JP2009536050A - 調整可能な制動機能でパッシブな人工膝関節を制御する方法 - Google Patents
調整可能な制動機能でパッシブな人工膝関節を制御する方法 Download PDFInfo
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Abstract
【選択図】 図2
Description
Claims (17)
- 屈曲方向において調整可能な制動機能でパッシブな人工膝関節を制御する方法であって、前記人工膝関節に取り付けられている、上側の接続手段と、人工足部へ通じる結合要素と、を有する補装具手段を階段上りに適合させるための制御方法であり、この制御方法は、以下の段階、すなわち、
前記人工足部の低いトルクの持ち上げを検出する過程、および
持ち上げ期において、屈曲制動を、平面歩行のために適切であるレベルより下に減少させる過程を有する。 - 着床期および股関節伸展期における伸展制動および/または屈曲制動を、前記平面歩行のための遊脚期制御の制動の上のレベルへ増加することを特徴とする請求項1に記載の制御方法。
- 前記着床期における前記屈曲制動を、最大値に増加することを特徴とする請求項2に記載の制御方法。
- 前記着床期および股関節伸展期における前記屈曲制動を、完全な股関節伸展まで維持することを特徴とする請求項2または3に記載の制御方法。
- 前記屈曲制動を膝角度の変化に従って増加することを特徴とする請求項2ないし4のいずれか1に記載の制御方法。
- 前記屈曲制動を、下腿シャフトに作用する軸方向力に従って増減することを特徴とする請求項1ないし請求項5のいずれか1に記載の制御方法。
- 伸展制動を、持ち上げ期中ならびに前記着床期および股関節伸展期中に、調整することを特徴とする請求項1ないし請求項6のいずれか1に記載の制御方法。
- 前記低いトルクの持ち上げの検出を、力センサまたはトルク・センサによって行なうことを特徴とする請求項1ないし請求項7のいずれか1に記載の制御方法。
- 前記低いトルクの持ち上げの検出を、人工足部の水平方向加速度の測定および人工膝関節での屈曲の検出によって行なうことを特徴とする請求項1ないし請求項8のいずれか1に記載の制御方法。
- 前記低いトルクの持ち上げの検出を、人工足部での前足トルクの検出によって行なうことを特徴とする請求項1ないし請求項9のいずれか1に記載の制御方法。
- 事前緊張されたばね機構によって持ち上げ期中に屈曲支持を行なうことを特徴とする請求項1ないし請求項10のいずれか1に記載の制御方法。
- 前記人工足部を持ち上げ後に再度着床するとき、屈曲制動および伸展制動の増加を導入することを特徴とする請求項1ないし請求項11のいずれか1に記載の制御方法。
- 前記着床を、下腿シャフトまたは前記人工足部における軸方向力の測定によって、検出することを特徴とする請求項12に記載の制御方法。
- 前記屈曲制動を、持ち上げ期に、最小値に減少させることを特徴とする請求項1ないし請求項13のいずれか1に記載の制御方法。
- 前記屈曲制動の減少後に、自由伸展を、時間に依存して調整することを特徴とする請求項1ないし請求項14のいずれか1に記載の制御方法。
- 前記自由伸展をばねで支持することを特徴とする請求項15に記載の制御方法。
- 時間制御を機械的にまたは電子的に行なうことを特徴とする請求項15または16に記載の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006021802.7 | 2006-05-09 | ||
DE102006021802A DE102006021802A1 (de) | 2006-05-09 | 2006-05-09 | Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung |
PCT/DE2007/000841 WO2007128299A1 (de) | 2006-05-09 | 2007-05-08 | Steuerung eines passiven prothesenkniegelenkes mit verstellbarer dämpfung |
Publications (2)
Publication Number | Publication Date |
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JP2009536050A true JP2009536050A (ja) | 2009-10-08 |
JP4718635B2 JP4718635B2 (ja) | 2011-07-06 |
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Application Number | Title | Priority Date | Filing Date |
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JP2009508119A Active JP4718635B2 (ja) | 2006-05-09 | 2007-05-08 | 調整可能な制動機能でパッシブな人工膝関節を制御する方法 |
Country Status (11)
Country | Link |
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US (4) | US7731759B2 (ja) |
EP (1) | EP2015712B1 (ja) |
JP (1) | JP4718635B2 (ja) |
CN (1) | CN101453963B (ja) |
AT (1) | ATE476943T1 (ja) |
CA (1) | CA2651124C (ja) |
DE (2) | DE102006021802A1 (ja) |
ES (1) | ES2349878T3 (ja) |
RU (1) | RU2404730C2 (ja) |
TW (1) | TWI386194B (ja) |
WO (1) | WO2007128299A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009153660A (ja) * | 2007-12-26 | 2009-07-16 | Japan Health Science Foundation | 股関節及び膝関節自動股義足 |
JP2013510604A (ja) * | 2009-11-13 | 2013-03-28 | オットー・ボック・ヘルスケア・プロダクツ・ゲーエムベーハー | 矯正用または補装用の人工の膝関節を制御するための方法および装置 |
JP2013510603A (ja) * | 2009-11-13 | 2013-03-28 | オットー・ボック・ヘルスケア・プロダクツ・ゲーエムベーハー | 矯正用または補装用の人工の関節を制御するための方法および装置 |
JP2013510605A (ja) * | 2009-11-13 | 2013-03-28 | オットー・ボック・ヘルスケア・プロダクツ・ゲーエムベーハー | 下肢の矯正用または補装用の関節を制御するための方法 |
KR101619551B1 (ko) | 2010-12-06 | 2016-05-10 | 현대자동차주식회사 | 하지 착용식 로봇의 보행 장치 |
US11033406B2 (en) | 2015-04-24 | 2021-06-15 | Otto Bock Healthcare Products Gmbh | Method for controlling the standing-phase damping of an artificial knee joint |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2340789B1 (en) * | 2005-02-02 | 2013-05-01 | Ossur HF | Methods and systems for gathering information regarding a prosthetic foot |
DE102006021802A1 (de) | 2006-05-09 | 2007-11-15 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung |
WO2008080232A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | High torque active mechanism for orthotic and/or prosthetic devices |
WO2008080231A1 (en) * | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
US10842653B2 (en) | 2007-09-19 | 2020-11-24 | Ability Dynamics, Llc | Vacuum system for a prosthetic foot |
DE102007053389A1 (de) | 2007-11-07 | 2009-05-20 | Otto Bock Healthcare Ip Gmbh & Co. | Verfahren zur Steuerung eines orthopädischen Gelenkes |
JP5213682B2 (ja) * | 2008-12-17 | 2013-06-19 | 本田技研工業株式会社 | 体重支持装置 |
DE102009052893A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
DE102009052890A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Vorrichtung und Verfahren zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
DE102009052894A1 (de) | 2009-11-13 | 2011-06-01 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
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Also Published As
Publication number | Publication date |
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CN101453963B (zh) | 2012-04-18 |
CN101453963A (zh) | 2009-06-10 |
JP4718635B2 (ja) | 2011-07-06 |
RU2404730C2 (ru) | 2010-11-27 |
US20190274849A1 (en) | 2019-09-12 |
DE102006021802A1 (de) | 2007-11-15 |
EP2015712B1 (de) | 2010-08-11 |
EP2015712A1 (de) | 2009-01-21 |
DE502007004728D1 (de) | 2010-09-23 |
US10265198B2 (en) | 2019-04-23 |
ATE476943T1 (de) | 2010-08-15 |
ES2349878T3 (es) | 2011-01-12 |
TWI386194B (zh) | 2013-02-21 |
CA2651124A1 (en) | 2007-11-15 |
WO2007128299A1 (de) | 2007-11-15 |
US20100228360A1 (en) | 2010-09-09 |
US9248031B2 (en) | 2016-02-02 |
TW200808279A (en) | 2008-02-16 |
RU2008143732A (ru) | 2010-06-20 |
US20160030203A1 (en) | 2016-02-04 |
CA2651124C (en) | 2015-01-20 |
US7731759B2 (en) | 2010-06-08 |
US11571316B2 (en) | 2023-02-07 |
US20090171468A1 (en) | 2009-07-02 |
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