-05-26 | Lower limb articulation for bipedal locomotion |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3302393A1 true EP3302393A1 (en) | 2018-04-11 |
Family
ID=54329632
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16733636.1A Withdrawn EP3302393A1 (en) | 2015-05-27 | 2016-05-26 | Lower limb articulation for bipedal locomotion |
Country Status (6)
Country | Link |
---|---|
US (1) | US20180147073A1 (en) |
EP (1) | EP3302393A1 (en) |
CN (1) | CN108135769A (en) |
FR (1) | FR3036613A1 (en) |
MA (1) | MA43102A (en) |
WO (1) | WO2016189253A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10548801B2 (en) * | 2017-02-16 | 2020-02-04 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
CN108420574B (en) * | 2017-11-27 | 2019-12-20 | 华中科技大学 | Variable-stiffness energy storage mechanism applied to ankle foot prosthesis |
US12070398B2 (en) | 2018-08-28 | 2024-08-27 | University Of Utah Research Foundation | Variable transmission for assistive prosthesis device |
JP2023518787A (en) | 2020-03-20 | 2023-05-08 | ユニバーシティ オブ ユタ リサーチ ファウンデーション | Self-aligning mechanisms in passive and powered exoskeletons |
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FR836388A (en) * | 1937-04-10 | 1939-01-17 | Knee joint for artificial legs | |
US2632440A (en) * | 1947-12-17 | 1953-03-24 | John M Hauser | Leg brace joint and lock |
GB8801278D0 (en) * | 1988-01-21 | 1988-02-17 | Hanger & Co Ltd J E | Knee prosthesis |
CN2172099Y (en) * | 1993-07-19 | 1994-07-20 | 杨世光 | Artificial knee joint |
DE10351916A1 (en) * | 2003-11-07 | 2005-06-09 | Otto Bock Austria Ges.M.B.H. | Artificial knee joint |
US7087090B2 (en) * | 2003-11-19 | 2006-08-08 | Bloorview Macmillan Centre | Artificial knee joint |
CN202051864U (en) * | 2011-04-26 | 2011-11-30 | 孙雁群 | Biomimetic knee pad support |
TWI547274B (en) * | 2013-08-10 | 2016-09-01 | 錩玄科技有限公司 | Portable human body brace system |
JP5935177B2 (en) * | 2013-09-02 | 2016-06-15 | 学校法人幾徳学園 | Foot mounting structure of joint motion assist device |
-
2015
- 2015-05-27 FR FR1554774A patent/FR3036613A1/en not_active Withdrawn
-
2016
- 2016-05-26 WO PCT/FR2016/051243 patent/WO2016189253A1/en active Application Filing
- 2016-05-26 CN CN201680041491.1A patent/CN108135769A/en active Pending
- 2016-05-26 MA MA043102A patent/MA43102A/en unknown
- 2016-05-26 US US15/577,282 patent/US20180147073A1/en not_active Abandoned
- 2016-05-26 EP EP16733636.1A patent/EP3302393A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
MA43102A (en) | 2018-09-05 |
US20180147073A1 (en) | 2018-05-31 |
FR3036613A1 (en) | 2016-12-02 |
CN108135769A (en) | 2018-06-08 |
WO2016189253A1 (en) | 2016-12-01 |
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