JP5713388B2 - 膝関節運動補助装置 - Google Patents
膝関節運動補助装置 Download PDFInfo
- Publication number
- JP5713388B2 JP5713388B2 JP2011027547A JP2011027547A JP5713388B2 JP 5713388 B2 JP5713388 B2 JP 5713388B2 JP 2011027547 A JP2011027547 A JP 2011027547A JP 2011027547 A JP2011027547 A JP 2011027547A JP 5713388 B2 JP5713388 B2 JP 5713388B2
- Authority
- JP
- Japan
- Prior art keywords
- knee joint
- cam
- drive gear
- pivot
- peripheral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000629 knee joint Anatomy 0.000 title claims description 113
- 230000033001 locomotion Effects 0.000 title claims description 72
- 210000000689 upper leg Anatomy 0.000 claims description 114
- 230000002093 peripheral effect Effects 0.000 claims description 65
- 210000001699 lower leg Anatomy 0.000 claims description 32
- 210000003127 knee Anatomy 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 210000004513 dentition Anatomy 0.000 claims description 3
- 230000036346 tooth eruption Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 14
- 238000005452 bending Methods 0.000 description 9
- 210000001624 hip Anatomy 0.000 description 5
- 230000008407 joint function Effects 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 4
- 208000003947 Knee Osteoarthritis Diseases 0.000 description 3
- 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
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 201000008482 osteoarthritis Diseases 0.000 description 3
- 210000004439 collateral ligament Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 210000001264 anterior cruciate ligament Anatomy 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000000845 cartilage Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000005499 meniscus Effects 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
- 210000002967 posterior cruciate ligament Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1418—Cam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Description
5…上腿装着部
6…下腿部
7…下腿装着部
8…連結部
20…枢軸
55…長孔
52…周縁カム
52a…歯列
24…カムフォロア
25…駆動歯車
30,31…すぐばかさ歯車
Claims (4)
- 上腿部に装着される上腿装着部と、下腿部に装着される下腿装着部と、上記上腿装着部及び下腿装着部の膝関節側端部間を回転可能に連結する連結部と、この連結部を中心にして上記上腿装着部と下腿装着部とを相対的に回転運動させながら上記膝関節側端部間を前後方向に相対的にスライド運動させる駆動部とを備えた膝関節運動補助装置において、
上記駆動部が、周縁カムと、この周縁カムの外周縁に配置される歯列と係合する駆動歯車と、当該周縁カムの内周面に形成されるカム溝と、当該カム溝と係合するカムフォロアと、を有し、
この周縁カムとカムフォロア及び駆動歯車とが上記上腿装着部及び下腿装着部の一方と他方に夫々取り付けられ、
上記連結部が、枢軸と、この枢軸が挿入される長孔とを有し、 上記カムフォロアと駆動歯車は枢軸を挟んで配置され、
上記駆動歯車の回転により、当該駆動歯車が周縁カムの周縁を上記歯列に沿って移動し、上記カムフォロアは上記駆動歯車の移動にしたがってカム溝内を移動し、上腿装着部と下腿装着部とが上記枢軸を支点にして相対的に回転すると同時に、上記枢軸が長孔内をスライドして、上腿装着部と下腿装着部の膝関節側端部間は前後方向に相対的にスライド運動することを特徴とする膝関節運動補助装置。 - 請求項1に記載の膝関節運動補助装置において、上記カムフォロア及び駆動歯車が上記上腿装着部に取り付けられ、上記周縁カムが上記下腿装着部に取り付けられたことを特徴とする膝関節運動補助装置。
- 請求項1又は請求項2に記載の膝関節運動補助装置において、上記枢軸と長孔とが上記上腿装着部及び下腿装着部の一方と他方に夫々設けられたことを特徴とする膝関節運動補助装置。
- 請求項1に記載の膝関節運動補助装置において、モーターが上記上腿装着部に取り付けられ、このモーターから上記駆動歯車への動力伝達系が、平歯車及びすぐばかさ歯車の一方又は双方からなる歯車列によって構成されたことを特徴とする膝関節運動補助装置。
Priority Applications (1)
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---|---|---|---|
JP2011027547A JP5713388B2 (ja) | 2011-02-10 | 2011-02-10 | 膝関節運動補助装置 |
Applications Claiming Priority (1)
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---|---|---|---|
JP2011027547A JP5713388B2 (ja) | 2011-02-10 | 2011-02-10 | 膝関節運動補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012165823A JP2012165823A (ja) | 2012-09-06 |
JP5713388B2 true JP5713388B2 (ja) | 2015-05-07 |
Family
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Family Applications (1)
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JP2011027547A Active JP5713388B2 (ja) | 2011-02-10 | 2011-02-10 | 膝関節運動補助装置 |
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JP (1) | JP5713388B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11357692B2 (en) | 2017-12-25 | 2022-06-14 | University Of Yamanashi | Joint support unit and walking support apparatus |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101557914B1 (ko) | 2013-06-10 | 2015-10-08 | 신정훈 | 슬관절 치료 보조기 |
JP2016059763A (ja) * | 2014-09-22 | 2016-04-25 | 国立大学法人山梨大学 | 下肢動作支援装置 |
CN106239479B (zh) * | 2016-08-23 | 2018-09-07 | 哈尔滨工业大学 | 一种用于下肢助力外骨骼机器人上的串联弹性驱动膝关节 |
CN106420280B (zh) * | 2016-12-02 | 2019-09-03 | 华中科技大学 | 一种减轻下肢关节负载及测量支撑力的外骨骼装置 |
JP6856431B2 (ja) * | 2017-03-31 | 2021-04-07 | 本田技研工業株式会社 | 動作補助装置の膝関節機構 |
JP6898260B2 (ja) * | 2018-01-15 | 2021-07-07 | サンコール株式会社 | 関節補助ユニット、歩行補助装置 |
JP2020124431A (ja) * | 2019-02-06 | 2020-08-20 | トヨタ自動車株式会社 | 歩行補助装具 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09135855A (ja) * | 1995-11-16 | 1997-05-27 | Nagasaki Kanae Gishi Seisakusho:Kk | 膝装具 |
JP2007275482A (ja) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | 膝関節補助装置 |
JP5156555B2 (ja) * | 2008-09-10 | 2013-03-06 | サンコールエンジニアリング株式会社 | 膝関節運動補助装置 |
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- 2011-02-10 JP JP2011027547A patent/JP5713388B2/ja active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11357692B2 (en) | 2017-12-25 | 2022-06-14 | University Of Yamanashi | Joint support unit and walking support apparatus |
Also Published As
Publication number | Publication date |
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JP2012165823A (ja) | 2012-09-06 |
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