JP6772097B2 - 足関節機構 - Google Patents
足関節機構 Download PDFInfo
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- JP6772097B2 JP6772097B2 JP2017057804A JP2017057804A JP6772097B2 JP 6772097 B2 JP6772097 B2 JP 6772097B2 JP 2017057804 A JP2017057804 A JP 2017057804A JP 2017057804 A JP2017057804 A JP 2017057804A JP 6772097 B2 JP6772097 B2 JP 6772097B2
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- lower leg
- ankle joint
- adduction
- abduction
- foot
- Prior art date
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- YMBFTHYVOYLOED-UHFFFAOYSA-N C(C1)S11=CCCC1 Chemical compound C(C1)S11=CCCC1 YMBFTHYVOYLOED-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/05—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for immobilising
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0127—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the feet
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0134—Additional features of the articulation with two orthogonal pivots
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0151—Additional features of the articulation combining rotational and torsional movements
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0153—Additional features of the articulation combining rotational and stretching movements
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0158—Additional features of the articulation with locking 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Description
5 距腿関節
7 距骨下関節
8 足
11 底背屈軸
12 回内外軸
13 内外転軸
14 内外がえし軸
16 下腿
20 足関節機構
21 足保持部材
22 下腿リンク
23 ヒンジ機構(底背屈機構)
24 上側部材
25 第2円弧レール
29 第2スライダ
30 第2ガイドレール機構(内外転機構)
32 下側部材
33 第3円弧レール
37 第3スライダ
40 第3ガイドレール機構(内外転角度調整機構)
42 第1スライダ
43 第1円弧レール
46 第1ガイドレール機構(内外がえし機構)
U 使用者
Claims (8)
- 使用者の身体の動作を補助するために足関節に装着される足関節機構であって、
前記使用者の下腿に沿って延びる下腿リンクと、
前記使用者の足を保持可能な足保持部材と、
前記下腿リンクと前記足保持部材とを、前記足関節の底背屈軸まわりに回動可能に連結する底背屈機構と、
前記下腿リンクと前記足保持部材とを、前記足関節の内外転軸まわりに回動可能に連結する内外転機構と、
前記下腿リンクと前記足保持部材とを、前記足関節の内外がえし軸まわりに回動可能に連結する内外がえし機構とを備え、
前記底背屈機構は、前記下腿リンク側に連結された上側部材と、前記足保持部材側に連結され、前記上側部材に、前記底背屈軸まわりに回動可能に枢支された下側部材とを有し、
前記下腿リンクが前記下腿の前側に配置され、前記上側部材が、平面視でU字形をなして前記下腿の下部前側を外囲し、中央部にて前記下腿リンクに連結され、前記下側部材が、平面視でU字形をなして両後端にて前記上側部材の両後端にそれぞれ枢支されていることを特徴とする足関節機構。 - 使用者の身体の動作を補助するために足関節に装着される足関節機構であって、
前記使用者の下腿に沿って延びる下腿リンクと、
前記使用者の足を保持可能な足保持部材と、
前記下腿リンクと前記足保持部材とを、前記足関節の底背屈軸まわりに回動可能に連結する底背屈機構と、
前記下腿リンクと前記足保持部材とを、前記足関節の内外転軸まわりに回動可能に連結する内外転機構と、
前記下腿リンクと前記足保持部材とを、前記足関節の内外がえし軸まわりに回動可能に連結する内外がえし機構と、
前記下腿リンクと前記足保持部材とを、前記足の前記内外転軸まわりの中立位置に応じて前記内外転軸まわりに角度調整可能に連結する内外転角度調整機構とを備え、
前記内外転角度調整機構は、前記内外転軸を中心とする円弧状の軌道を備えた第3ガイドレール機構をなすことを特徴とする足関節機構。 - 前記第3ガイドレール機構が、前記下腿リンク側に連結され、前記下腿の下部前側に配置された第3円弧レールと、前記足保持部材側に連結され、前記第3円弧レールに沿って摺動する第3スライダとを有することを特徴とする請求項2に記載の足関節機構。
- 前記内外がえし機構は、前記内外がえし軸を中心とする円弧状の軌道を備えた第1ガイドレール機構をなすことを特徴とする請求項1〜請求項3のいずれかに記載の足関節機構。
- 前記第1ガイドレール機構が、前記足保持部材側に連結され、前記下腿の下部前側に配置された第1円弧レールと、前記下腿リンク側に連結され、前記第1円弧レールに沿って摺動する第1スライダとを有することを特徴とする請求項4に記載の足関節機構。
- 前記第1円弧レールは、前記足保持部材に高さ調整可能に連結されていることを特徴とする請求項5に記載の足関節機構。
- 前記内外転機構は、前記内外転軸を中心とする円弧状の軌道を備えた第2ガイドレール機構をなすことを特徴とする請求項1〜請求項6のいずれかに記載の足関節機構。
- 前記第2ガイドレール機構が、前記足保持部材側に連結され、前記下腿の下部前側に配置された第2円弧レールと、前記下腿リンク側に連結され、前記第2円弧レールに沿って摺動する第2スライダとを有することを特徴とする請求項7に記載の足関節機構。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017057804A JP6772097B2 (ja) | 2017-03-23 | 2017-03-23 | 足関節機構 |
CN201810233828.XA CN108652813B (zh) | 2017-03-23 | 2018-03-21 | 踝关节机构 |
US15/927,562 US20180271691A1 (en) | 2017-03-23 | 2018-03-21 | Ankle joint mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017057804A JP6772097B2 (ja) | 2017-03-23 | 2017-03-23 | 足関節機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018158011A JP2018158011A (ja) | 2018-10-11 |
JP6772097B2 true JP6772097B2 (ja) | 2020-10-21 |
Family
ID=63581284
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017057804A Active JP6772097B2 (ja) | 2017-03-23 | 2017-03-23 | 足関節機構 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20180271691A1 (ja) |
JP (1) | JP6772097B2 (ja) |
CN (1) | CN108652813B (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109172281B (zh) * | 2018-10-17 | 2024-03-19 | 苏州帝维达生物科技有限公司 | 一种七自由度的下肢康复机器人 |
CN109330754B (zh) * | 2018-11-21 | 2024-02-09 | 太原中西医结合医院 | 可调式足部多功能固定器 |
CN114126547B (zh) * | 2019-09-17 | 2022-10-28 | 健行仿生株式会社 | 辅助装置以及假肢 |
JP7234971B2 (ja) * | 2020-02-21 | 2023-03-08 | トヨタ自動車株式会社 | 脚装具 |
JP7415648B2 (ja) | 2020-02-21 | 2024-01-17 | トヨタ自動車株式会社 | 脚装具 |
EP3939552B1 (de) * | 2020-07-17 | 2023-07-12 | Johannsen, Petra | Einbeinschiene zur behandlung von klumpfüssen und anderen fussdeformitäten |
CN111920652B (zh) * | 2020-07-22 | 2021-06-18 | 燕山大学 | 可自适应调节脚踝承载力的辅助行走器 |
CN112603757B (zh) * | 2020-12-18 | 2024-05-17 | 华侨大学 | 一种以凸轮-顶杆结构治疗足踝损伤的康复装置 |
CN115040357B (zh) * | 2022-05-31 | 2023-02-21 | 燕山大学 | 基于3-puu/r混联机构的踝关节康复机器人 |
CN116035866B (zh) * | 2023-02-15 | 2024-03-01 | 中国科学院长春光学精密机械与物理研究所 | 一种踝关节康复机器人 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5020523A (en) * | 1990-10-09 | 1991-06-04 | Capra Resources, Inc. | Foot and leg splint device |
US5486157A (en) * | 1994-02-03 | 1996-01-23 | Dibenedetto; Anthony | Dynamic multi-angular ankle and foot orthosis device |
US6793638B1 (en) * | 2002-10-07 | 2004-09-21 | Anatomical Concepts, Inc. | Leg stabilization and alignment device |
DE10303326A1 (de) * | 2003-01-28 | 2004-08-26 | Oped Ag | Sprunggelenkorthese |
US7112181B1 (en) * | 2003-04-07 | 2006-09-26 | Anatomical Concepts, Inc. | Tri-planar orthosis |
FR2860713B1 (fr) * | 2003-10-09 | 2006-06-02 | Abilityone Kinetec Sa | Attelle de mobilisation passive de l'articulation de la cheville |
CN2688254Y (zh) * | 2004-03-20 | 2005-03-30 | 吴沛东 | 踝关节创伤康复器 |
EP1714623A3 (en) * | 2005-04-22 | 2007-12-12 | Ortec N.V. | A dynamic ankle orthesis |
CN100558323C (zh) * | 2008-02-28 | 2009-11-11 | 上海交通大学 | 并联式多自由度假肢外骨骼踝关节 |
CN101596139B (zh) * | 2009-06-29 | 2011-01-12 | 浙江大学 | 三自由度踝关节辅助运动外骨骼 |
GB201018749D0 (en) * | 2010-11-08 | 2010-12-22 | C Pro Direct Ltd | Ankle foot orthopaedic devices |
-
2017
- 2017-03-23 JP JP2017057804A patent/JP6772097B2/ja active Active
-
2018
- 2018-03-21 CN CN201810233828.XA patent/CN108652813B/zh active Active
- 2018-03-21 US US15/927,562 patent/US20180271691A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
JP2018158011A (ja) | 2018-10-11 |
US20180271691A1 (en) | 2018-09-27 |
CN108652813B (zh) | 2020-12-29 |
CN108652813A (zh) | 2018-10-16 |
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