JP5575409B2 - 義足足部または足矯正器の形態のパッシブな整形外科用の補助手段 - Google Patents
義足足部または足矯正器の形態のパッシブな整形外科用の補助手段 Download PDFInfo
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- JP5575409B2 JP5575409B2 JP2009027684A JP2009027684A JP5575409B2 JP 5575409 B2 JP5575409 B2 JP 5575409B2 JP 2009027684 A JP2009027684 A JP 2009027684A JP 2009027684 A JP2009027684 A JP 2009027684A JP 5575409 B2 JP5575409 B2 JP 5575409B2
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- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Prostheses (AREA)
Description
立脚と歩行との間の相違は、以下の判定基準でなされる。
遊脚局面は、足部が遊脚局面において無負荷であるので、踝モーメントがゼロに近いことによって検出される。
(底屈の際の)マイナスの踝モーメントが検出される。絶対角度信号が、立脚に関して個々に定められているしきい値と比較した、前方へ揺動された足部に対応する。
踵の接地が検出された後に、前足部分10の絶対角度が、立脚に関して個々に定められているしきい値の範囲内にある。その代わりにまたは補足的に、背部から足底への立脚局面中期における動き方向のアクティブな反転を、立脚か否かの判断基準として検出することができる。
歩行サイクルにおける立脚局面中期の初めの、すなわち、地面への足部全体の着地後の、測定された絶対角度は、絶対角度に関する、平面における歩行に関して定められた数値範囲よりも大きいか、小さい。
後方への歩行の検出は、後方遊脚局面(Rueckschwungsphase)の検出と、戻された状態における前足部分の接地の検出とからなる。
測定された踝モーメントがゼロに近いときは、絶対角度信号は、立脚に対して戻された足部(後傾)に対応する。絶対角速度は、所定のしきい値を上回る。
より大きなプラスの踝モーメントが測定される。
トリガ信号が手動で始動される最中に、踵の高さを、絶対角度信号の読み取りによって検出することは好ましい。絶対角度に比例して、制御弁27,28のための中立点が調整される。
足底から背部への動き方向の転向の際に絶対角度が測定されるのは、踝モーメントが中立点の通過を達成する場合である。これに応じて、制御弁27,28を有する液圧シリンダ17を制御するための背部ストッパは、地面の傾斜に従って調整される。
絶対角度センサ20が、互いに直交している複数の加速成分のための2つの加速度センサからなり、これらの加速成分が別個に形成されているとき、主要部分10の、垂直方向に進んだ距離および水平方向に進んだ距離が検出される。距離区間は、対応の加速成分上の2重積分によって、算出される。これらの場合、階段の降下の区別を行い、これに従って、底屈および背屈の際の制動特性のためにストッパを調整することが可能である。
Claims (10)
- 義足足部または足矯正器の形態のパッシブな整形外科用の補助手段であって、前記整形外科用の補助手段は、
回転ヒンジによって第2の部分に回転自在に結合された第1の部分と、前記補助手段の目下の使用要求への推定を可能にするパラメータを測定するためのセンサ装置と、制御装置に接続されており、前記補助手段の使用要求を確定するための、および対応する制御信号を発生させるための制御手段と、制御可能な液圧式の制動装置と、前記制動装置によって、前記第1の部分と前記第2の部分との間の回転運動に作用する、動きに対する抵抗が可変であり、プロセッサ装置からの前記制御信号を変換し、前記制動装置を制御するための制御手段とを具備し、
前記制動装置は、ピストンによって互いに分離されている2つの液圧チャンバを有する複動の液圧シリンダであり、これらの液圧チャンバは、圧液の流れを逆方向にのみ可能にする2つの接続ラインによって接続されており、接続ラインの流れ抵抗は、制御によって別個におよび各々の自らの調整手段によって調整可能である、整形外科用の補助手段において、
前記センサ装置は、前記回転ヒンジの踝モーメントを測定するように設計されていること、前記プロセッサ装置は、前記踝モーメントのゼロ交差の評価から実際の中立点位置を確定するために設計されていること、および、2つの接続ラインにおける流れ抵抗のための制御信号が、前記中立点位置に関して発生されることを特徴とする整形外科用の補助手段。
- 少なくとも1つの接続ラインにおける前記流れ抵抗は、前記回転ヒンジが任意の位置にロック可能であるように、大きく調整可能であることを特徴とする請求項1に記載の整形外科用の補助手段。
- 前記ロックされた位置は、中立点位置に対応することを特徴とする請求項2に記載の整形外科用の補助手段。
- 前記中立点位置は、地面の傾斜に従って確定可能であることを特徴とする請求項1ないし3のいずれか1に記載の整形外科用の補助手段。
- 前記中立点位置は、前記補助手段と共に用いられる靴の踵の実際の高さに従って確定可能であることを特徴とする請求項4に記載の整形外科用の補助手段。
- 前記補助手段の前記複数の部分は、主として、剛性をもって形成されていること、動きの少なくとも大方の部分が、運動サイクル内で、材料の弾性の影響なしに、前記流れ抵抗の制御によって、制御されることを特徴とする請求項1ないし5のいずれか1に記載の整形外科用の補助手段。
- 前記回転ヒンジは、踝関節であることを特徴とする請求項1ないし6のいずれか1に記載の整形外科用の補助手段。
- 前記回転運動の中立点位置を確定し、この中立点位置から、動きの循環的な経過の際に、少なくとも1つの運動方向に関して、動きに対する抵抗を確定することを特徴とする、請求項1ないし7のいずれか1に記載の整形外科用の補助手段を制御する方法。
- 前記補助手段を、所定の使用要求に関して、2つの運動方向における、動きに対する高い抵抗を調整することによって、中立点位置にロックすることを特徴とする請求項8に記載の方法。
- 歩行サイクルが制御可能な運動サイクルとして用いられてなる下方の四肢のための整形外科用の補助手段に適用される、請求項7または8に記載の方法。
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