JP2005536317A - 膝上部肢切断患者用の駆動源付き義足 - Google Patents
膝上部肢切断患者用の駆動源付き義足 Download PDFInfo
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Abstract
Description
図1および図2は、膝部材(12)、細長い下腿部材(14)、膝部材(12)と下腿部材(14)の間にセットされたリニア・アクチュエータ(16)を含む、義足(10)の基本的構成部品を示す。この義足(10)は、膝部材(12)の上方にソケット(18)を連結する手段および下腿部材(14)の底端部の下に人工足(20)を連結する手段も備える。
図8から図13は、第2の可能な実施形態による義足(10)を示す。これは、後部アクチュエータ構造を有する義足(10)の一例を図示する。この実施形態は、前部アクチュエータ構造を使用するものと非常によく似ている。それは別の種類のアクチュエータ(16)および別の形式の人工足(20)を有して図示されている。下腿部材(14)の中央区画(14B)は、2本の代わりに4本の棒(54)を使用し、背面板を有さない。さらに、下腿部材(14)には底部延長部が設けられていない。
図14は、義足(10)のアクチュエータ(16)を動作させるのに使用できる制御システム(200)を示す。この図は最初に、肢切断患者の歩行の動力学についてリアルタイムで情報を捕捉するのに使用するセンサである、1セットの人工固有受容体(210)を示す。人工固有受容体(210)のこのセットは、制御器(220)に検知情報を供給する。制御器(220)は、継手の軌道およびアクチュエータ(16)によって印加しなければならない必要な力を求める。次いで、設定値(継手軌道および必要な力)が、電源(240)にそれ自体接続された電力駆動部(230)を介してアクチュエータ(16)に送られる。
以下の技術的仕様を想定する。
・体重70Kg、慎重170cmの個体の天然の脛の人体計測体積に対応する幾何体積である。
・最大距離rは0.055m、すなわちr<0.055m。
・最小および最大長さLTはそれぞれ0.3mおよび0.4mに設定、すなわち0.3m<L<SUB>T<0.4mである。
・最小および最大距離dTは-0.015mおよび+0.015m、すなわち-0.015m<D<SUB>T<+0.015mである。
θk 膝角度、∠DOA
r 膝部材(12)の回転中心「O」と膝部材(12)上のアクチュエータ(16)の取り付け位置の間の距離
θfix rと脚断端中心軸の間の距離、∠EOC
LA 膝部材(12)の回転中心と下腿部材(14)上のアクチュエータ(16)の取り付け点の間の距離、OB
LT 膝部材(12)の回転中心と下腿部材(14)の取り付け点の間の距離、OA
dT 下腿部材(14)の中央軸と下腿部材(14)のアクチュエータ(16)の取り付け点の間の距離、AB
α LTとLAの間に形成される角度:∠AOB
L アクチュエータ(16)の長さ、BC
β LAとrの間に形成される角度、∠BOC
br 第1の枢動軸(31)に対するアクチュエータ(16)のレバー・アーム(31)
レバー・アームbrは、35度の膝角度θkで最大となるように想定されていることが好ましい。数学的設計の幾何学的計算は、距離r、長さLT、距離dTおよび角度θfixの設定に基づいている。したがって、これらのパラメータは、肢切断患者の人体計測および選択されるアクチュエータ(16)に応じて定義される。
Claims (22)
- 膝部材と、
前記膝部材の上方にソケットを連結する第1の手段と、
上端部および底端部を有し、主長手方向軸を画成する細長い下腿部材と、
前記下腿部材の前記底端部の下に人工足を連結する第2の手段と、
上端部および底端部を有するリニア・アクチュエータと、
前記下腿部材を前記膝部材に動作的に連結する第3の手段と、
前記アクチュエータの前記上端部を前記膝部材に動作的に連結する第4の手段と、
前記アクチュエータの前記底端部を前記下腿部材の前記底端部に動作的に連結する第5の手段とを備える、膝上部肢切断患者用の駆動源付き義足。 - 前記第3の手段が、前記主長手方向軸に垂直な第1の枢動軸を画成する第1の枢動アセンブリを備え、
前記第4の手段が、前記第1の枢動軸に実質的に平行な第2の枢動軸を画成する第2の枢動アセンブリを備え、前記第2の枢動軸は、前記第1の枢動軸および前記主長手方向軸と間隔を開けて配置され、
前記第5の手段が、前記第1の枢動軸に実質的に平行で、前記第1の枢動軸と間隔を置いて配置される第3の枢動軸を画成する第3の枢動アセンブリを備える、請求項1に記載の義足。 - 前記下腿部材が、少なくとも2本の間隔を置いて配置された棒を有し、前記棒が通常ある空間を画成し、その中に前記アクチュエータのほとんどが配置される、請求項1または2に記載の義足。
- 前記下腿部材の前記底端部の下に取り付けられた人工足をさらに備え、前記人工足は、前記義足の前面側および背面側を画成する、請求項1から3のいずれか一項に記載の義足。
- 前記アクチュエータの前記上端部が前記義足の前面側に連結されている、請求項4に記載の義足。
- 前記下腿部材が、前記下腿部材の前記上端部および前記底端部の間を延びる背面板を供える、請求項5に記載の義足。
- 前記アクチュエータの前記上端部が前記義足の前記背面側に連結されている、請求項4に記載の義足。
- 前記下腿部材が、少なくとも2本の間隔を置いて配置された棒を備える中央区画を有し、前記棒が通常ある空間を画成し、その中に前記アクチュエータのほとんどが配置される、請求項7に記載の義足。
- 前記膝部材の上方に取り付けられたソケットをさらに備える、請求項1から8のいずれか一項に記載の義足。
- 前記アクチュエータを制御する第6の手段をさらに備える、請求項1から9のいずれか一項に記載の義足。
- 前記第6の手段が、固有受容体からの入力信号に応答して制御信号を出力する制御器を備える、請求項1から10のいずれか一項に記載の義足。
- 前記制御器が電力駆動部に接続される出力部を有し、前記電力駆動部が、前記制御信号に応答して電源から来る電気エネルギーを前記アクチュエータに供給する、請求項11に記載の義足。
- 前記入力信号が、前記義足に戴置されたセンサ、および前記義足の外側に配置されたセンサからの信号を含む、請求項11または12に記載の義足。
- 膝部材と、
前記膝部材の上方に連結されたソケットと、
上端部および底端部を有し、主長手方向軸を画成する細長い下腿部材と、
前記下腿部材の前記底端部の下に連結され、前記義足の前面側および背面側を画成する人工足と、
上端部および底端部を有するリニア・アクチュエータと、
前記下腿部材を前記膝部材に動作的に連結し、前記主長手方向軸に垂直な第1の枢動軸を画成する第1の枢動アセンブリと、
前記アクチュエータの前記上端部を前記膝部材に動作的に連結し、前記第1の枢動軸に実質的に平行で、前記第1の枢動軸および前記主長手方向軸と間隔を開けて配置される第2の枢動軸を画成する第2の枢動アセンブリと、
前記アクチュエータの前記底端部を前記下腿部材の前記底端部に動作的に連結し、前記第1の枢動軸に実質的に平行で、前記第1の枢動軸と間隔を置いて配置される第3の枢動軸を画成する第3の枢動アセンブリとを備える、膝上部肢切断患者用の駆動源付き義足。 - 前記下腿部材が、少なくとも2本の間隔を置いて配置された棒を備える中央区画を有し、前記棒が通常ある空間を画成し、その中に前記アクチュエータのほとんどが配置される、請求項14に記載の義足。
- 前記アクチュエータの前記上端部が前記義足の前記前面側に連結される、請求項14または15に記載の義足。
- 前記下腿部材が、前記下腿部材の前記上端部および前記底端部の間を延びる背面板を供える、請求項16に記載の義足。
- 前記アクチュエータの前記上端部が前記義足の前記背面側に連結される、請求項14または15に記載の義足。
- 前記下腿部材が、少なくとも2本の間隔を置いて配置された棒を備える中央区画を有し、前記棒が通常ある空間を画成し、その中に前記アクチュエータのほとんどが配置される、請求項18に記載の義足。
- 固有受容体からの入力信号に応答して制御信号を出力する、前記アクチュエータを制御するための制御器をさらに備える、請求項14から19のいずれか一項に記載の義足。
- 前記制御器が電力駆動部に接続された出力部を有し、前記電力駆動部は、前記制御信号に応答して、電源から来る電気エネルギーを前記アクチュエータに供給する、請求項20に記載の義足。
- 前記入力信号が、前記義足に戴置されたセンサ、および前記義足の外側に配置されたセンサからの信号を含む、請求項20または21に記載の義足。
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JPWO2018087997A1 (ja) * | 2016-11-10 | 2019-09-26 | 国立大学法人 東京大学 | 膝継手 |
US11014251B2 (en) | 2016-11-24 | 2021-05-25 | Kawasaki Jukogyo Kabushiki Kaisha | Joint structure for robot |
CN109863004A (zh) * | 2016-11-24 | 2019-06-07 | 川崎重工业株式会社 | 机器人的关节构造体 |
WO2018097249A1 (ja) * | 2016-11-24 | 2018-05-31 | 川崎重工業株式会社 | ロボットの関節構造体 |
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