JP2005000500A - Foot joint electric device - Google Patents

Foot joint electric device Download PDF

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Publication number
JP2005000500A
JP2005000500A JP2003169158A JP2003169158A JP2005000500A JP 2005000500 A JP2005000500 A JP 2005000500A JP 2003169158 A JP2003169158 A JP 2003169158A JP 2003169158 A JP2003169158 A JP 2003169158A JP 2005000500 A JP2005000500 A JP 2005000500A
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Japan
Prior art keywords
ankle
user
joint
lower limb
buckled
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JP2003169158A
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JP2005000500A5 (en
Inventor
Ryokichi Hirata
Taisuke Sakaki
亮吉 平田
泰輔 榊
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Yaskawa Electric Corp
株式会社安川電機
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Priority to JP2003169158A priority Critical patent/JP2005000500A/en
Publication of JP2005000500A publication Critical patent/JP2005000500A/en
Publication of JP2005000500A5 publication Critical patent/JP2005000500A5/ja
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123Orthopaedic 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

Abstract

<P>PROBLEM TO BE SOLVED: To provide a foot joint electric device which enables the automatic plantar dorsiflexion of the foot joints according to the phase of the pacing cycle by judging whether the sole of the user contacts the ground surface or not. <P>SOLUTION: The foot joint electric device is constituted of a lower limb application part for application on a lower limb of the user, a joint angle measuring part for measuring the angle of the foot joints of the user, a pressure sensor provided on the sole of the lower limb application part, an actuator provided on the foot joint part of the lower limb application part and a control part for operating the actuator. The control part implements the measurement of the angle of the foot joints of the user with the joint angle measuring part and the measurement with the pressure sensor to determine whether the sole of the user contacts the ground surface or not to judge the phase of the pacing cycle. Thus, the plantar dorsiflexion of the lower limb application part is carried out with the actuator according to the phase, thereby enabling the plantar dorsiflexion of the foot joints of the user. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【0001】 [0001]
【発明の属する技術分野】 BACKGROUND OF THE INVENTION
本発明は、運動神経麻痺等により通常の歩行ができない歩行障害者および健常高齢者に対し、歩行周期の位相を判断して、歩行周期の位相に応じ足関節を自動的に底背屈させることで、足先のつまずきを防止する足関節電動装具に関するものである。 The present invention is, with respect to the motor nerve paralysis and the like can not be normal walking gait disability and healthy elderly, determines the phase of the walking cycle, automatically causing buckled Sokose ankle depending on the phase of the walking cycle in, the present invention relates to ankle joint electric appliances to prevent the stumbling of the feet.
【0002】 [0002]
【従来の技術】 BACKGROUND OF THE INVENTION
第1の従来例である特許文献1では、使用者の大腿部および下腿部に装着し、膝関節角度の調節機構を設けることで棒足歩行を改善することを目的とした次のような膝関節角度調節機構付き長下肢装具が記載されている。 Patent Document 1 is a first conventional example, is attached to the thigh and lower leg of the user, as follows: for the purpose of improving the rod foot walking by providing an adjustment mechanism of the knee joint angle knee joint angle adjusting mechanism with long foot orthosis is disclosed a.
以下、簡単に図を用いて説明する。 Hereinafter will be described briefly with reference to FIG. 図7は、従来の長下肢装具の構成を示す図である。 Figure 7 is a diagram showing a configuration of a conventional long leg orthosis. (a)は正面図、(b)は側面図である。 (A) is a front view, (b) is a side view. 図8は、従来の長下肢装具を用いたときの歩行補助を概念的に示す図である。 Figure 8 is a diagram conceptually showing the walking assistance when using conventional long leg orthosis. 歩行周期は立脚相(踵接地〜つま先離床前)、遊脚相(つま先離床〜踵接地直前)から構成される。 Walking cycle consists of the stance phase (heel ground-toes off the floor before), the swing phase (toe off the floor-heel ground just before). 101は大腿支持部材、102は膝関節部材、103は下腿支持部材、104は足支持部材、105は屈曲角度検知センサ、106aは離床検知センサ、106bは着地検知センサ、107は足関節角度検知センサ、108は屈曲角度固定・解除機構、109は制御部、110は大腿包接部材、111、114は締付部材、112は下腿抱接部材である。 101 femoral support member, 102 is a knee joint member, 103 is the lower leg support members, 104 foot support member, the bending angle detecting sensor, 106a are lifting sensor, 106b is landing sensor, the ankle joint angle detection sensor 107 105 , 108 bend angle fixing and releasing mechanism, 109 control unit, 110 femoral inclusion members, 111 and 114 clamping member, is 112, which is a lower leg inclusion member.
この長下肢装具は、膝関節障害者の大腿・下腿の少なくとも外側部から足の少なくとも外側部にかけて添装される歩行補助用の膝関節角度調節機構を備えている。 This length foot orthosis comprises a knee joint angle adjusting mechanism for walking assistance from at least the outer portion of the thigh-lower leg knee disability is the base charge toward at least the outer part of the foot. また、大腿支持部材101と、180度よりも小さい角度の範囲で屈曲角度変更可能な膝関節部材102と、下腿支持部材103と、足支持部材104とが連結され、 Further, the femoral support member 101, and the bending angle changeable knee joint member 102 at an angle less range than 180 degrees, the lower leg support member 103, and a foot support member 104 is connected,
(1)膝関節部の屈曲角度を検知する角度検知処理、 (1) the angle detection process of detecting the bending angle of the knee joint,
(2)足底爪先側に設けた着地検知センサ106bおよび/または足首関節の屈曲角度によって足底部が床から離れたことを検知する離床検知処理、 (2) lifting detection processing to detect that the foot bottom is separated from the floor by the bending angle of the landing detection sensor 106b and / or the ankle joint provided in the sole toe,
(3)前記角度検知処理からの信号によって膝関節部材102の屈曲角度を固定し、また前記離床検知処理からの信号によって該膝関節部材102の屈曲角度固定を解除する、屈曲角度固定・解除機構108、 (3) the by a signal from the angle detection process to fix the bending angle of the knee joint member 102, also to release the bending angle fixation of the knee joint member 102 by a signal from the lifting detection processing, the bending angle fixing and releasing mechanism 108,
(4)上記処理(1)〜(3)による検知と作動を集中制御する制御機構を備えている。 (4) being provided with the above-mentioned process (1) control mechanism for centralized control of operation with the detection by ~ (3).
【0003】 [0003]
以上の構成において、制御部109に使用者の歩行補助に最も適した膝関節屈曲角度を予め設定しておき、制御部109が、膝角度検知センサ105で膝関節角度を検知して屈曲角度固定・解除機構108を作動させる。 In the above configuration, the most suitable knee flexion angle walking assistance of the user to the control unit 109 is set in advance, the control unit 109, the bending angle fixed by detecting the knee angle at knee angle sensor 105 - actuating the release mechanism 108. 具体的には、制御部109が以下の処理を実施する。 More specifically, the control unit 109 performs the following processing.
・立脚相の踵離床・遊脚相には、膝関節部材102の屈曲角度固定・解除機構108を解除し下腿を前方に振り出す。 · The heel lifting-swing phase of stance phase, to release the bending angle fixing and releasing mechanism 108 of the knee joint member 102 draw on the lower leg forward.
・立脚相の踵接地には、膝関節部材の屈曲角度固定・解除機構108を固定し体重を支持する。 · The heel strike of stance phase, to support the fixed weight bending angle fixing and releasing mechanism 108 of the knee joint member.
上記のような膝関節角度調節機構付き長下肢装具において、制御部が歩行周期に応じ膝関節部材の固定・解除を実施し、使用者の肉体的負担を可及的に軽減しつつ自然な歩行を実現できるようになっている。 The knee joint angle adjusting mechanism with long foot orthosis as described above, the control unit is performed fixing and release of the knee joint member according to the walking cycle, the natural gait, while as much as possible reduce the physical burden of the user so that the can be realized.
【0004】 [0004]
【特許文献1】実登3002320号公報【0005】 JP Patent Document 1] real Noboru 3002320 [0005]
第2の従来例である特許文献2では、運動神経麻痺等により通常の歩行が出来ない歩行障害者に対し、膝関節部分を回動自在として左右ぶれのない健常者に近い歩行を実施させることを目的とした次のような歩行補助装具が記載されている。 In Patent Document 2 which is a second conventional example, to a walking disability that the motor nerve paralysis and the like can not normal walking, walking can be carried out close to the healthy subjects with no lateral shake the knee joint part as rotatable walking assistance device such as the following have been described for the purpose of.
以下、簡単に図を用いて説明する。 Hereinafter will be described briefly with reference to FIG. 図9(a)は、従来の歩行補助装具の構成を示す図(側面図)である。 9 (a) is a diagram showing a configuration of a conventional walking assistance device (side view). 図9(b)は、従来の歩行補助装具の膝部分を折り曲げた状態を示す側面図である。 9 (b) is a side view showing a state in which bent the knee portion of a conventional walking assistance device. 201は歩行補助装具で、該歩行補助装具201は、膝関節部の上部、即ち上腿部に装着する上腿取付部材202と、膝関節の下部、即ち下腿部に装着する下腿取付部材203と、上腿取付部材202と下腿取付部材203とを回動自在に連結する継手205とから構成される。 201 is a walking assistance device, the walking assistance device 201, the top of the knee joint, that is, the upper leg mounting member 202 to be attached to the upper leg portion, the lower leg mounting member 203 for mounting the lower portion of the knee joint, i.e. the lower leg When, and a joint 205 which connects the upper leg mounting member 202 and the lower leg mounting member 203 rotatably. 伸縮機構(アクチュエータ)204は上腿取付部材202と下腿取付部材203との回動を規制制御するものであり、一方の部材(図では上腿取付部材202)に遊びをもって取付けられたモータ206と、他方の部材(図では下腿取付部材203)に取付けられたソケット208の螺旋孔に螺合するボールネジ207とからなり、該ボールネジ207と前記モータ206の軸とはフレキシブル継手209で連結されている。 Expansion mechanism (actuator) 204 are intended to regulate control the rotation of the upper leg mounting member 202 and the lower leg mounting member 203, a motor 206 mounted with a play (upper leg mounting member 202 in the figure) one member (in the Figure crus attachment member 203) the other member made of a ball screw 207 that is screwed to the guide slots of the socket 208 attached to, and is connected by a flexible joint 209 to the shaft of the with the ball screw 207 motor 206 . なお、図中214は下腿取付部部材203に設けた靴である。 In the figure, 214 is a shoe provided on the lower leg attachment portion member 203.
また、上下の両取付部202、203をボールネジ207で連結している。 Also the upper and lower two mounting portions 202 and 203 connected by a ball screw 207. ボールネジ207は立位時(膝を伸ばしたとき)に歩行者の全体重が負荷されても折れ曲がることのない丈夫な部材、例えば鋼材等の棒材の表面にネジを該設してなり、上下の取付部材202、203を繋ぐ継手205の回動自在の動きを規制するもので、障害者が該上下の取付部材202、203に全体重を掛けても上下の取付部材202、203が折れ曲がることがない。 The ball screw 207 is made by The set screws on the surface of the standing time of strong member never bent be loaded total body weight of a pedestrian (when stretched knee), for example, bars, such as steel, vertical restricts the pivotable movement of the joint 205 connecting the mounting member 202 and 203, also disabilities over the total body weight on the mounting member 202, 203 under the upper bending the upper and lower mounting members 202, 203 there is no.
図9(c)は、従来の歩行補助装具における杖に設けたコントローラとモータの制御との関係を示す図である。 Figure 9 (c) is a graph illustrating the relationship between the control of the controller and the motor provided in the wand in a conventional walking assistance device. 杖220にはリモートコントローラ222が設けられ、リモートコントローラ222の操作スイッチ223は杖220を握る把持部221に取付けられている。 Remote controller 222 is provided on the wand 220, the operation switch 223 of the remote controller 222 is attached to the grip portion 221 gripping the wand 220. リモートコントローラ222は前記伸縮機構204のモータ206の駆動装置(センサ)225に赤外線を照射しモータ206の回転を遠隔操作し得るよう構成されており、杖220に設けた操作スイッチ223を、歩行者が杖220を操作するのに合わせて指で操作できるように構成されている。 The remote controller 222 is configured to be remotely operated rotation of the motor 206 by irradiating infrared rays onto drive (sensor) 225 of the motor 206 of the telescopic mechanism 204, an operation switch 223 provided on the wand 220, pedestrian There is configured to be operated by a finger to fit to operate the wand 220.
【0006】 [0006]
以上の構成において、右足を一歩先に進める場合について説明する。 In the above configuration, it will be described to advance the right one step further. 杖220を前について上体を傾斜させる。 The body is inclined for pre-cane 220. 次に杖220の把持部221に設けたリモートコントローラ222の操作スイッチ223を操作(例えば押し込む)し、モータ206を駆動させる。 Then operating the operation switch 223 of the remote controller 222 provided in the grip portion 221 of the wand 220 (e.g. pushing), to drive the motor 206. モータ206を駆動させると、モータ206にフレキシブル継手209を介して連結されているボールネジ207が回転し、ボールネジ207と螺合するソケット208をモータ206方向に引き寄せる。 When driving the motor 206, ball screw 207 is rotated which is connected via a flexible coupling 209 to a motor 206, draws the ball screw 207 screwed to the socket 208 to the motor 206 direction. ソケット208は図では下腿取付部材202方向に引き寄せられることとなり、下腿取付部材203は回動自在の継手205で上腿取付部材202に連結されているため、膝を突き出す形で膝部分を回動し、「く」の字状に折り曲げられ、靴214が歩行面227からかなりの高さまで浮き上がる。 Socket 208 will be attracted to the lower leg mounting member 202 direction in the figure, the lower leg attachment member 203 that is connected to the upper leg mounting member 202 in the pivotable joint 205, rotates the knee portion in the form of projecting the knee and, bent in the shape of a "V", the shoe 214 is lifted from the walking surface 227 to a considerable height.
このように靴214を高く浮き上がらせた状態になるにしたがって脚(歩行補助装具201)は自然に振り子のように前に向かって振られることになる。 Thus leg according a state where lifted high shoes 214 (the walking assistance device 201) will be swung towards the front like a pendulum naturally. そして、右足が最大に前に振れた時点でリモートコントローラ222の操作スイッチ223を再度制御する(上記例では操作スイッチ223を放す)と、モータ206は逆回転し、ボールネジ207はソケット208がモータ206から離れる方向に回転し、それに伴って下腿取付部材203と上腿取付部材202とは直線状態になるように回動し、直線状態になったところでモータ206は停止し、下腿取付部材203と上腿取付部材202とは直線状態に戻る。 Then, the right foot to control the operation again switch 223 of the remote controller 222 at the time of deflection before the maximum and (in the above example releases the operation switch 223), the motor 206 is reversely rotated, the ball screw 207 is a socket 208 motor 206 rotates in a direction away from, concomitantly rotated so that the linear state to the crus attachment member 203 and the upper leg mounting member 202, the motor 206 is stopped upon reaching the straight state, the lower leg mounting member 203 and the upper Back to the linear state from the thigh attachment member 202. 下腿取付部材203と上腿取付部材202とが直線上腿に戻った状態で歩行面227に靴214を着地させ一歩進んだことになる。 A lower leg mounting member 203 and upper leg mounting member 202 so that the advanced one step to landing the shoe 214 with the plane of walking 227 while returning to the straight upper leg.
上記のような歩行補助装具において、膝部に設けた継手205を伸縮機構204により回動し上腿取付部材202と下腿取付部材203とを折り曲げ可能として靴214と歩行面227との距離を可変にすることができ、歩行時に確実な立脚相と遊脚相の形成ができ、安定した歩容が得られるとともに、従来のごとく上体の傾斜や転倒などを生ずることが回避できる。 In the walking assistance device as described above, the distance between the joint 205 provided in the knee rotates by expansion and contraction mechanism 204 upper leg mounting member 202 and the lower leg mounting member 203 and the shoe 214 and the walking surface 227 as foldable variable can be, can form a reliable stance phase and swing phase during walking, with a stable gait is obtained, it can be avoided that result in such tilting or overturning the conventional as upper body.
【0007】 [0007]
【特許文献2】特開2002−191654号公報【0008】 [Patent Document 2] JP 2002-191654 [0008]
【発明が解決しようとする課題】 [Problems that the Invention is to Solve
しかしながら、上記第1の従来例の膝関節角度調節機構付き長下肢装具においては、制御部が、膝角度検知センサで膝関節角度を検知して屈曲角度固定・解除機構を作動させることで膝関節を固定・解除するが、歩行周期の位相に応じ膝関節を屈曲・伸展させることができなかった。 However, in the above-described knee joint angle adjusting mechanism with long foot orthosis of the first conventional example, the control unit, the knee joint by detects a knee joint angle at knee angle sensor actuating the bending angle fixing and releasing mechanism securing and releasing the but could not be bent, extending the knee joint according to the phase of the walking cycle. また上記第2の従来例の歩行補助装具においては、モータによりフレキシブル継手を介して連結されているボールネジを回転させることで、膝関節を「く」の字状に屈曲させるが、歩行周期の位相に応じ膝関節を屈曲・伸展させることができなかった。 Also in the above-described walking assistance device of the second conventional example, by rotating the ball screw which is connected via a flexible joint by the motor, but to bend the knee joint shaped "V", the walking cycle phase It could not be flexion and extension of the knee joint according to the. また、歩行者が歩行周期に応じ操作スイッチを操作することで膝関節を屈曲させるが、足底が地面に接地しているかどうかを判断し自動的に膝関節を屈曲させることができなかった。 Moreover, the pedestrian but is to bend the knee joint by operating the operation switch according to the walking cycle, the sole could not be bent automatically knee joint to determine whether the contact with the ground.
したがって、本発明の目的は、使用者の足底が地面に接地しているかどうかを判断し、歩行周期の位相に応じ自動的に足関節を底背屈させる足関節電動装具を提供することである。 Accordingly, an object of the present invention, by the sole of the user to determine whether the contact with the ground, automatically provide ankle electric appliances that buckled Sokose ankle depending on the phase of the walking cycle is there.
【0009】 [0009]
【課題を解決するための手段】 In order to solve the problems]
上記問題を解決するため、請求項1に記載の発明は、使用者の下肢に装着する下肢装着部と、前記使用者の足関節角度を計測する関節角度計測部と、前記下肢装着部の足底に設けられた圧センサと、前記下肢装着部の足関節部に設けられたアクチュエータと、前記アクチュエータを作動させる制御部とからなる足関節電動装具であって、 To solve the above problems, a first aspect of the present invention, a lower limb attachment part to be attached to the lower limbs of a user, the joint angle measuring unit for measuring the ankle angle of the user's foot of the leg mounting portion a pressure sensor provided in the bottom, and an actuator provided on the ankle portion of the lower limb attachment part, a ankle joint electric appliance comprising a control unit for operating the actuator,
前記制御部は、前記関節角度計測部により使用者の足関節角度の計測と、前記圧センサにより足底が地面に接地しているかどうかの計測を実施して前記使用者の歩行周期の位相を判断し、位相に応じて前記アクチュエータにより前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。 Wherein the control unit includes a measurement of the ankle joint angle of a user by the joint angle measuring unit, whether the phase of the walking cycle of the user to implement the measurement sole is grounded to the ground by the pressure sensor determining, by buckled Sokose ankle of the lower limb attachment unit by said actuator in accordance with the phase, is characterized in that to buckled Sokose ankle of the user.
また、請求項2に記載の発明は、請求項1に記載の足関節電動装具において、前記アクチュエータは回転機構であり、前記回転機構により前記下肢装着部の足関節を正転・逆転させることで、使用者の足関節を底背屈させることを特徴とするものである。 The invention described in Claim 2 is the ankle joint electric appliance of claim 1, wherein the actuator is a rotating mechanism, the ankle joint of the lower limb attachment part that is normal and reverse rotation by said rotary mechanism , it is characterized in that to buckled Sokose ankle of the user.
また、請求項3に記載の発明は、請求項1に記載の足関節電動装具において、前記アクチュエータはスライダー機構であり、前記スライダー機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。 The invention described in Claim 3 is the ankle joint electric appliance of claim 1, wherein the actuator is a slider mechanism, the ankle joint of the lower limb attachment part by causing buckled Sokose by the slider mechanism, it is characterized in that to buckled Sokose ankle of the user.
また、請求項4に記載の発明は、請求項1に記載の足関節電動装具において、前記アクチュエータはワイヤ駆動機構であり、前記ワイヤ駆動機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。 The invention described in Claim 4 is the ankle joint electric appliance of claim 1, wherein the actuator is a wire drive mechanism, by the wire driving mechanism causing buckled Sokose ankle of the lower limb attachment part in, it is characterized in that to buckled Sokose ankle of the user.
請求項1乃至4記載の足関節電動装具によれば、歩行周期の位相に応じ足関節を自動的に底背屈させることができ、足先のつまずきを防止することができる。 According to ankle electric appliance according to claim 1 to 4, wherein the ankle according to the phase of the gait cycle which can automatically buckled Sokose a, it is possible to prevent tripping of the feet.
【0010】 [0010]
【発明の実施の形態】 DETAILED DESCRIPTION OF THE INVENTION
以下、本発明の具体的実施例を図に基づいて説明する。 Hereinafter, specific examples of the present invention will be described with reference to FIG.
(第1実施例) (First Embodiment)
本発明の第1の実施の形態の足関節電動装具について図1乃至図3に基づいて説明する。 For ankle electric appliances of the first embodiment of the present invention will be described with reference to FIGS. 図1は、本発明の第1の実施の形態の足関節電動装具のシステム構成を示す図である。 Figure 1 is a diagram showing a system configuration of the ankle joint electric appliances of the first embodiment of the present invention. 1は足関節電動装具、2は使用者7の下肢に装着する下肢装着部、3は足関節の角度を計測する関節角度計測部、4は踵と爪先が地面に接地しているかどうかを計測する圧センサ、5は足関節電動装具の足関節を駆動するアクチュエータ、6は前記関節角度計測部3により計測された使用者7の関節角度情報と、前記圧センサ4により計測された足底の地面への接地情報とを基に、歩行周期の位相を判断し、使用者7の歩行周期の位相に応じアクチュエータ5に駆動指令を出力する制御部、7は使用者である。 1 ankle electric appliances, lower limb attachment part 2 to be mounted on the lower limbs of the user 7, 3 joint angle measuring unit for measuring the angle of the ankle joint, 4 measuring whether the heel and toe are grounded to the ground pressure sensors, actuators for driving the ankle ankle electric appliances 5, 6 wherein the joint angle measurement unit 3 user 7 measured by the joint angle information, plantar measured by the pressure sensor 4 based on the ground information to ground, to determine the phase of the walking cycle, the control unit for outputting a drive command to the actuator 5 according to the phase of the walking cycle of the user 7, 7 is a user.
【0011】 [0011]
図2は、本発明の第1の実施の形態の足関節の背屈方法(方法1)を示す図である。 Figure 2 is a diagram showing the back 屈方 method of the first embodiment of the ankle joint of the present invention (method 1). 歩行周期の位相における代表的な関節角度変化も示している。 Typical joint angle change in the phase of the walking cycle are also shown.
まず、歩行周期の位相について説明する。 First, a description will be given of the phase of the walking cycle. 歩行周期の位相は、▲1▼踵接地、▲2▼足底接地、▲3▼立脚中期、▲4▼踵離地、▲5▼足尖離地、▲6▼遊脚初期、および▲7▼遊脚後期から構成され、各位相に応じて股関節、膝関節、足関節の屈曲・伸展運動が繰り返される。 Phase of the gait cycle, ▲ 1 ▼ heel strike, ▲ 2 ▼ sole ground, ▲ 3 ▼ mid-stance, ▲ 4 ▼ KakatoHanarechi, ▲ 5 ▼ toe Hanarechi, ▲ 6 ▼ swing early, and ▲ 7 ▼ consists swing late, hip according to each phase, the knee joint, the flexion-extension movement of the ankle joint are repeated.
▲1▼踵接地・股関節 最大屈曲位となり以後伸展していく・膝関節 ほぼ完全に伸展し以後屈曲していく・足関節 背屈位から底屈していく▲2▼足底接地・股関節 伸展していく・膝関節 屈曲していく・足関節 底屈位(約10°)となる▲3▼立脚中期・股関節 伸展していく・膝関節 立脚期での最大屈曲位(約20°)となる・足関節 背屈していく▲4▼踵離地・股関節 最大伸展位(約10°)となる・膝関節 伸展から屈曲していく・足関節 最大底屈位(約10°)となり以後は底屈していく▲5▼足尖離地・股関節 屈曲していく・膝関節 屈曲していく・足関節 最大底屈位(約20°)となる▲6▼遊脚初期・股関節 加速しながら屈曲していく・膝関節 最大約60°まで屈曲していく・足関節 背屈していく▲7▼遊脚後期・股関節 減速し ▲ 1 ▼ heel ground-hip maximum flexed position and become the go-knee joint go almost completely succumbed extension and from the bottom after bending to go, ankle joint dorsiflexion ▲ 2 ▼ the sole ground, hip extension to extension thereafter and go-knee flexion to go, ankle plantar flexion (about 10 °) become ▲ 3 ▼ mid-stance hip extension to go knee joint stance maximum flexed position at the (approximately 20 °) - foot will succumb joint back ▲ 4 ▼ KakatoHanarechi hip maximum extension position (approximately 10 °) to become - continue to bend from knee extension-ankle up the bottom flexion (about 10 °) next after the bottom It succumbed to go ▲ 5 ▼ toe Hanarechi hip flexion and continue to go knee joint bent-ankle up the bottom flexion (about 20 °) become ▲ 6 ▼ swing initial hip while accelerating bent to go knee joint go succumbed go-ankle back is bent up to a maximum of about 60 ° ▲ 7 ▼ free leg late, and hip deceleration ながら屈曲していく・膝関節 伸展していく・足関節 背屈位を保つ【0012】 While keeping the bent continue to go knee joint extension by-ankle joint dorsiflexion [0012]
次に、足関節の背屈方法(方法1)について説明する。 Next, a description will be given back 屈方 method of the ankle joint (Method 1).
以下の手順で制御部6が足関節を背屈させる。 The following of the control unit 6 in the procedure causes buckled back the ankle joint.
(1)関節角度計測部3により足関節角度を計測する。 (1) measuring the ankle angle by the joint angle measuring unit 3.
(2)圧センサ4により踵と爪先が地面に接地しているかどうかを計測する。 (2) heel and toe by pressure sensor 4 for measuring whether the contact with the ground.
(3)踵と爪先が地面から離れている期間(足尖離地、遊脚初期、および遊脚後期)において、アクチュエータ5を駆動することで、使用者7の足関節を歩行周期に応じ背屈させる。 (3) the period of the heel and toe are off the ground (toe Hanarechi, swing early, and swing late) in, by driving the actuator 5, the back depending on the gait cycle the ankle of the user 7 to buckled.
(4)(1)〜(3)を繰り返す。 (4) (1) is repeated to (3).
ここで、足尖離地、遊脚初期、および遊脚後期の時間は、以下のいずれかを採用する。 Here, toe Hanarechi, free leg early, and the free leg late time, to adopt one of the following.
・前回の歩行周期における踵と爪先が地面から離れている時間とする。 Heel and toe in walking the previous cycle to the time you are away from the ground.
・関節角度計測部により、股・膝関節角度も計測することで、歩行周期の位相を判断する。 · The joint angle measuring unit, hip-knee angles by measuring, determining the phase of the walking cycle.
【0013】 [0013]
図3は、本発明の第1の実施の形態の足関節の底背屈方法(方法2)を示す図である。 Figure 3 is a diagram showing the bottom back 屈方 method ankle of the first embodiment of the present invention (method 2). 以下の手順で制御部6が足関節を底背屈させる。 The control unit 6 in the following procedure causes buckled Sokose the ankle joint.
(1)関節角度計測部3により股・膝・足関節角度を計測する。 (1) measuring the crotch knee-ankle angle by the joint angle measuring unit 3.
(2)圧センサ4により踵と爪先が地面に接地しているかどうかを計測する。 (2) heel and toe by pressure sensor 4 for measuring whether the contact with the ground.
(3)アクチュエータ5を駆動することで、踵接地、足底接地、および踵離地において、使用者の足関節を歩行周期に応じ底屈、立脚中期、足尖離地、遊脚初期、および遊脚後期において、使用者7の足関節を歩行周期に応じ背屈させる。 (3) By driving the actuator 5, heel, sole ground, and in KakatoHanare locations, plantar flexion according to the walking cycle ankle of a user, mid-stance, toe Hanarechi, swing early, and in the free leg late, to buckled back depending on the gait cycle the ankle joint of the user 7.
(4)(1)〜(3)を繰り返す。 (4) (1) is repeated to (3).
【0014】 [0014]
なお、足関節電動装具に足関節トルク計測部を備え、前記足関節トルク計測部により使用者7の足関節トルクを計測し、制御部6が前記トルクに応じ足関節を底背屈させてもよい。 Incidentally, with the ankle torque measuring unit to ankle electric appliance, the measuring ankle torque of the ankle joint torque measurement user by unit 7, even if the control unit 6 causes buckled Sokose ankle according to the torque good. 具体的には、足関節トルクのしきい値を予め設定しておき、足関節トルクがしきい値以上になるとそれ以上背屈させない方法をとってもよい。 Specifically, previously set threshold ankle torque in advance, it may be adopted a method of ankle torque not more back buckled becomes more than the threshold value.
また、足関節電動装具に提示部(視覚・聴覚・振動等)を備え、制御部6が歩行周期に応じ歩行のリズムを提示部により使用者に通知してもよい。 Also, the presentation unit to the ankle electric appliances provided with (visual, hearing, vibration, etc.), the control unit 6 may notify the user by the presentation unit rhythm of the walking according to the walking cycle.
さらに、足関節電動装具に生体情報計測部を備え、前記生体情報計測部により使用者の生体情報(心拍数等)を計測し、心拍数が予め設定したしきい値以上になると歩行を止めるようにしてもよい。 Further comprising a ankle electric appliances in the biological information measuring unit, wherein the biological information measuring unit measures biological information of a user (heart rate, etc.), so as to stop walking and equal to or greater than the threshold value of heart rate preset it may be.
【0015】 [0015]
(第2実施例) (Second Embodiment)
本発明の第2の実施の形態の足関節電動装具について図4に基づいて説明する。 For ankle electric appliance of the second embodiment of the present invention will be described with reference to FIG.
図4は、本発明の第2の実施の形態の足関節電動装具のシステム構成を示す図である。 Figure 4 is a diagram showing a system configuration of the ankle joint electric appliance of the second embodiment of the present invention. 図4において図1と同じ符号のものは同一のものを示しているので説明は省略する。 Description Since the same reference numerals as those Fig. 1 shows those same 4 will be omitted. 8は足関節電動装具の足関節を駆動する回転機構である。 8 is a rotating mechanism for driving the ankle ankle electric appliances.
第1の実施の形態と同様にして、制御部6が回転機構を駆動し足関節電動装具の足関節を正転・逆転させることで、前記方法1、方法2において足関節を底背屈させる。 In the same manner as in the first embodiment, the control unit 6 that is normal and reverse rotation of the ankle joint by driving the rotating mechanism ankle joint electric appliances, so buckled Sokose ankle in the method 1, method 2 .
【0016】 [0016]
(第3実施例) (Third Embodiment)
本発明の第3の実施の形態の足関節電動装具について図5に基づいて説明する。 Third embodiment of the ankle joint electric appliances present invention will be described with reference to FIG.
図5は、本発明の第3の実施の形態の足関節電動装具のシステム構成を示す図である。 Figure 5 is a diagram showing the system configuration of a third embodiment of the ankle joint electric appliances of the present invention. 図5において図1と同じ符号のものは同一のものを示しているので説明は省略する。 Description Since the same reference numerals as those Fig. 1 shows those same 5 will be omitted. 9は足関節電動装具の足関節を駆動するスライダー機構である。 9 is a slider mechanism for driving the ankle ankle electric appliances.
第1の実施の形態と同様にして、制御部6がスライダー機構を駆動し足関節電動装具の足底を底背屈させることで、前記方法1、方法2において足関節を底背屈させる。 In the same manner as in the first embodiment, the control unit 6 by making buckled Sokose plantar ankle electric appliance to drive the slider mechanism, the method 1, the buckled Sokose ankle in Method 2.
【0017】 [0017]
(第4実施例) (Fourth Embodiment)
本発明の第4の実施の形態の足関節電動装具について図6に基づいて説明する。 Fourth embodiment of the ankle joint electric appliances present invention will be described with reference to FIG.
図6は、本発明の第4の実施の形態の足関節電動装具のシステム構成を示す図である。 Figure 6 is a diagram showing a system configuration of the ankle joint electric appliances of a fourth embodiment of the present invention. 図6において図1と同じ符号のものは同一のものを示しているので説明は省略する。 Description Since the same reference numerals as those Fig. 1 shows those same 6 will be omitted. 10は足関節電動装具の足関節を駆動するワイヤ駆動機構である。 10 is a wire drive mechanism for driving the ankle ankle electric appliances.
第1の実施の形態と同様にして、制御部6がワイヤ駆動機構を駆動し足関節電動装具の足底を底背屈させることで、前記方法1、方法2において足関節を底背屈させる。 In the same manner as in the first embodiment, the control unit 6 by making buckled Sokose plantar ankle electric appliance to drive the wire drive mechanism, thereby buckled Sokose ankle in the method 1, method 2 .
【0018】 [0018]
【発明の効果】 【Effect of the invention】
以上説明したように、請求項1乃至4記載の足関節電動装具によれば、歩行周期の位相を判断して、位相に応じ足関節を自動的に底背屈させることができ、足先のつまずきを防止することができる。 As described above, according to the ankle joint electric appliance according to claim 1 to 4, wherein, to determine the phase of the walking cycle, which can automatically buckled Sokose ankle according to the phase, the feet stumbling block can be prevented.
【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS
【図1】本発明の第1の実施の形態の歩行訓練装置のシステム構成を示す図である。 1 is a diagram showing the system configuration of the walking training device of the first embodiment of the present invention.
【図2】本発明の第1の実施の形態の足関節の背屈方法(方法1)を示す図である。 2 is a diagram showing the back 屈方 method (method 1) of the foot joint of the first embodiment of the present invention.
【図3】本発明の第1の実施の形態の足関節の底背屈方法(方法2)を示す図である。 3 is a diagram showing the bottom back 屈方 method (Method 2) of the ankle joint of the first embodiment of the present invention.
【図4】本発明の第2の実施の形態の足関節電動装具のシステム構成を示す図である。 4 is a diagram showing the system configuration of the ankle joint electric appliance of the second embodiment of the present invention.
【図5】本発明の第3の実施の形態の足関節電動装具のシステム構成を示す図である。 5 is a diagram showing the system configuration of a third embodiment of the ankle joint electric appliances of the present invention.
【図6】本発明の第4の実施の形態の足関節電動装具のシステム構成を示す図である。 6 is a diagram showing the system configuration of the ankle joint electric appliances of a fourth embodiment of the present invention.
【図7】従来の第1の実施の形態の長下肢装具の構成を示す図である。 7 is a diagram showing the configuration of the long foot orthosis of the first conventional embodiment.
【図8】従来の第1の実施の形態の長下肢装具を用いたときの歩行補助を概念的に示す図である。 8 is a diagram conceptually showing the walking assistance when using the long foot orthosis conventional first embodiment.
【図9】従来の第2の実施の形態の歩行補助装具の構成を示す図である。 9 is a diagram showing the configuration of a walking assistance device of the second conventional embodiment.
【符号の説明】 DESCRIPTION OF SYMBOLS
1 足関節電動装具2 下肢装着部3 関節角度計測部4 圧センサ5 アクチュエータ6 制御部7 使用者8 回転機構9 スライダー機構10 ワイヤ駆動機構101 大腿支持部材102 膝関節部材103 下腿支持部材104 足支持部材105 屈曲角度検知センサ106a 離床検知センサ106b 着地検知センサ107 足関節角度検知センサ108 屈曲角度固定・解除機構109 制御部110 大腿抱接部材111 締付部材112 下腿抱接部材113 締付部材114 締付部材115 正・逆回転モータ116 スクリューナット117 ブレーキレバー119 ブレーキ部材201 歩行補助装具202 上腿取付部材203 下腿取付部材204 伸縮機構205 継手206 モータ207 ボールネジ208 ソケット209 フレキシブル継手210 1 foot joint electric appliance 2 lower limb attachment part 3 joint angle measuring unit 4 pressure sensor 5 actuator 6 control unit 7 user 8 rotating mechanism 9 slider mechanism 10 wire drive mechanism 101 femoral support member 102 knee joint member 103 crus support member 104 foot support member 105 bending angle detecting sensor 106a lifting detection sensor 106b landing detection sensor 107 foot joint angle sensor 108 bend angle fixing and releasing mechanism 109 control unit 110 femoral inclusion member 111 fastening member 112 crus inclusion member 113 fastening member 114 fastened biasing member 115 forward and reverse rotation motor 116 the screw nut 117 brake lever 119 the brake member 201 walking assistance device 202 upper leg mounting member 203 crus attachment member 204 expansion mechanism 205 joint 206 motor 207 ball screw 208 socket 209 flexible joint 210 具211 テープ213 リミットスイッチ214 靴215 結合部材220 杖221 把持部222 リモートコントローラ223 操作スイッチ225 駆動装置227 歩行面 Ingredients 211 tape 213 limit switch 214 shoes 215 binding member 220 Cane 221 gripper 222 walking surface remote controller 223 the operation switch 225 drives 227

Claims (4)

  1. 使用者の下肢に装着する下肢装着部と、前記使用者の足関節角度を計測する関節角度計測部と、前記下肢装着部の足底に設けられた圧センサと、前記下肢装着部の足関節部に設けられたアクチュエータと、前記アクチュエータを作動させる制御部とからなる足関節電動装具であって、 A lower limb attachment part to be attached to the lower limbs of a user, the joint angle measuring unit for measuring the ankle angle of the user, a pressure sensor provided in the sole of the lower limb attachment part, the lower limb attachment part of the ankle an actuator provided in the part, a ankle joint electric appliance comprising a control unit for operating the actuator,
    前記制御部は、前記関節角度計測部により使用者の足関節角度の計測と、前記圧センサにより足底が地面に接地しているかどうかの計測を実施して前記使用者の歩行周期の位相を判断し、位相に応じて前記アクチュエータにより前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする足関節電動装具。 Wherein the control unit includes a measurement of the ankle joint angle of a user by the joint angle measuring unit, whether the phase of the walking cycle of the user to implement the measurement sole is grounded to the ground by the pressure sensor determination and, by buckled Sokose ankle of the lower limb attachment unit by said actuator in accordance with the phase, ankle electric appliances for causing buckled Sokose ankle of the user.
  2. 前記アクチュエータは回転機構であり、前記回転機構により前記下肢装着部の足関節を正転・逆転させることで、使用者の足関節を底背屈させることを特徴とする請求項1記載の足関節電動装具。 Wherein the actuator is a rotating mechanism, wherein the rotation mechanism that is normal and reverse rotation of the ankle of the lower limb attachment part, ankle according to claim 1, characterized in that buckled Sokose ankle of a user electric appliances.
  3. 前記アクチュエータはスライダー機構であり、前記スライダー機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする請求項1記載の足関節電動装具。 Wherein the actuator is a slider mechanism, the slider mechanism by by causing buckled Sokose ankle of the lower limb attachment part, ankle electric according to claim 1, characterized in that buckled Sokose ankle of a user brace.
  4. 前記アクチュエータはワイヤ駆動機構であり、前記ワイヤ駆動機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする請求項1記載の足関節電動装具。 Wherein the actuator is a wire driving mechanism, the wire driving mechanism by by causing buckled Sokose ankle of the lower limb attachment part, the foot according to claim 1, characterized in that buckled Sokose ankle of a user joint electric appliances.
JP2003169158A 2003-06-13 2003-06-13 Foot joint electric device Pending JP2005000500A (en)

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