JP4911542B2 - 屈曲初期のトルクを低減した義足 - Google Patents
屈曲初期のトルクを低減した義足 Download PDFInfo
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- JP4911542B2 JP4911542B2 JP2009504940A JP2009504940A JP4911542B2 JP 4911542 B2 JP4911542 B2 JP 4911542B2 JP 2009504940 A JP2009504940 A JP 2009504940A JP 2009504940 A JP2009504940 A JP 2009504940A JP 4911542 B2 JP4911542 B2 JP 4911542B2
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- 238000005452 bending Methods 0.000 claims description 87
- 210000002414 leg Anatomy 0.000 claims description 71
- 210000003127 knee Anatomy 0.000 claims description 63
- 230000007246 mechanism Effects 0.000 claims description 24
- 210000000629 knee joint Anatomy 0.000 claims description 23
- 238000000034 method Methods 0.000 description 28
- 210000004394 hip joint Anatomy 0.000 description 10
- 210000003205 muscle Anatomy 0.000 description 10
- 210000000689 upper leg Anatomy 0.000 description 8
- 230000037396 body weight Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 206010061599 Lower limb fracture Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
- A61F2/642—Polycentric joints, without longitudinal rotation
- A61F2/644—Polycentric joints, without longitudinal rotation of the single-bar or multi-bar linkage type
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/748—Valve systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
- A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
- A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
- A61F2002/30331—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements made by longitudinally pushing a protrusion into a complementarily-shaped recess, e.g. held by friction fit
- A61F2002/30359—Pyramidally- or frustopyramidally-shaped protrusion and recess
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
- A61F2220/0033—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements made by longitudinally pushing a protrusion into a complementary-shaped recess, e.g. held by friction fit
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Description
この発明は、膝角度の増大に伴って油圧シリンダやバネシリンダが生じる抵抗を適切に大にすることができる、油圧シリンダやバネシリンダを利用した義足を提供するものである。
この発明のその他の目的については、今後の説明から明らかになるであろう。
12 上部材に対応するリンク
14 下部材に対応するリンク
16 前側リンク
18 後側リンク
θs 抗力を小さくしたい屈曲初期における膝角度
Ps 抗力発生手段の上部取付け位置
Qs 抗力発生手段の下部取付け位置
Qi 基準点
m 位置調整可能な点Qの範囲(網部)
50 義足(大腿義足)
52 上部材
54 下部材
56 前側リンク
58 後側リンク
60 膝関節
70 油圧シリンダ
Claims (7)
- 多節リンク機構で構成され、上部材と下部材とを瞬間回転中心回りに可動にするための膝関節と、油圧シリンダあるいはバネシリンダによって構成され、前記多節リンク機構に揺動自在に取り付けられ、その多節リンク機構の変形を抑制する抗力を発生する抗力発生手段とを備える義足であって、次のX1、X2、X3およびX4の各条件を満足することを特徴とする、屈曲初期のトルクを低減した義足。
X1 前記抗力発生手段による抗力は、前記膝関節の屈曲初期の第1段階における瞬間回転中心回りの第1のトルクT1と、前記膝関節の屈曲がさらに進んだ屈曲終期の第2段階における瞬間回転中心回りの第2のトルクT2とが、T1≦T2の関係を充足すること。
X2 前記上部材および前記下部材は、それぞれ前記多節リンク機構を構成するリンクの一つであり、前記抗力発生手段は、前記上部材に対する上部取付け位置と、前記下部材に対する下部取付け位置との上下二個所で前記多節リンク機構に取り付けられていること。
X3 前記抗力発生手段は、前記屈曲終期の第2段階におけるレバーアームの長さL2に比べて、前記屈曲初期の第1段階におけるレバーアームの長さL1が小さくなるような配置であること。
X4 前記屈曲初期の第1段階における任意の屈曲角度のとき、前記上部材に対する前記抗力発生手段の上部取付け位置、あるいは前記下部材に対する前記抗力発生手段の下部取付け位置の一方の取付け位置と、前記膝関節の瞬間回転中心とを結ぶ直線上、あるいはその直線の延長上に、前記抗力発生手段の他方の取付け位置があること。 - 前記屈曲初期の第1段階において、より大きな屈曲角度θs、およびその屈曲角度θsよりも小さい屈曲角度θoとを選び、
前記より大きな屈曲角度θsにおける前記抗力発生手段の上部取付け位置Psと、その屈曲角度θsにおける前記膝関節の瞬間回転中心Osとを結ぶ直線の延長線上であって、
前記より大きな屈曲角度θsにおける前記抗力発生手段の上部取付け位置Ps、および前記屈曲角度θsよりも小さな屈曲角度θoにおける前記上部材に対する前記抗力発生手段の上部取付け位置Poの両取付け位置から等距離にある点を前記抗力発生手段の下部取付け位置とした、請求項1の義足。 - 前記上部材に対する上部取付け位置、あるいは、前記下部材に対する下部取付け位置のいずれか一方の取付け位置を調整するための位置調整手段をさらに備える、請求項1の義足。
- 前記位置調整手段により、前記膝関節の屈曲初期の第1段階における瞬間回転中心回りの第1のトルクT1と、前記膝関節の屈曲がさらに進んだ屈曲終期の第2段階における瞬間回転中心回りの第2のトルクT2とのバランスを図る、請求項3の義足。
- 前記多節リンク機構は、膝の前側に位置する前側リンクと、膝の後側に位置する後側リンクとの少なくとも2つのリンクを含み、それら前側リンクおよび後側リンクが前記上部材の側、前記下部材の側にそれぞれ回転可能に連結されている、請求項1の義足。
- 前記屈曲初期の第1段階における膝角度は0〜45°の範囲であり、前記屈曲終期の第2段階における膝角度は45〜60°の範囲である、請求項1の義足。
- 前記抗力発生手段としての油圧シリンダは、軸線をもち内部にその軸線方向に沿うシリンダ孔を含むシリンダ本体と、前記シリンダ孔の中に入りシリンダ孔を軸線方向に第1および第2の二つの室に区画するピストンと、そのピストンの部分から前記シリンダ本体の外部まで伸びるピストンロッドとを備え、さらに、前記第1室から第2室へ向かう流れだけを許す第1逆止弁、およびその流れに流れ抵抗を与える第1絞り弁を含む第1通路、ならびに前記第2室から第1室へ向かう流れだけを許す第2逆止弁、およびその流れに流れ抵抗を与える第2絞り弁を含む第2通路を備える、請求項1の義足。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2007/055341 WO2008114340A1 (ja) | 2007-03-16 | 2007-03-16 | 屈曲初期のトルクを低減した義足 |
Publications (2)
Publication Number | Publication Date |
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JPWO2008114340A1 JPWO2008114340A1 (ja) | 2010-06-24 |
JP4911542B2 true JP4911542B2 (ja) | 2012-04-04 |
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JP2009504940A Active JP4911542B2 (ja) | 2007-03-16 | 2007-03-16 | 屈曲初期のトルクを低減した義足 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8529634B2 (ja) |
EP (1) | EP2127616B1 (ja) |
JP (1) | JP4911542B2 (ja) |
WO (1) | WO2008114340A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD733883S1 (en) | 2011-05-31 | 2015-07-07 | Ossur Hf | Prosthetic knee |
US8764849B2 (en) | 2011-05-31 | 2014-07-01 | Ossur Hf | Prosthetic knee |
EP2833843A1 (en) | 2012-04-05 | 2015-02-11 | Össur HF | Prosthetic knee |
US9028557B2 (en) | 2013-03-14 | 2015-05-12 | Freedom Innovations, Llc | Prosthetic with voice coil valve |
US9763809B2 (en) | 2013-08-27 | 2017-09-19 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
DE102015106391B4 (de) * | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines künstlichen Kniegelenkes |
DE102015106392B4 (de) * | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks |
DE102015106390B4 (de) * | 2015-04-24 | 2016-11-10 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung einer Dämpfungsveränderung |
CN112043471A (zh) * | 2020-10-16 | 2020-12-08 | 北京市康复辅具技术中心 | 一种多轴液压膝关节 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11128257A (ja) * | 1997-10-16 | 1999-05-18 | Nabco Ltd | エアシリンダ装置を含む義足 |
JP3245828B2 (ja) * | 1998-04-03 | 2002-01-15 | 株式会社ナブコ | 伸展補助機構を備える義足 |
JP3570619B2 (ja) * | 1999-11-15 | 2004-09-29 | 株式会社ナブコ | 義足用エアシリンダ装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1533796A (en) * | 1977-10-20 | 1978-11-29 | Blatchford & Sons Ltd C | Artificial leg |
NL9000195A (nl) * | 1990-01-26 | 1991-08-16 | Bock Orthopaed Ind | Zwenkbare verbindingsinrichting voor prothese- of orthesedelen. |
JP3957959B2 (ja) | 2000-08-22 | 2007-08-15 | 株式会社今仙技術研究所 | 義肢の膝関節構造 |
-
2007
- 2007-03-16 WO PCT/JP2007/055341 patent/WO2008114340A1/ja active Application Filing
- 2007-03-16 EP EP07738786A patent/EP2127616B1/en active Active
- 2007-03-16 JP JP2009504940A patent/JP4911542B2/ja active Active
- 2007-03-16 US US12/531,542 patent/US8529634B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11128257A (ja) * | 1997-10-16 | 1999-05-18 | Nabco Ltd | エアシリンダ装置を含む義足 |
JP3245828B2 (ja) * | 1998-04-03 | 2002-01-15 | 株式会社ナブコ | 伸展補助機構を備える義足 |
JP3570619B2 (ja) * | 1999-11-15 | 2004-09-29 | 株式会社ナブコ | 義足用エアシリンダ装置 |
Also Published As
Publication number | Publication date |
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JPWO2008114340A1 (ja) | 2010-06-24 |
WO2008114340A1 (ja) | 2008-09-25 |
US8529634B2 (en) | 2013-09-10 |
US20100049334A1 (en) | 2010-02-25 |
EP2127616A1 (en) | 2009-12-02 |
EP2127616B1 (en) | 2012-08-01 |
EP2127616A4 (en) | 2011-06-29 |
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