JP2003135542A - Knee-ankle-foot orthosis - Google Patents
Knee-ankle-foot orthosisInfo
- Publication number
- JP2003135542A JP2003135542A JP2001337366A JP2001337366A JP2003135542A JP 2003135542 A JP2003135542 A JP 2003135542A JP 2001337366 A JP2001337366 A JP 2001337366A JP 2001337366 A JP2001337366 A JP 2001337366A JP 2003135542 A JP2003135542 A JP 2003135542A
- Authority
- JP
- Japan
- Prior art keywords
- lower limb
- foot
- wire
- limb support
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、脊髄や頸椎を損傷
し下肢が麻痺したり筋機能を喪失した歩行障害者に自力
歩行手段を与えるための長下肢装具に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a long lower limb orthosis for providing a walking means for a walking handicapped person who has paralyzed lower limbs or has lost muscle function due to damage to the spinal cord or cervical spine.
【０００２】[0002]
【従来の技術】このような歩行補助装置として、特開平
６−１１４０８９号公報には、連動軸により左右の脚を
交互に振り出し後退させて左右の脚を互いに連動させる
交互歩行を可能とする装具が提案されている。また、こ
の公報には、遊脚時の脚が地面と干渉しないで振り出せ
るようにした支柱長可変機構や、足底（靴底）の形状を
股関節継ぎ手軸を中心とした円弧状の形状としたものが
開示されている。円弧状の形状としたのは、立脚相から
遊脚相に移る際に足底が地面に干渉しないようにするた
めである。また、特開平６−２８５１２５号公報には、
歩行補助装置の靴底をリンク機構により遊脚時に薄くな
るようにして遊脚相の脚の靴底が地面と干渉しないよう
にしたものが提案されている。さらに、特開平１１−０
４２２５９号公報には、内側股継ぎ手により連接された
下肢支柱を有する長下肢装具が提案されている。この装
具は腰部の部材が無いため車椅子との併用が可能となっ
ている。これらの長下肢装具は、歩行時には膝関節を固
定し、股関節を屈伸させて左右の長下肢を交互に前後さ
せ交互歩行を行うものである。2. Description of the Related Art As such a walking assist device, Japanese Patent Laid-Open No. 6-114089 discloses an orthosis capable of alternating walking in which the left and right legs are alternately extended and retracted by an interlocking shaft so that the left and right legs are interlocked with each other. Is proposed. In addition, in this publication, a strut length varying mechanism that allows the swinging leg to swing out without interfering with the ground, and the shape of the sole (shoe sole) are arc-shaped with the hip joint joint axis as the center. What has been done is disclosed. The arcuate shape is used to prevent the sole of the foot from interfering with the ground when shifting from the standing phase to the swing phase. Further, in Japanese Patent Laid-Open No. 6-285125,
It has been proposed that the walking assist device has a shoe sole that is thinned by a link mechanism during a swing to prevent the shoe sole of the leg in the swing phase from interfering with the ground. Furthermore, JP-A-11-0
Japanese Patent No. 42259 proposes a long leg orthosis having a leg support column connected by an inner hip joint. Since this brace does not have a waist member, it can be used in combination with a wheelchair. In these long leg orthoses, the knee joint is fixed during walking, and the hip joint is bent and extended so that the left and right long leg are alternately moved back and forth to perform alternating walking.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記従
来の長下肢装具はいずれも、足関節（くるぶしの関節）
が固定されており、下肢支柱と足部が一体となって動く
ものであった。図７は、従来の長下肢装具での歩行を示
す側面図、図８は、模式図である。各図においてＡ，
Ｂ，Ｃ、Ｄは図８のＡ，Ｂ，Ｃ，Ｄに対応している。図
８（Ａ）に示す立位では左右の下肢が並び足底が地面Ｇ
Ｌに着いており、何ら問題はない。図７（Ｂ）、図８
（Ｂ）は右下肢を前方に振り出し遊脚とした状態であ
る。このとき、右足のかかとが地面ＧＬと干渉しないよ
うにするため、腰を傾けたり、上記公報に示されている
ように遊脚となる右下肢の支柱長を短くすることが必要
である。また、下肢の振り出しには体重の移動と腰を回
転させることで行っている。However, all of the above-mentioned conventional orthosis of the lower limbs are ankle joints (ankle joints).
Was fixed, and the lower limb brace and foot moved together. FIG. 7 is a side view showing walking with a conventional orthosis for lower limbs, and FIG. 8 is a schematic view. A in each figure
B, C, and D correspond to A, B, C, and D in FIG. In the standing position shown in FIG. 8A, the left and right lower limbs are aligned and the sole of the foot is on the ground G.
I've arrived at L and have no problems. 7 (B) and 8
(B) shows a state in which the right lower limb is swung forward and used as a free leg. At this time, in order to prevent the heel of the right foot from interfering with the ground GL, it is necessary to tilt the waist or shorten the column length of the right lower limb to be the free leg as described in the above publication. In addition, the lowering of the lower limbs is performed by moving the weight and rotating the waist.
【０００４】図７（Ｃ）、図８（Ｃ）は体重を前方に移
動し、前方に振り出した右下肢の足が接地した瞬間であ
る。ここでは、右足のかかとが接地し左足のつま先が接
地している。ここで注意したいのは、足関節が固定され
ているため、右足のかかとが接地した瞬間だけではなく
（Ｂ）の状態から左下肢を立脚として体重を前に移動さ
せている間は左足のつま先だけで接地していることにな
ることである。図７（Ｄ）、図８（Ｄ）はさらに体重を
前方に移動し、右下肢を立脚とし左下肢を遊脚とした状
態を示している。図の状態では右足底がすべて地面に接
しているが、（Ｃ）の状態から（Ｄ）の状態に移る間は
右足のかかとだけで接地していることになる。（Ｄ）の
状態からさらに体重を前方に移動したり腰を回転させる
と、遊脚となった左下肢が前方に振り出され、（Ｂ）の
左右の下肢を逆にした状態となる。この間は，立脚とな
った右足で接地していることになる。また、遊脚となっ
た左足を前方に振り出すには腰の回転が必要である。体
重の移動をすると右足のつま先で接地することになる。FIG. 7C and FIG. 8C are the moments when the body weight is moved forward and the leg of the right lower limb swung forward is in contact with the ground. Here, the heel of the right foot is in contact with the ground and the toe of the left foot is in contact with the ground. It should be noted here that the ankle joint is fixed, so not only at the moment the heel of the right foot touches down, but also when the weight is moved forward from the state of (B) with the left lower limb as the stance leg. It means that you are just grounding. FIG. 7D and FIG. 8D show a state in which the weight is further moved forward and the right lower leg is the standing leg and the left lower leg is the swing leg. In the state of the figure, the right sole is all in contact with the ground, but during the transition from the state of (C) to the state of (D), only the heel of the right foot is in contact with the ground. When the weight is further moved forward or the hip is rotated from the state of (D), the left lower limb that has become the swing leg is swung forward, and the left and right lower limbs of (B) are reversed. During this time, it means that the right foot, which has become a standing foot, is in contact with the ground. In addition, rotation of the waist is required to swing out the left leg that has become the swing leg forward. When you move your weight, you will touch the ground with your toes.
【０００５】上記のように従来の長下肢装具は、足関節
が固定されているため、両脚を平行にそろえて接地して
いるとき以外は足底は地面ＧＬと平行でなくなる。つま
り、下肢の振り出しにより足底は地面ＧＬと平行でなく
なり、足底の一部でのみ接地するだけになるため安定性
に欠けるという問題点があった。前記特開平６−１１４
０８９号公報には足底を円弧状にしたものが開示されて
いるが、足底の一部でのみ接地するため不安定になると
いう点では同じである。このため、歩幅を大きくとれば
接地角度はより大きくなり不安定さが増す。このことが
患者が歩幅を大きくとれない一因となっていた。患者は
転倒を避けるため、できるだけ腰骨盤を回旋させて装具
の足底が平行に近くなるよう動作しなければならなかっ
た。このため、どうしても歩行動作が不自然になり、歩
容が悪くなり、効率も悪くなるという問題点があった。
また、下肢の振り出し機構が無いため、遊脚相にある下
肢を前方に振り出すには体重の移動だけではなく腰を回
転させることが必要であった。このことも患者に負担を
かけ歩容を悪くする原因となっていた。As described above, since the ankle joint is fixed in the conventional long leg orthosis, the sole of the foot is not parallel to the ground GL except when the both legs are aligned and grounded. In other words, there is a problem in that the bottom of the foot is not parallel to the ground GL due to the swinging out of the lower limbs, and only part of the bottom of the foot is in contact with the ground, resulting in poor stability. JP-A-6-114
Japanese Patent No. 089 discloses an arc-shaped foot sole, but it is the same in that it becomes unstable because only part of the foot touches the ground. Therefore, if the stride is increased, the contact angle is increased and the instability is increased. This is one of the reasons why patients cannot take a long stride. To avoid falls, the patient had to rotate the hip pelvis as much as possible to move the brace's soles close to parallel. Therefore, there is a problem that the walking motion becomes unnatural, the gait becomes poor, and the efficiency becomes poor.
Moreover, since there is no lower limb swing-out mechanism, not only the shift of weight but also the rotation of the waist was required to swing forward the lower limb in the swing phase. This also causes a burden on the patient and deteriorates gait.
【０００６】健常な人間は、歩行の立脚期において足関
節が底屈した状態で接地し、体重が前方に移動するに伴
って底屈から徐々に背屈し、足底面が常に地面ＧＬに平
行になって足底面の全体が地面に接地するように関節を
運動させ歩行している。[0006] A healthy person touches the ground in a state where the ankle joint is flexed during the stance phase of walking, and gradually flexes from plantar flexion to dorsiflexion as the weight moves forward, and the plantar surface is always parallel to the ground GL. I am walking with my joints moving so that the entire bottom of my feet touches the ground.
【０００７】そこで、本発明は、下肢の振り出しに比例
して足関節の底背屈が自動的に調節され、足底面が常に
地面と平行になるようにすると共に、一方の足のつま先
に体重を掛けると他方の下肢が自動的に前方に振り出さ
れる長下肢装具、つまり、足底面が地面と平行となると
共に下肢の振り出しが容易になり、その結果、歩行が安
定し転倒の危険が少なくなる長下肢装具を提供すること
を目的とする。Therefore, according to the present invention, the plantar dorsiflexion of the ankle joint is automatically adjusted in proportion to the extension of the lower limbs so that the sole of the foot is always parallel to the ground and the weight of one toe of one foot is adjusted. The other leg automatically swings forward when you hang it, that is, the bottom of the foot becomes parallel to the ground and the leg can easily swing out, resulting in stable walking and less risk of falling. It is an object of the present invention to provide a long leg brace.
【０００８】[0008]
【課題を解決するための手段】上記の目的を達成するた
め、本発明のうち第１の実施態様の発明は、股関節を有
する左右の下肢支持体及びその下肢支持体に接続された
足部を備える長下肢装具であって、前記下肢支持体と足
部とを揺動可能に結合する足関節と、右の足部の足関節
よりかかと側の箇所と左の下肢支持体の股関節近傍の箇
所とを可撓に連結し右下肢支持体に保持された右足左下
肢連結手段と、左の足部の足関節よりかかと側の箇所と
右の下肢支持体の股関節近傍の箇所とを可撓に連結し左
下肢支持体に保持された左足右下肢連結手段と、左右の
足部の足関節よりつま先側の箇所を互いに可撓に連結し
左右の下肢支持体に保持されたつま先連結手段と、を備
えることを特徴とする。ここで、連結手段とは、一方の
部材の動きを他方の部材の動きとして他方の部材に伝え
るための手段のすべてをいう。In order to achieve the above-mentioned object, the invention of the first embodiment of the present invention comprises a left and right lower limb support having a hip joint and a foot portion connected to the lower limb support. A long lower limb orthosis comprising, an ankle joint swingably connecting the lower limb support and the foot, a location on the heel side of the ankle joint of the right foot and a location near the hip joint of the left lower limb support The right lower left limb connecting means that is flexibly connected to the right lower limb support and the left foot lower limb connecting means, the part on the heel side of the left foot ankle joint and the part on the right lower limb support near the hip joint are made flexible. Left foot right lower limb connecting means connected and held on the left lower limb support, and toe connecting means held on the left and right lower limb supports by flexibly connecting the parts on the toe side of the ankle joints of the left and right feet to each other, It is characterized by including. Here, the connecting means means all means for transmitting the movement of one member to the other member as the movement of the other member.
【０００９】たとえば、図１、図２に例示するように、
連結手段としてワイヤーを用いることができる。このと
き、前記各連結手段が、ワイヤー３２、３４、３６で構
成されており、前記右足左下肢連結手段が、ワイヤー３
４の一端が右足２６のかかと２７に固定され、ワイヤー
３４の他端が股関節４０を回転中心として左下肢支持体
１０（１１）と一体に回転する左下肢プーリー４２に巻
回され、そのワイヤー３４が右下肢支持体２０に保持さ
れている構成を備え、前記左足右下肢連結手段が、ワイ
ヤー３２の一端が左足１６のかかと１７に固定され、ワ
イヤー３２の他端が股関節４０を回転中心として右下肢
支持体２０（２１）と一体に回転する右下肢プーリー４
１に巻回され、そのワイヤー３２が左下肢支持体１０に
保持されている構成を備え、前記つま先連結手段が、ワ
イヤー３６の両端がそれぞれ左右の足部１６、２６のつ
ま先側に固定され、そのワイヤー３６の両端付近がそれ
ぞれ左右の下肢支持体１０（１２）、２０（２２）に保
持されている構成を備えている、ことを特徴とする。For example, as illustrated in FIGS. 1 and 2,
A wire can be used as the connecting means. At this time, each of the connecting means is composed of the wires 32, 34, 36, and the connecting means of the right lower left leg is the wire 3.
One end of the wire 4 is fixed to the heel 27 of the right foot 26, and the other end of the wire 34 is wound around the left lower limb pulley 42 that rotates integrally with the left lower limb support 10 (11) around the hip joint 40 as a rotation center. Is held on the right lower limb support 20, and the left foot right lower limb connecting means has one end of the wire 32 fixed to the heel 17 of the left foot 16, and the other end of the wire 32 is right about the hip joint 40 as the center of rotation. Right lower limb pulley 4 that rotates integrally with the lower limb support 20 (21)
1 has a configuration in which the wire 32 is held by the left lower limb support body 10, and the toe connecting means is such that both ends of the wire 36 are fixed to the toe side of the left and right foot portions 16 and 26, respectively. It is characterized in that both ends of the wire 36 are held by the left and right lower limb supports 10 (12) and 20 (22), respectively.
【００１０】このように形成すると、たとえば、右足２
６の足関節２５を背屈（つま先が上がるように曲げる）
すると右足左下肢連結手段のワイヤー３４が右足２６の
かかと２７に引っ張られ、左下肢プーリー４２を回転し
て左下肢支持体１０（１１）を前方に振り出す。左下肢
支持体１０（１１）が前方に振り出されるとそれだけ股
関節４０が開くことになり、左足右下肢連結手段のワイ
ヤー３２が右下肢プーリー４１に巻回されて左足右下肢
連結手段のワイヤー３２が右下肢プーリー４１に引っ張
られる。その結果、左足１６のかかと１７が引き上げら
れて左足１６が底屈（つま先が下がるように曲げる）す
る。左足１６の足関節１５を背屈したときの作動も左右
が逆になるだけで上記と基本的に同じであり、右下肢支
持体２０（２１）が前方に振り出され、右足２６が底屈
する。つま先連結手段は、一方の足部１６が底屈すると
ワイヤー３６が引っ張られて他方の足部２６を背屈さ
せ、左右の足部１６、２６が同時に底屈しないように作
用する。When formed in this way, for example, the right foot 2
Dorsal flexion of the 6th ankle joint 25 (bend so that the toes rise)
Then, the wire 34 of the right lower left leg connecting means is pulled by the heel 27 of the right leg 26, and the left lower leg pulley 42 is rotated to swing the left lower leg support 10 (11) forward. When the left lower limb support 10 (11) is swung out forward, the hip joint 40 is opened accordingly, and the wire 32 of the left lower right limb connecting means is wound around the right lower limb pulley 41 and the left foot right lower limb connecting means 32. Is pulled by the right lower limb pulley 41. As a result, the heel 17 of the left foot 16 is pulled up, and the left foot 16 flexes (bends so that the toes are lowered). The operation when the ankle joint 15 of the left foot 16 is dorsiflexed is basically the same as that described above except that the right and left sides are reversed. The right lower limb support 20 (21) is swung forward and the right foot 26 is flexed. . The toe connecting means acts so that when one of the foot portions 16 flexes, the wire 36 is pulled to dorsiflex the other foot portion 26, and the left and right foot portions 16 and 26 do not flex at the same time.
【００１１】したがって、各プーリー４１、４２の半径
とワイヤー３２、３４が取り付けられるかかと１７、２
７の位置から足関節１５、２５中心までの距離を同じに
しておけば、下肢支持体１０、２０を前に振ればその足
部が底屈し、後ろに振れば足部が背屈して、下肢支持体
１０、２０の振りの位置にかかわらず足底面を地面と平
行にすることができる。このため、立脚相にある下肢支
持体１０、２０はその足部１６、２６の足底面が絶えず
地面に接地していることになり、体重の支えを安定させ
ることができる。また、遊脚相から立脚相に移る瞬間の
下肢支持体１０、２０はその足部１６、２６の足底面が
地面と平行になっているから、かかと接地することな
く、足底面の全体で接地することができるから歩行が安
定する。Therefore, the radius of each pulley 41, 42 and the heels 17, 2 to which the wires 32, 34 are attached
If the distances from the position 7 to the centers of the ankle joints 15 and 25 are the same, if the lower limb supports 10 and 20 are swung forward, the legs will be flexed, and if they are swung backward, the legs will be dorsiflexed, It is possible to make the bottom of the foot parallel to the ground regardless of the position of swing of the supports 10 and 20. Therefore, the lower limb supports 10 and 20 in the stance phase are such that the bottoms of the feet 16 and 26 thereof are constantly in contact with the ground, and the weight support can be stabilized. In addition, since the bottoms of the legs 16 and 26 of the lower limb supports 10 and 20 at the moment of shifting from the swing phase to the stance phase are parallel to the ground, the entire bottom surface of the foot is grounded without contacting the heel. Because you can do it, walking is stable.
【００１２】さらに、後方に残って立脚相から遊脚相に
移行した下肢支持体１０を前方に振り出すのに腰の骨盤
を回転させて振り出さなくても、遊脚相から立脚相に移
行した他方の下肢支持体２０に体重を掛けて体重を前方
に移動させるだけで遊脚相の下肢支持体１０を前方に振
り出すことができる。すなわち、体重の移動にしたがっ
て立脚相の足部２６が底屈から背屈に移行するに伴っ
て、立脚相の足部２６のかかと２７に結合されたワイヤ
ー３４が引っ張られて遊脚相の下肢支持体１０の左下肢
プーリー４２が回転し、遊脚相の下肢支持体１０が前方
に振り出される。Further, even if the lower limb support 10 remaining in the rear and shifted from the stance phase to the swing phase is swung forward without swinging the hip pelvis to swing out, the swing phase shifts from the swing phase to the stance phase. The lower limb support 10 of the swing phase can be swung forward simply by applying the weight to the other lower limb support 20 and moving the weight forward. That is, as the foot portion 26 in the stance phase shifts from plantar flexion to dorsiflexion as the weight shifts, the wire 34 connected to the heel 27 of the foot portion 26 in the stance phase is pulled to lower the lower limbs of the swing phase. The left lower limb pulley 42 of the support 10 rotates, and the lower limb support 10 of the swing phase is swung forward.
【００１３】さらに、遊脚相の下肢支持体１０が後方か
ら前方に振り出されるときに、立脚相の右下肢プーリー
４１に遊脚相の足部１６のかかと１７に結合されたワイ
ヤー３２が引っ張られて遊脚相の足部１６の足関節１５
が背屈から底屈へと変化する。このため、遊脚相の足部
１６の足底は絶えず地面と平行になるようになるから、
遊脚相の足部１６のつま先やかかとが地面と干渉するお
それは少ない。したがって、遊脚相となった下肢支持体
１０を前方に振り出す際に遊脚相の足部１６つま先が地
面と干渉しないように腰の骨盤を不自然に捻る必要が無
くなる。Further, when the lower limb support 10 of the swing phase is swung forward from the rear, the wire 32 connected to the heel 17 of the foot 16 of the swing phase is pulled by the right lower limb pulley 41 of the stance phase. Ankle joint 15 of the foot 16 in the swing phase
Changes from dorsiflexion to plantar flexion. For this reason, the sole of the foot portion 16 in the swing phase constantly becomes parallel to the ground,
There is little risk that the toes and heels of the foot portion 16 in the swing phase will interfere with the ground. Therefore, it is not necessary to unnaturally twist the pelvis of the lower back so that the toe 16 of the foot 16 in the swing phase does not interfere with the ground when swinging the lower limb support 10 in the swing phase forward.
【００１４】つま先連結手段をなすワイヤー３６は、左
右の足部１６、２６のつま先をワイヤー３６で連結して
いるので左右の足部１６、２６が同時に底屈することを
防止する。つまり、左右の足部１６、２６は交互にのみ
底屈、背屈を繰り返すことができる。したがって、左右
の足部１６、２６のかかと１７、２７を他の下肢支持体
２０、１０に連結されたワイヤー３２、３４でそれぞれ
引っ張っているにもかかわらず、左右の足部１６、２６
が同時に底屈して患者が後方に倒れるおそれはない。Since the wire 36 forming the toe connecting means connects the toes of the left and right foot portions 16 and 26 with the wire 36, it prevents the left and right foot portions 16 and 26 from flexing at the same time. That is, the left and right foot portions 16 and 26 can repeat plantar flexion and dorsiflexion only alternately. Therefore, although the heels 17 and 27 of the left and right foot parts 16 and 26 are pulled by the wires 32 and 34 connected to the other lower limb supports 20 and 10, respectively, the left and right foot parts 16 and 26 are pulled.
At the same time, there is no risk of plantar buckling and the patient falling backwards.
【００１５】上記のように、本構成によれば、足部１
６、２６の足底面が絶えず地面と平行に制御されること
から、立脚相の足部２６の足底面全体で接地し立脚相の
下肢支持体２０が安定するという効果が、また、遊脚相
から立脚相に移行し体重を遊脚相であった下肢支持体１
０に移すときに遊脚相の足部１６の足底面全体で接地し
安定した体重の移行ができるという効果がある。また、
立脚相にある下肢支持体２０で体重を前に移動しその足
関節２５を底屈から背屈に向かわせることにより遊脚相
にある下肢支持体１０を自動的に前方に振り出すことが
できることから、体重の移動のみで遊脚相の下肢支持体
１０を振り出すことができるという効果がある。以上の
ことから、歩行が安定し、歩容も健常者に近い自然なも
のとなり、腰の回旋等の動作が殆ど不要になるため効率
が良くなるという効果を奏する。As described above, according to this configuration, the foot portion 1
Since the bottom surfaces of the feet of Nos. 6 and 26 are constantly controlled to be parallel to the ground, there is an effect that the entire foot bottom surface of the foot portion 26 in the stance phase is grounded and the lower limb support 20 of the stance phase is stable. From the stance phase to the stance phase and the weight was in the swing phase 1
When shifting to 0, there is an effect that the entire foot bottom surface of the foot portion 16 in the swing phase is grounded and a stable weight transfer can be performed. Also,
It is possible to automatically swing out the lower limb support 10 in the swing phase by moving the weight forward with the lower limb support 20 in the stance phase and moving the ankle joint 25 from plantar flexion to dorsiflexion. Therefore, there is an effect that the lower limb support 10 of the swing phase can be swung out only by moving the weight. From the above, the walking is stable, the gait becomes natural close to that of a healthy person, and movements such as the rotation of the waist are almost unnecessary, so that the efficiency is improved.
【００１６】また、たとえば、連結手段として油圧を用
いることができる。このとき、前記各連結手段が、油圧
ホースで構成され、前記右足左下肢連結手段が、油圧ホ
ースの一端に設けられたアクチュエータの出力ロッドが
右足のかかとに連結され、油圧ホースの他端に設けられ
たアクチュエータの出力ロッドが左下肢支持体の股関節
近傍と連結され、その油圧ホースの両端に設けられた各
アクチュエータが右下肢支持体に保持されている構成を
備え、前記左足右下肢連結手段が、油圧ホースの一端に
設けられたアクチュエータの出力ロッドが左足のかかと
に連結され、油圧ホースの他端に設けられたアクチュエ
ータの出力ロッドが右下肢支持体の股関節近傍と連結さ
れ、その油圧ホースの両端に設けられた各アクチュエー
タが左下肢支持体に保持されている構成を備え、前記つ
ま先連結手段が、油圧ホースの両端に設けられたアクチ
ュエータの出力ロッドがそれぞれ左右の足部のつま先側
に連結され、各アクチュエータがそれぞれ左右の下肢支
持体に保持されている構成を備えている、ことを特徴と
する。Further, for example, hydraulic pressure can be used as the connecting means. At this time, each of the connecting means is composed of a hydraulic hose, and the right foot and left lower limb connecting means is provided with an output rod of an actuator provided at one end of the hydraulic hose connected to the heel of the right foot and provided at the other end of the hydraulic hose. The actuator output rod is connected to the vicinity of the hip joint of the left lower limb support, and each actuator provided at both ends of the hydraulic hose is held by the right lower limb support, and the left foot right lower limb connecting means is provided. The output rod of the actuator provided at one end of the hydraulic hose is connected to the heel of the left foot, and the output rod of the actuator provided at the other end of the hydraulic hose is connected to the vicinity of the hip joint of the right lower limb support. Each of the actuators provided at both ends is configured to be held by the left lower limb support, and the toe connecting means is provided at both ends of the hydraulic hose. The output rod of the vignetting actuator is coupled to the toe side of the foot portions of the left and right respectively, each actuator has a configuration which is held in the lower limb support left and right respectively, characterized in that.
【００１７】ここで、アクチュエータとしては直線的な
シリンダ、あるいは回転式アクチュエータが考えられ
る。アクチュエータは足関節の近傍の下肢支持体と股関
節近傍の下肢支持体に固定される。アクチュエータは全
部で４つ用いられる。直線式アクチュエータではその出
力ロッドの運動を股関節、足関節の回転運動に変換すべ
くリンクやワイヤで各関節近傍の箇所に結合すればよ
い。回転式アクチュエータでは回転出力で直接各関節を
回転させるようにすればよい。いずれも油圧の負圧を用
いた場合は、引っ張る力として働くから油圧ホースの中
の作動油が上記ワイヤーと同じ作用をし同じ効果を奏す
る。油圧の正圧を用いた場合は、上記ワイヤーとは逆に
押す力として働くから、股関節近傍に取り付けたアクチ
ュエータの出力ロッドを、前記下肢支持体連結手段がワ
イヤーであった場合にワイヤーがプーリーに巻き付く位
置から股関節を中心として１８０度離れた位置に連結す
ればよい。そうすれば、足部の背屈底屈に応じて他方の
下肢支持体がワイヤーの場合と同じように振り出され、
同じ作用効果を奏する。Here, the actuator may be a linear cylinder or a rotary actuator. The actuator is fixed to the lower limb support near the ankle joint and the lower limb support near the hip joint. A total of four actuators are used. In the linear actuator, the output rod motion may be coupled to a position near each joint with a link or wire in order to convert the motion of the output rod into the rotational motion of the hip joint and the ankle joint. In the rotary actuator, each joint may be directly rotated by the rotation output. In both cases, when a negative pressure of hydraulic pressure is used, the hydraulic oil in the hydraulic hose has the same action and the same effect because it acts as a pulling force. When a positive hydraulic pressure is used, the wire acts as a pushing force in the opposite direction to the wire.Therefore, when the lower limb support connecting means is a wire, the wire is attached to the pulley when the output rod of the actuator attached near the hip joint It may be connected at a position 180 degrees away from the winding position around the hip joint. Then, depending on the dorsiflexion and plantar flexion of the foot, the other lower limb support is swung out in the same way as in the case of the wire,
Has the same effect.
【００１８】[0018]
【発明の実施の形態】本発明の第１の実施の形態につい
て図面を参照し説明する。図１は本発明に係るワイヤー
方式の長下肢装具を説明する側面図である。股関節４０
により左下肢支持体１０の大腿部１１と右下肢支持体２
０の大腿部２１が相対的に回転可能に支承されている。
下肢支持体１０、２０の大腿部１１、２１と臑部１２、
２２とは膝関節（図示せず）により連結されているが、
歩行の際は膝関節を固定するので大腿部１１、２１と臑
部１２、２２とを一体として下肢支持体１０、２０と総
称することにする。左下肢支持体１０の臑部１２には足
関節１５により左足部１６が回転可能に連結されてい
る。同様に、右下肢支持体２０の臑部２２には足関節２
５により右足部２６が回転可能に連結されている。この
ように、足関節１５、２５を有することが本発明の特徴
の１つである。BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view illustrating a wire type long leg orthosis according to the present invention. Hip joint 40
The thigh 11 of the left lower limb support 10 and the right lower limb support 2
The 0 thigh 21 is rotatably supported.
The thighs 11 and 21 of the lower limb supports 10 and 20 and the buttocks 12,
22 is connected by a knee joint (not shown),
Since the knee joint is fixed during walking, the thighs 11 and 21 and the toes 12 and 22 are collectively referred to as lower limb supports 10 and 20. A left foot 16 is rotatably connected to the body part 12 of the left lower limb support 10 by an ankle joint 15. Similarly, the knee joint 22 of the right lower limb support 20 is attached to the ankle joint 2
The right foot portion 26 is rotatably connected by the reference numeral 5. Thus, having the ankle joints 15 and 25 is one of the features of the present invention.
【００１９】左下肢支持体１０の大腿部１１の上方の股
関節４０近傍に固定された固定部材１３と、臑部１２の
下方の足関節１５近傍に固定された固定部材１４とに、
第１のワイヤーチューブ３１の端部がそれぞれ固定され
支持されている。第１のワイヤーチューブ３１には第１
のワイヤー３２が挿通され、その下端は左足部１６のか
かと１７に固定されている。第１のワイヤー３２の上端
は第１のプーリー４１に巻回され、約１８０度巻回され
た所で第１のプーリー４１に固定されている。後述する
ように、第１のプーリー４１は、右下肢支持体２０と一
体となって回転する部材であって、右下肢プーリーを構
成する。第１のワイヤーチューブ３１と第１のワイヤー
３２は、左足右下肢連結手段を構成する。A fixing member 13 fixed near the hip joint 40 above the thigh 11 of the left lower limb support 10 and a fixing member 14 fixed near the ankle joint 15 below the knee 12
The ends of the first wire tubes 31 are fixed and supported. The first wire tube 31 has a first
Wire 32 is inserted, and the lower end thereof is fixed to the heel 17 of the left foot portion 16. The upper end of the first wire 32 is wound around the first pulley 41, and is fixed to the first pulley 41 at a place where it is wound about 180 degrees. As will be described later, the first pulley 41 is a member that rotates integrally with the right lower limb support 20 and constitutes a right lower limb pulley. The 1st wire tube 31 and the 1st wire 32 comprise a left foot right lower limb connection means.
【００２０】同様に、右下肢支持体２０の大腿部２１の
上方の股関節４０近傍に固定された固定部材２３と、臑
部２２の下方の足関節２５近傍に固定された固定部材２
４とに、第２のワイヤーチューブ３３の端部がそれぞれ
固定され支持されている。第２のワイヤーチューブ３３
には第２のワイヤー３４が挿通され、その下端は右足部
２６のかかと２７に固定されている。第２のワイヤー３
４の上端は第２のプーリー４２に巻回され、約１８０度
巻回された所で第２のプーリー４２に固定されている。
第２のワイヤー３４と第２のプーリー４２との固定箇所
を図上に固定点４２Ｂで示す。後述するように、第２の
プーリー４２は、左下肢支持体１０と一体となって回転
する部材であって、左下肢プーリーを構成する。第２の
ワイヤーチューブ３３と第２のワイヤー３４は、右足左
下肢連結手段を構成する。Similarly, a fixing member 23 fixed near the hip joint 40 above the thigh 21 of the right lower limb support 20, and a fixing member 2 fixed near the ankle joint 25 below the knee 22.
The end portions of the second wire tube 33 are fixed to and supported by 4 and 4, respectively. Second wire tube 33
A second wire 34 is inserted through the second wire 34, and the lower end thereof is fixed to the heel 27 of the right foot portion 26. Second wire 3
The upper end of 4 is wound around the second pulley 42, and is fixed to the second pulley 42 at a place where it is wound about 180 degrees.
The fixing point between the second wire 34 and the second pulley 42 is indicated by a fixing point 42B in the figure. As will be described later, the second pulley 42 is a member that rotates integrally with the left lower limb support 10 and constitutes a left lower limb pulley. The 2nd wire tube 33 and the 2nd wire 34 comprise the right leg left lower limb connection means.
【００２１】また、左下肢支持体１０の臑部１２の下方
の足関節１５近傍に固定された固定部材１８と、右下肢
支持体２０の臑部２２の下方の足関節２５近傍に固定さ
れた固定部材２８とに、第３のワイヤーチューブ３５の
端部がそれぞれ固定され支持されている。第３のワイヤ
ーチューブ３５には第３のワイヤー３６が挿通され、そ
の一端は左足部１６のつま先側である前足部に固定さ
れ、他端は右足部２６のつま先側である前足部に固定さ
れている。第３のワイヤーチューブ３５と第３のワイヤ
ー３６は、つま先連結手段を構成する。Further, the left lower limb support 10 is fixed near the ankle joint 15 below the knee joint 12, and the right lower limb support 20 is fixed near the ankle joint 25 below the knee joint 22. The end portion of the third wire tube 35 is fixed to and supported by the fixing member 28. A third wire 36 is inserted through the third wire tube 35, one end of which is fixed to the forefoot part which is the toe side of the left foot part 16, and the other end is fixed to the forefoot part which is the toe side of the right foot part 26. ing. The third wire tube 35 and the third wire 36 form a toe connecting means.
【００２２】図２は股関節４０の部分を示す分解斜視
図、図３は股関節４０の部分を示す背面図、図４は股関
節４０の部分を示す側面図である。左下肢支持体１０の
大腿部１１には固定部材１３が図示しないねじ等により
締着され、その固定部材１３に第１のワイヤーチューブ
３１の一端が固定されている。同様に、右下肢支持体２
０の大腿部２１には固定部材２３が図示しないねじ等に
より締着され、その固定部材２３に第２のワイヤーチュ
ーブ３３の一端が固定されている。2 is an exploded perspective view showing the hip joint 40, FIG. 3 is a rear view showing the hip joint 40, and FIG. 4 is a side view showing the hip joint 40. A fixing member 13 is fastened to the thigh portion 11 of the left lower limb support 10 by a screw or the like not shown, and one end of the first wire tube 31 is fixed to the fixing member 13. Similarly, the right lower limb support 2
A fixing member 23 is fastened to the 0 thigh 21 by a screw or the like not shown, and one end of the second wire tube 33 is fixed to the fixing member 23.
【００２３】左下肢支持体１０の大腿部１１にクランク
形状のブラケット４３が図示しないねじ等により固定さ
れている。そのブラケット４３に第２のプーリー４２が
４つのねじにより締着されている。つまり、第２のプー
リー４２は左下肢支持体１０の大腿部１１と一体に回転
する。第２のプーリー４２及びブラケット４３には中央
に軸４４が挿通する孔４２Ａ，４３Ａが開けられてい
る。一方、右下肢支持体２０の大腿部２１には軸４４が
固着されている。軸４４は第２のプーリー４２及びブラ
ケット４３の孔４２Ａ，４３Ａを挿通し、左端に第１の
プーリー４１が取り付けられる。つまり、第１のプーリ
ー４１は右下肢支持体２０の大腿部２１と一体に回転す
る。そして、軸４４により第２のプーリー４２及びブラ
ケット４３が回転自在に支承されていることになるか
ら、これらにより股関節４０を構成している。第１のプ
ーリー４１には第１のワイヤー３２が、第２のプーリー
４２には第２のワイヤー３４がそれぞれ巻回されて固定
されている。第２のワイヤー３４の固定箇所を、図４に
固定点４２Ｂで示す。A crank-shaped bracket 43 is fixed to the thigh 11 of the left lower limb support 10 by screws (not shown) or the like. The second pulley 42 is fastened to the bracket 43 with four screws. That is, the second pulley 42 rotates integrally with the thigh portion 11 of the left lower limb supporter 10. The second pulley 42 and the bracket 43 are provided with holes 42A and 43A at the center thereof, through which the shaft 44 is inserted. On the other hand, a shaft 44 is fixed to the thigh portion 21 of the right lower limb support 20. The shaft 44 is inserted through the second pulley 42 and the holes 42A and 43A of the bracket 43, and the first pulley 41 is attached to the left end. That is, the first pulley 41 rotates integrally with the thigh portion 21 of the right lower limb support 20. Since the second pulley 42 and the bracket 43 are rotatably supported by the shaft 44, the hip joint 40 is constituted by them. The first wire 32 is wound around and fixed to the first pulley 41, and the second wire 34 is wound around and fixed to the second pulley 42. The fixing point of the second wire 34 is shown by a fixing point 42B in FIG.
【００２４】以上の構成に基づき、作動について説明す
る。図５は、以上構成を説明した本発明に係るワイヤー
方式の長下肢装具での歩行を示す側面図、図６は、模式
図である。各図においてＡ，Ｂ，Ｃ，Ｄは従来例の模式
図である図８のＡ，Ｂ，Ｃ，Ｄに対応している。歩行時
には膝関節は固定しているので大腿部と臑部とは一体と
して考えればよい。図５（Ａ）、図６（Ａ）に示す立位
では左右の下肢が平行に並び両足の足底が地面ＧＬに接
地している。この状態では従来の長下肢装具と同じであ
る。この立位から図５（Ｃ）、図６（Ｃ）に示すよう
に、左下肢支持体を立脚相として体重を預け、右下肢支
持体を遊脚相として前に振り出す動作について説明す
る。図１も合わせ参照するが、ここでは段落番号００１
２，００１３で説明したような、左下肢支持体１０が後
ろに残り遊脚相に移行する以前の、左下肢支持体１０が
立脚相で右下肢支持体２０を遊脚相として前に振り出す
作動について説明する。The operation will be described based on the above configuration. FIG. 5 is a side view showing walking with the wire-type long leg orthosis according to the present invention, which has been described above, and FIG. 6 is a schematic view. In each drawing, A, B, C and D correspond to A, B, C and D in FIG. 8 which is a schematic view of the conventional example. Since the knee joint is fixed during walking, the thigh and the knee may be considered as one body. In the standing position shown in FIGS. 5A and 6A, the left and right lower limbs are arranged in parallel and the soles of both feet are in contact with the ground GL. In this state, it is the same as a conventional long leg orthosis. As shown in FIGS. 5 (C) and 6 (C), from this standing position, the operation of leaning forward with the left lower limb support as the stance phase and the right lower limb support as the swing phase will be described. Referring also to FIG. 1, here, paragraph number 001
As described in 2,0013, before the left lower limb support 10 remains behind and shifts to the swing phase, the left lower limb support 10 is in the stance phase and the right lower limb support 20 is swung forward as the swing phase. The operation will be described.
【００２５】図５（Ａ）に示す立位で両足に平均して体
重が掛かった状態から、左下肢支持体１０に体重を移
す。そして、体重を少し前方に移動し左足１６のつま先
に体重をかけていくと、足部１６のつま先に、図１の図
中にＦ１で示す方向に力が掛かり足部１６は足関節１５
を回転中心として回転し、背屈しようとする。このた
め、左足部１６のかかと１７に結合された第１のワイヤ
ー３２が、図中Ｆ２に示す方向に引っ張られ、ワイヤー
チューブ３１内を図中Ｆ３に示す方向に移動する。この
結果、図３に示す第１のプーリー４１が図１に示すＦ４
の方向に回転させられる。第１のプーリー４１は右下肢
支持体２０の大腿部２１と一体にされているから、右下
肢支持体２０は図中Ｆ６に示す前方へと振り出されるこ
とになる。In the standing position shown in FIG. 5 (A), the weight is transferred to the left lower limb support 10 from a state in which the weight is applied to both feet on average. Then, when the weight is slightly moved forward and the weight is applied to the toes of the left foot 16, a force is applied to the toes of the foot 16 in a direction indicated by F1 in the drawing of FIG.
Revolves around as the center of rotation and tries to bend back. Therefore, the first wire 32 coupled to the heel 17 of the left foot portion 16 is pulled in the direction indicated by F2 in the figure, and moves inside the wire tube 31 in the direction indicated by F3 in the figure. As a result, the first pulley 41 shown in FIG. 3 becomes F4 shown in FIG.
Is rotated in the direction of. Since the first pulley 41 is integrated with the thigh portion 21 of the right lower limb support 20, the right lower limb support 20 is swung out forward as indicated by F6 in the figure.
【００２６】右下肢支持体２０が前方に振り出される
と、右下肢支持体２０に保持された第２のワイヤー３４
が図３に示す第２のプーリー４２に巻き取られる形とな
り、第２のワイヤーチューブ３３内のワイヤー３４は図
１のＦ８に示す方向に移動し、右足部２６のかかと２７
を図中Ｆ９に示す方向に引き上げる。より詳細には、左
足部１６の足底が地面に接地しているから、左足部の背
屈に従い左下肢支持体１０の上方が前方に倒れる。これ
は、股関節４０の位置から見れば左下肢支持体１０が図
中Ｆ７に示す後方に振り出されると考えることもでき
る。したがって、左下肢支持体１０と一体となった第２
のプーリー４２が図中Ｆ５の方向に回転し、第２のワイ
ヤー３４を巻き取ると考えても良い。結局、右足部２６
のつま先は図中Ｆ１０の方向に足関節２５を回転中心と
して回転し、底屈しようとする。When the right lower limb support 20 is swung forward, the second wire 34 held by the right lower limb support 20 is held.
Is wound around the second pulley 42 shown in FIG. 3, the wire 34 in the second wire tube 33 moves in the direction indicated by F8 in FIG. 1, and the heel 27 of the right foot portion 26 is moved.
Is pulled up in the direction indicated by F9 in the figure. More specifically, since the sole of the left foot 16 is in contact with the ground, the upper part of the left lower limb support 10 falls forward as the left foot flexes. This can be considered to be that the left lower limb support 10 is swung backward as shown by F7 in the figure when viewed from the position of the hip joint 40. Therefore, the second integrated with the left lower limb support 10
It may be considered that the pulley 42 rotates in the direction F5 in the drawing and winds up the second wire 34. After all, the right foot 26
The toes of the toes rotate about the ankle joint 25 in the direction of F10 in the figure, and tend to flex in the plantar direction.
【００２７】左右の足部１６、２６のつま先側前足部を
連結する第３のワイヤー３６は、左足部１６の背屈と右
足部２６の底屈にしたがい、第３のワイヤーチューブ３
５内を図中Ｆ１１の方向に移動し、左右の足部１６、２
６に何の力も加えない。The third wire 36 connecting the toe-side forefoot parts of the left and right foot parts 16, 26 follows the dorsiflexion of the left foot part 16 and the plantar flexion of the right foot part 26, and the third wire tube 3
5 in the direction of F11 in the figure, the left and right foot parts 16, 2
No power is added to 6.
【００２８】このようにして、立脚相にある左下肢支持
体１０に掛かった体重を前に移動するに従って、左足部
１６は徐々に背屈し、右下肢支持体２０は徐々に前方に
振り出され、右足部２６は徐々に底屈する。さらに、患
者の重心に近い股関節４０の位置は徐々に前進する。こ
こで、各足関節１５、２５から足部１６、２６のかかと
１７、２７のワイヤー結合点までの寸法は、プーリー４
１、４２の半径の２倍に設定されている。このため、図
９を参照し、左足部１６の背屈角度α、つまり左下肢支
持体１０の前傾角度αだけ右下肢支持体２０が前方に振
り出される。結果、股関節４０の角度は２αとなる。そ
して同じ角度αだけ右足部２６が底屈する。従って、右
足部２６の足底は常に地面と平行に保持される。In this way, as the weight applied to the left lower limb support 10 in the stance phase moves forward, the left foot 16 gradually bends back and the right lower limb support 20 gradually swings forward. The right foot portion 26 gradually flexes. Further, the position of the hip joint 40 near the center of gravity of the patient is gradually advanced. Here, the dimension from each of the ankle joints 15 and 25 to the wire connection points of the heels 17 and 27 of the foot portions 16 and 26 is the pulley 4
It is set to twice the radius of 1, 42. For this reason, referring to FIG. 9, the right lower limb support 20 is swung forward by the dorsiflexion angle α of the left foot 16, that is, the forward tilt angle α of the left lower limb support 10. As a result, the angle of the hip joint 40 becomes 2α. Then, the right foot portion 26 bends downward by the same angle α. Therefore, the sole of the right foot portion 26 is always held parallel to the ground.
【００２９】つまり、立脚相にある左足部１６の足底は
体重を前に移動させていっても絶えず地面に平行を保
ち、全面で地面に接地し体重を支承している。また、遊
脚相にある右足部２６は右下肢支持体２０の振り出し量
に応じて右足部２６が底屈するため、遊脚相の右足部２
６の足底も地面と平行を保つ。このため、図５（Ｃ）、
図６（Ｃ）に示すように、振り出した右下肢支持体２０
をどの振り出し位置で接地させ、体重を左足部１６から
右足部２６に移動し右下肢支持体２０を遊脚相から立脚
相に移行させても、右足部２６の足底全体で体重を支え
るから安定した歩行ができる。以下、歩行の進行に伴
い、左下肢支持体１０と右下肢支持体２０の役割が交代
し左右が交代するだけで基本的な作動は上記の通りであ
る。That is, the sole of the left foot 16 in the stance phase constantly keeps the ground parallel to the ground even if the weight is moved forward, and bears the weight by contacting the ground entirely. Further, since the right foot portion 26 in the swing leg phase flexes the bottom of the right foot portion 26 in accordance with the amount of swinging out of the right lower limb support 20, the right foot portion 2 in the swing leg phase 2
The bottom of the 6th foot is also parallel to the ground. Therefore, as shown in FIG.
As shown in FIG. 6 (C), the right lower limb support 20 that has been drawn out.
Even if the user touches the ground at any of the swinging positions, moves the weight from the left foot portion 16 to the right foot portion 26 and shifts the right lower limb support 20 from the swing phase to the stance phase, the weight is supported by the entire sole of the right foot portion 26. Can walk stably. Hereinafter, as the walking progresses, the roles of the left lower limb support 10 and the right lower limb support 20 are changed, and the right and left are changed, and the basic operation is as described above.
【００３０】第３のワイヤーチューブ３５に保持された
第３のワイヤー３６は、正常な歩行の際は左右に移動す
るだけで歩行に何の影響も与えない。しかし、左右の足
部１６，２６が同時に底屈しようとすると第３のワイヤ
ー３６がピンと張り、左右の足部１６、２６の同時底屈
を阻止する。したがって、足関節１５、２５の存在にも
かかわらず、左右の下肢１０、２０が同時に後方に倒れ
患者が後方に転倒するのを防いでいる。The third wire 36 held by the third wire tube 35 only moves to the left and right during normal walking and has no effect on walking. However, when the left and right foot portions 16 and 26 try to flex at the same time, the third wire 36 is taut and prevents simultaneous bending of the left and right foot portions 16 and 26. Therefore, in spite of the existence of the ankle joints 15 and 25, the left and right lower limbs 10 and 20 simultaneously fall backward, which prevents the patient from falling backward.
【００３１】以上説明したように、本実施の形態によれ
ば、左右の下肢支持体１０、２０の振り出しに連動して
足関節２５、１５の底背屈が行われるようにした。そし
て、第３のワイヤー３６により左右の足関節１５、２５
が同時底屈し後方に倒れるのを防止した。また、股関節
４０の屈伸角度と足関節１５、２５の背屈底屈の角度は
第１及び第２のワイヤー３２、３４により連動してお
り、股関節４０を前後に開いた図５（Ｃ）に示す状態で
も股関節４０が動かなければ、足関節１５、２５は動か
ない。以上の理由により、下肢の振り出しが容易となる
と共に、足部の足底が常に地面ＧＬと平行になるため立
脚相にある足部の足底が常に全面で地面ＧＬに接地して
おり、歩行が安定し転倒の危険が少なくなり、さらに、
歩容が良くなるという利点がある。As described above, according to the present embodiment, the plantar flexion of the ankle joints 25 and 15 is performed in conjunction with the swinging out of the left and right lower limb supports 10 and 20. Then, the left and right ankle joints 15 and 25 are connected by the third wire 36.
It prevented them from flexing at the same time and falling backwards. Further, the angle of flexion and extension of the hip joint 40 and the angle of dorsiflexion and plantar flexion of the ankle joints 15 and 25 are linked by the first and second wires 32 and 34, and the hip joint 40 is opened forward and backward as shown in FIG. Even in the state shown, if the hip joint 40 does not move, the ankle joints 15 and 25 do not move. For the above reasons, it is easy to swing out the lower limbs, and the soles of the feet are always in parallel with the ground GL, so the soles of the feet in the stance phase are always in full contact with the ground GL. Is stable and the risk of falling is reduced,
It has the advantage of improving gait.
【００３２】以上説明した実施の形態では、各連結手段
としてワイヤーチューブ３１、３３、３５及びワイヤー
３２、３４、３６を用いたが、要するに左右の足関節１
５、２５の底背屈と右左の下肢支持体２０、１０の振り
出しとを連動させればよいのだから、リンク方式等の種
々の連結手段が想定できる。実現可能性の高いその一つ
は、連結手段として油圧回路を用いる方式である。油圧
方式では、たとえば、ワイヤーチューブの代わりに油圧
ホースが用いられ、作動油を駆動したり駆動されたりす
るアクチュエータの出力軸を足部及び下肢支持体の所要
の箇所に連結すればよい。この詳細な具体的な手段につ
いては、今までの説明から当業者に明らかな事項であろ
う。In the embodiment described above, the wire tubes 31, 33, 35 and the wires 32, 34, 36 are used as the connecting means. In short, the left and right ankle joints 1
Since it is sufficient to interlock the dorsiflexion of 5 and 25 with the swinging out of the right and left lower limb supports 20 and 10, various connecting means such as a link method can be envisioned. One of the most feasible is a system that uses a hydraulic circuit as the connecting means. In the hydraulic system, for example, a hydraulic hose is used instead of the wire tube, and an output shaft of an actuator that drives or drives hydraulic oil may be connected to a desired portion of the foot portion and the lower limb support. The detailed specific means will be apparent to those skilled in the art from the above description.
【００３３】[0033]
【発明の効果】以上説明したように、本発明は、左右の
足関節の底背屈と股関節の屈伸とを連結手段により関連
づけたものであるから、下肢の振り出しが容易となると
共に足部の足底が常に地面と平行になるため、歩行が安
定し転倒の危険が少なくなり、さらに、患者への負担が
軽くなり歩容が良くなるという優れた効果がある。As described above, according to the present invention, the plantar dorsiflexion of the left and right ankle joints and the flexion and extension of the hip joints are associated with each other by the connecting means. Since the sole of the foot is always parallel to the ground, walking is stable, the risk of falling is reduced, and the burden on the patient is lightened and gait is improved.
【図１】本発明に係るワイヤー方式の長下肢装具を説明
する側面図である。FIG. 1 is a side view for explaining a wire type long leg orthosis according to the present invention.
【図２】股関節の部分を示す分解斜視図である。FIG. 2 is an exploded perspective view showing a hip joint portion.
【図３】股関節の部分を示す背面図である。FIG. 3 is a rear view showing a hip joint portion.
【図４】股関節の部分を示す側面図である。FIG. 4 is a side view showing a hip joint portion.
【図５】本発明に係る長下肢装具での歩行を示す側面図
である。FIG. 5 is a side view showing walking with the long leg orthosis according to the present invention.
【図６】本発明に係る長下肢装具での歩行を示す模式図
である。FIG. 6 is a schematic diagram showing walking with the long leg orthosis according to the present invention.
【図７】従来の長下肢装具での歩行を示す側面図であ
る。FIG. 7 is a side view showing walking with a conventional long leg orthosis.
【図８】従来の長下肢装具での歩行を示す模式図であ
る。FIG. 8 is a schematic diagram showing walking with a conventional long leg orthosis.
【図９】足部の底屈背屈と股関節の開きの関係を説明す
る模式図である。FIG. 9 is a schematic diagram illustrating the relationship between plantar flexion and dorsiflexion of the foot and the opening of the hip joint.
１０ 左下肢支持体 １１ 大腿部 １２ 臑部 １５ 左足関節 １６ 左足部 １７ かかと ２０ 右下肢支持体 ２１ 大腿部 ２２ 臑部 ２５ 右足関節 ２６ 右足部 ２７ かかと ３１ 第１のワイヤーチューブ ３２ 第１のワイヤー（左足右下肢連結手段） ３３ 第２のワイヤーチューブ ３４ 第２のワイヤー（右足左下肢連結手段） ３５ 第３のワイヤーチューブ ３６ 第３のワイヤー（つま先連結手段） ４０ 股関節 ４１ 第１のプーリー（右下肢プーリー） ４２ 第２のプーリー（左下肢プーリー） 10 Left lower limb support 11 thigh 12 Kanabe 15 Left ankle 16 Left foot 17 heels 20 Right lower limb support 21 thigh 22 Sobe 25 right ankle 26 Right foot 27 heels 31 first wire tube 32 1st wire (left foot right lower limb connecting means) 33 Second wire tube 34 Second wire (right foot left lower limb connecting means) 35 Third wire tube 36 Third wire (toe connecting means) 40 hip 41 first pulley (right lower limb pulley) 42 Second pulley (left lower limb pulley)
───────────────────────────────────────────────────── フロントページの続き (72)発明者 太田 一重 愛知県名古屋市港区港明１丁目10番５号 労働福祉事業団 労災リハビリテーション 工学センター内 (72)発明者 鈴木 康雄 愛知県名古屋市港区港明１丁目10番５号 労働福祉事業団 労災リハビリテーション 工学センター内 (72)発明者 小山 憲路 愛知県名古屋市港区港明１丁目10番５号 労働福祉事業団 労災リハビリテーション 工学センター内 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Kazumi Ota 1-10-5 Minatomei, Minato-ku, Nagoya-shi, Aichi Labor Welfare Corporation Labor Rehabilitation Inside the engineering center (72) Inventor Yasuo Suzuki 1-10-5 Minatomei, Minato-ku, Nagoya-shi, Aichi Labor Welfare Corporation Labor Rehabilitation Inside the engineering center (72) Inventor Kenji Koyama 1-10-5 Minatomei, Minato-ku, Nagoya-shi, Aichi Labor Welfare Corporation Labor Rehabilitation Inside the engineering center
Claims (3)
の下肢支持体に接続された足部を備える長下肢装具であ
って、 前記下肢支持体と足部とを揺動可能に結合する足関節
と、 右の足部の足関節よりかかと側の箇所と左の下肢支持体
の股関節近傍の箇所とを可撓に連結し右下肢支持体に保
持された右足左下肢連結手段と、 左の足部の足関節よりかかと側の箇所と右の下肢支持体
の股関節近傍の箇所とを可撓に連結し左下肢支持体に保
持された左足右下肢連結手段と、 左右の足部の足関節よりつま先側の箇所を互いに可撓に
連結し左右の下肢支持体に保持されたつま先連結手段
と、を備えることを特徴とする長下肢装具。1. A long lower limb orthosis comprising left and right lower limb supports having hip joints and legs connected to the lower limbs supports, wherein the lower limb support and the legs are swingably coupled to each other. And a part of the right foot that is closer to the heel than the ankle joint and a part of the left lower limb support near the hip joint that is flexibly connected to the right foot and the left lower limb connecting means held by the right lower limb support, and the left foot. Part of the right ankle joint of the left and right ankle joints flexibly connected to the heel side of the ankle joint and the part of the right lower limb support near the hip joint. Long toe leg orthosis, comprising: toe connecting means that is flexibly connected to each other on the toe side and is held by the left and right lower limb supports.
ており、 前記右足左下肢連結手段が、ワイヤーの一端が右足のか
かとに固定され、ワイヤーの他端が股関節を回転中心と
して左下肢支持体と一体に回転する左下肢プーリーに巻
回され、そのワイヤーが右下肢支持体に保持されている
構成を備え、 前記左足右下肢連結手段が、ワイヤーの一端が左足のか
かとに固定され、ワイヤーの他端が股関節を回転中心と
して右下肢支持体と一体に回転する右下肢プーリーに巻
回され、そのワイヤーが左下肢支持体に保持されている
構成を備え、前記つま先連結手段が、ワイヤーの両端が
それぞれ左右の足部のつま先側に固定され、そのワイヤ
ーの両端付近がそれぞれ左右の下肢支持体に保持されて
いる構成を備えている、ことを特徴とする請求項１記載
の長下肢装具。2. Each of the connecting means is composed of a wire, and the right foot and left lower limb connecting means has one end of the wire fixed to the heel of the right foot, and the other end of the wire supporting the left lower limb with the hip joint as the center of rotation. It is wound around a left lower limb pulley that rotates integrally with the body, and the wire is held by the right lower limb support, the left foot right lower limb connecting means, one end of the wire is fixed to the heel of the left foot, the wire The other end is wound around the right lower limb pulley that rotates integrally with the right lower limb support with the hip joint as the center of rotation, and the wire is held by the left lower limb support, and the toe connecting means is a wire. The both ends are fixed to the toe sides of the left and right feet, respectively, and the vicinity of both ends of the wire is provided on the left and right lower limb supports, respectively. Length leg brace placement.
れ、 前記右足左下肢連結手段が、油圧ホースの一端に設けら
れたアクチュエータの出力ロッドが右足のかかとに連結
され、油圧ホースの他端に設けられたアクチュエータの
出力ロッドが左下肢支持体の股関節近傍と連結され、そ
の油圧ホースの両端に設けられた各アクチュエータが右
下肢支持体に保持されている構成を備え、 前記左足右下肢連結手段が、油圧ホースの一端に設けら
れたアクチュエータの出力ロッドが左足のかかとに連結
され、油圧ホースの他端に設けられたアクチュエータの
出力ロッドが右下肢支持体の股関節近傍と連結され、そ
の油圧ホースの両端に設けられた各アクチュエータが左
下肢支持体に保持されている構成を備え、 前記つま先連結手段が、油圧ホースの両端に設けられた
アクチュエータの出力ロッドがそれぞれ左右の足部のつ
ま先側に連結され、各アクチュエータがそれぞれ左右の
下肢支持体に保持されている構成を備えている、ことを
特徴とする請求項１記載の長下肢装具。3. Each of the connecting means comprises a hydraulic hose, and the right lower left lower limb connecting means has an output rod of an actuator provided at one end of the hydraulic hose connected to the heel of the right foot, and the other end of the hydraulic hose. The output rod of the actuator provided in the left lower limb support is connected to the vicinity of the hip joint of the left lower limb support, each actuator provided at both ends of the hydraulic hose is held by the right lower limb support, the left foot right lower limb connection The output rod of the actuator provided at one end of the hydraulic hose is connected to the heel of the left foot, and the output rod of the actuator provided at the other end of the hydraulic hose is connected to the vicinity of the hip joint of the right lower limb support. Each of the actuators provided at both ends of the hose is held by the left lower limb support, and the toe connecting means is provided on both sides of the hydraulic hose. The output rods of the actuators provided at the ends are connected to the toe sides of the left and right feet, respectively, and each actuator is held by the left and right lower limb supports, respectively. Long leg orthoses as described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001337366A JP3736841B2 (en) | 2001-11-02 | 2001-11-02 | Long leg brace |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001337366A JP3736841B2 (en) | 2001-11-02 | 2001-11-02 | Long leg brace |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2003135542A true JP2003135542A (en) | 2003-05-13 |
| JP3736841B2 JP3736841B2 (en) | 2006-01-18 |
Family
ID=19152017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001337366A Expired - Fee Related JP3736841B2 (en) | 2001-11-02 | 2001-11-02 | Long leg brace |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3736841B2 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007089633A (en) * | 2005-09-27 | 2007-04-12 | Casio Comput Co Ltd | Muscular strength assisting device |
| JP2009195291A (en) * | 2008-02-19 | 2009-09-03 | Aska Corp | Long lower limb prosthesis with trunk supporting mechanism |
| JP2010063632A (en) * | 2008-09-10 | 2010-03-25 | Japan Labour Health & Welfare Organization | Standing-up and upright position holding applicator for paraplegic person |
| DE102014109370A1 (en) | 2014-07-04 | 2016-01-07 | Carbofibretec Gmbh | Exoskeleton in lightweight construction |
| JP2017086893A (en) * | 2015-11-06 | 2017-05-25 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Power transmission module and motion assistance device comprising the same |
| WO2018012169A1 (en) * | 2016-07-13 | 2018-01-18 | パナソニックＩｐマネジメント株式会社 | Ambulation assistance device |
| JP2018187083A (en) * | 2017-05-04 | 2018-11-29 | 学校法人中部大学 | Power assist device for lower limb orthotic, and lower limb orthotic |
| JP2019122591A (en) * | 2018-01-17 | 2019-07-25 | トヨフレックス株式会社 | Walking aid |
| CZ308434B6 (en) * | 2019-05-30 | 2020-08-19 | Mebster S.R.O. | Media unilateral exoskeleton |
| KR20230085662A (en) * | 2021-12-07 | 2023-06-14 | 국방과학연구소 | Power Transmission Device Between Joints Of The Human Body |
-
2001
- 2001-11-02 JP JP2001337366A patent/JP3736841B2/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007089633A (en) * | 2005-09-27 | 2007-04-12 | Casio Comput Co Ltd | Muscular strength assisting device |
| JP4645391B2 (en) * | 2005-09-27 | 2011-03-09 | カシオ計算機株式会社 | Strength assist device |
| JP2009195291A (en) * | 2008-02-19 | 2009-09-03 | Aska Corp | Long lower limb prosthesis with trunk supporting mechanism |
| JP2010063632A (en) * | 2008-09-10 | 2010-03-25 | Japan Labour Health & Welfare Organization | Standing-up and upright position holding applicator for paraplegic person |
| JP4547477B2 (en) * | 2008-09-10 | 2010-09-22 | 英一 元田 | Standing / standing position orthosis for paraplegics |
| DE102014109370A1 (en) | 2014-07-04 | 2016-01-07 | Carbofibretec Gmbh | Exoskeleton in lightweight construction |
| US10517788B2 (en) | 2015-11-06 | 2019-12-31 | Samsung Electronics Co., Ltd. | Power transmission device and motion assistance device comprising the same |
| EP3165210A3 (en) * | 2015-11-06 | 2017-08-02 | Samsung Electronics Co., Ltd. | Power transmission module and motion assistance device comprising the same |
| JP2017086893A (en) * | 2015-11-06 | 2017-05-25 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Power transmission module and motion assistance device comprising the same |
| WO2018012169A1 (en) * | 2016-07-13 | 2018-01-18 | パナソニックＩｐマネジメント株式会社 | Ambulation assistance device |
| JPWO2018012169A1 (en) * | 2016-07-13 | 2018-10-11 | パナソニックＩｐマネジメント株式会社 | Walking assist device |
| JP2018187083A (en) * | 2017-05-04 | 2018-11-29 | 学校法人中部大学 | Power assist device for lower limb orthotic, and lower limb orthotic |
| JP7086328B2 (en) | 2017-05-04 | 2022-06-20 | 五郎 大日方 | Lower limb orthotic |
| JP2019122591A (en) * | 2018-01-17 | 2019-07-25 | トヨフレックス株式会社 | Walking aid |
| JP7016703B2 (en) | 2018-01-17 | 2022-02-07 | トヨフレックス株式会社 | Walking aid |
| CZ308434B6 (en) * | 2019-05-30 | 2020-08-19 | Mebster S.R.O. | Media unilateral exoskeleton |
| WO2020240026A1 (en) * | 2019-05-30 | 2020-12-03 | Mebster S.R.O. | Medial unilateral exoskeleton |
| KR20230085662A (en) * | 2021-12-07 | 2023-06-14 | 국방과학연구소 | Power Transmission Device Between Joints Of The Human Body |
| KR102589975B1 (en) * | 2021-12-07 | 2023-10-13 | 국방과학연구소 | Power Transmission Device Between Joints Of The Human Body |
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