JP2022530416A - 装着可能補助デバイス - Google Patents
装着可能補助デバイス Download PDFInfo
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- JP2022530416A JP2022530416A JP2021563042A JP2021563042A JP2022530416A JP 2022530416 A JP2022530416 A JP 2022530416A JP 2021563042 A JP2021563042 A JP 2021563042A JP 2021563042 A JP2021563042 A JP 2021563042A JP 2022530416 A JP2022530416 A JP 2022530416A
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Abstract
Description
U=Mhip*d(aHKA)
式中、aHKAは、膝角度であり、d(aHKA)は、膝角度の変化である。系への外部仕事を実施するであろう他の力は、以下のようなKのまわりのテンドン力の垂直および水平成分:
(Tshank,x+Thip,x)*dx、および(Tshank,y+Thip,y)*dy
であろう。故に、総仮想仕事式は、以下になるように示され得る。
Ma=d2*T2-d3*T3
のように計算され得る。
Claims (20)
- 装着可能補助デバイスであって、前記装着可能補助デバイスは、第1および第2の部品を備え、
前記第1および第2の部品は、それぞれ、四肢関節の近位および遠位に装着可能であり、前記第1および第2の部品は、
関節運動式相互接続部と、
テンドン相互接続部と
を有し、
前記テンドン相互接続部は、前記第1の部品から前記第2の部品に誘導され、引っ張られると、補助力を前記四肢関節に及ぼすように適合され、
前記関節運動式相互接続部は、前記四肢関節の外方側において片側だけに提供され、
前記テンドン相互接続部は、前記四肢関節の外方側において片側だけに提供され、
ねじり防止手段が、提供されており、
前記ねじり防止手段は、前記テンドン相互接続部を引っ張ると、前記四肢に対する前記第1および第2の装着可能部品のねじりに対抗する力を発生させるように適合されている、装着可能補助デバイス。 - 前記テンドン相互接続部を引っ張るように適合されたモータ、特に、DCモータが、提供されている、請求項1に記載の装着可能補助デバイス。
- 前記テンドン相互接続部を引っ張るように適合された前記モータは、胴体に提供され、前記テンドンは、特に、少なくとも1つの追加の関節を横断して、特に、前記腰部を横断して、前記胴体から前記2つの部品のうちの第1のものに誘導されている、請求項1-2のいずれかに記載の装着可能補助デバイス。
- 制御装置が、姿勢を安定させる方法で、および/または、前記四肢の伸張を支援する方法で、前記テンドンを引っ張るために提供されている、請求項1-3のいずれかに記載の装着可能補助デバイス。
- 前記第1および第2の部品は、膝関節の近位および遠位に装着可能であるように適合され、
前記補助デバイスは、体勢安定化および/または脚部伸長を補助するように適合されている、請求項1-4のいずれかに記載の装着可能補助デバイス。 - 前記第1および第2の部品のうちの少なくとも1つ、好ましくは、両方は、
使用時、前記四肢に寄り添わせられように適合された固体プレートと、
前記プレートを前記四肢上に取り付けるために適合された1つ以上のストラップを備えているストラップ配置と
を備えている、請求項1-5のいずれかに記載の装着可能補助デバイス。 - 前記ストラップ配置は、前記プレートを前記四肢上に取り付けるために適合され、少なくとも1つのストラップが、前記プレートの片側から、前記四肢の後部を周って、前記プレートの反対側に延びている、請求項6に記載の装着可能補助デバイス。
- 前記ストラップ配置は、前記プレートを前記四肢上に取り付けるために適合され、少なくとも1つのストラップが、ねじり防止手段を実装するように自己緊張である、請求項6または7に記載の装着可能補助デバイス。
- 前記少なくとも1つの自己緊張ストラップは、前記プレートの片側から、前記四肢の後部を周って、前記プレートの反対側に、かつ前記テンドン相互接続部に誘導されるように適合されている、請求項8に記載の装着可能補助デバイス。
- 使用中、前記テンドン相互接続部を引っ張ると、前記自己緊張ストラップ内で発生させられた張力は、前記固体プレートを介して前記四肢に作用するねじり防止モーメントを発生させる、請求項9に記載の装着可能補助デバイス。
- 前記テンドン相互接続部のテンドンは、前記プレートのそれより高いが、前記テンドンのそれより低い可撓性を有する誘導部材を通して誘導され、前記誘導部材は、前記ストラップ配置のストラップに、特に、近位大腿部ストラップに固定して取り付けられている、請求項6-10のいずれかに記載の装着可能補助デバイス。
- 前記プレートのうちの1つは、特に、使用時、脛プレートの前部が、脛骨結節の周囲のエリアを覆うように、使用時、脛の近位の前側および側方側に位置付けられるように適合されている、請求項6-11のいずれかに記載の装着可能補助デバイス。
- 前記プレートのうちの1つは、特に、使用時、前記大腿部プレートが、四頭筋の上部、特に、四頭筋テンドンの直上に置かれるように、前記大腿部の遠位の前側および側方側に装着されるように適合されている、請求項6-12のいずれかに記載の装着可能補助デバイス。
- 前記プレートは、プラスチック材料、特に、ナイロン、アクリロニトリルブタジエンスチレン(ABS)、またはポリウレタン樹脂から作製された基部部品を有し、好ましくは、前記プレートは、パッド類付きであり、および/または、好ましくは、既製プレートが、使用されている、請求項6-13のいずれかに記載の装着可能補助デバイス。
- 前記関節運動式相互接続部は、膝関節の外方側に提供されている、請求項1-14のいずれかに記載の装着可能補助デバイス。
- 前記関節運動式相互接続部は、回転中心を有するヒンジ関節の形態において提供され、前記回転中心は、使用時、少なくとも前記膝関節のそれとほぼ整列させられ、特に、使用時、前記デバイスの圧縮によって、および/または、前記ユーザの組織の圧縮によって任意の偏差が補償されるような程度まで、整列させられている、請求項1-15のいずれかに記載の装着可能補助デバイス。
- 前記ヒンジ関節は、第1および第2のプレートに接続され、前記最遠位プレートは、前記テンドン相互接続部のテンドンを誘導するように適合され、矢状面において視認されると、前記関節軸から前方に延びている、請求項1-16に記載の装着可能補助デバイス。
- 前記テンドン相互接続部は、リボンまたは非ボーデンケーブルを備え、特に、1cmより小さい、好ましくは、5mmより小さい曲率半径を有する、請求項1-17のいずれかに記載の装着可能補助デバイス。
- 前記第1および第2の部品の各々は、固体プレートを備え、前記固体プレートは、使用時、前記四肢に寄り添わせられように適合され、
経路設定手段が、前記テンドン相互接続部を前記2つのプレート間のヒンジ関節から前記近位プレートの前中心点に向かって経路設定するために提供されている、請求項1-18のいずれかに記載の装着可能補助デバイス。 - 前記テンドン相互接続部は、ねじり防止手段を実装するように、前記テンドンが前記膝関節の下方の遠位位置から外方に、特に、共線の経路に対して、5°~45°、好ましくは、5°~25°の角度βにおいて、前記膝関節の近位のより内方位置に誘導されるように、経路を設定されるように適合されている、請求項19に記載の装着可能補助デバイス。
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US4100918A (en) | 1977-03-25 | 1978-07-18 | Indiana University Foundation | Dynamic orthotic knee extension assist device |
DE8515598U1 (de) | 1985-05-28 | 1985-07-11 | Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft, 3408 Duderstadt | Arretierbares Kniegelenk |
US5547464A (en) * | 1990-03-16 | 1996-08-20 | Deroyal Industries, Inc. | Joint device |
US5167612A (en) | 1990-07-30 | 1992-12-01 | Bonutti Peter M | Adjustable orthosis |
US6635024B2 (en) | 2001-05-14 | 2003-10-21 | Bobby Joe Hatton | Articulating knee supports |
US7410472B2 (en) * | 2005-02-22 | 2008-08-12 | Ottawa Health Research Institute | Articulating joint |
FR2900065B1 (fr) * | 2006-04-21 | 2008-05-30 | Inst Francais Du Petrole | Nouvel echangeur interne pour reacteur gaz liquide solide destine a la synthese fischer tropsch. |
US20080000317A1 (en) | 2006-05-31 | 2008-01-03 | Northwestern University | Cable driven joint actuator and method |
US8308671B2 (en) * | 2008-08-28 | 2012-11-13 | Nace Richard A | Knee orthosis |
KR101217672B1 (ko) | 2010-12-06 | 2013-01-02 | 한국과학기술원 | 탄성 계수 변동 방식의 무릎 관절 보조기 및 이를 이용한 보행 에너지 최적화 방법 |
US9125730B2 (en) | 2011-10-31 | 2015-09-08 | Ossur Hf | Orthopedic device for dynamically treating the knee |
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WO2018023109A1 (en) | 2016-07-29 | 2018-02-01 | The United States Of America, As Represented By The Secretary, Department Of Health And Human Services | Powered gait assistance systems |
EP3342390A1 (en) | 2016-12-29 | 2018-07-04 | ETH Zurich | Apparatus for supporting a limb of a user against gravity |
US10531973B2 (en) * | 2017-01-09 | 2020-01-14 | Roshanak BAGHAEI ROODSARI | Apparatus for treating and supporting extremities or a portion of a body |
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