JP6856431B2 - 動作補助装置の膝関節機構 - Google Patents
動作補助装置の膝関節機構 Download PDFInfo
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- JP6856431B2 JP6856431B2 JP2017069857A JP2017069857A JP6856431B2 JP 6856431 B2 JP6856431 B2 JP 6856431B2 JP 2017069857 A JP2017069857 A JP 2017069857A JP 2017069857 A JP2017069857 A JP 2017069857A JP 6856431 B2 JP6856431 B2 JP 6856431B2
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- 210000000629 knee joint Anatomy 0.000 title claims description 94
- 210000000689 upper leg Anatomy 0.000 claims description 48
- 210000001699 lower leg Anatomy 0.000 claims description 40
- 210000002414 leg Anatomy 0.000 description 14
- 210000002683 foot Anatomy 0.000 description 12
- 210000002303 tibia Anatomy 0.000 description 10
- 238000005452 bending Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 210000004439 collateral ligament Anatomy 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 210000001264 anterior cruciate ligament Anatomy 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003407 lower extremity of femur Anatomy 0.000 description 1
- 230000005499 meniscus Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
- 210000002967 posterior cruciate ligament Anatomy 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000004353 tibial menisci Anatomy 0.000 description 1
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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
- 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
- A61F5/0123—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 knees
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61F2005/0146—Additional features of the articulation combining rotational and sliding movements, e.g. simulating movements of a natural joint
-
- 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
- A61F5/0102—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
- A61F2005/0165—Additional features of the articulation with limits of movement
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- 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
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5053—Control means thereof mechanically controlled
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Description
1XA 膝関節1の運動軸1Xの瞬間回転中心が取り得る領域
1X 運動軸
17 大腿(第1体部)
18 下腿(第2体部)
20 動作補助装置
21 大腿リンク(第1リンク)
22 下腿リンク(第2リンク)
24 膝関節機構
33 第1スライド部材
33b 第1スライド軌道
37 第2スライド部材
37b 第2対応スライド軌道
40 中間スライド部材
41 第1中間スライド部材
41b 第1対応スライド軌道
41c 第3スライド軌道
42 第2中間スライド部材
42b 第3対応スライド軌道
42c 第2スライド軌道
45 弾性部材
46 第1ガイド溝
47 第3ガイド溝
48 第2ガイド溝
57 モーメント調整機構
A 第2スライド部材37が取り得る瞬間回転中心の領域
C1 第1スライド軌道33bの曲率中心
C2 第2スライド軌道42cの曲率中心
C3 第3スライド軌道41cの曲率中心
R1 第1スライド軌道33bの曲率半径
R2 第2スライド軌道42cの曲率半径
R3 第3スライド軌道41cの曲率半径
U 使用者
Claims (9)
- 使用者の身体の動作を補助するために、前記使用者の第1体部の伸展側に沿って装着された第1リンクと、前記第1体部に関節により連結された第2体部の伸展側に沿って装着された第2リンクとを互いに回動可能に連結する関節機構であって、
前記第1リンク側に連結された、伸展側に凸の円弧状をなす第1スライド軌道を備えた第1スライド部材と、
前記第1スライド軌道と協働する第1対応スライド軌道及び、伸展側に凸の円弧状をなす第2スライド軌道を備え、前記第1スライド軌道に沿って前記第1スライド部材にスライド可能に連結された中間スライド部材と、
前記第2スライド軌道と協働する第2対応スライド軌道を備え、前記第2スライド軌道に沿って前記中間スライド部材にスライド可能に連結されると共に前記第2リンク側に連結された第2スライド部材とを有し、
前記第1スライド軌道及び前記第2スライド軌道が、互いに異なる位置に曲率中心を有することを特徴とする関節機構。 - 前記中間スライド部材が、
前記第1対応スライド軌道を備え、且つ伸展側に凸の円弧状をなす第3スライド軌道を備えた第1中間スライド部材と、
前記第2スライド軌道を備え、且つ前記第3スライド軌道と協働する第3対応スライド軌道を備え、前記第3スライド軌道に沿って前記第1中間スライド部材にスライド可能に連結された第2中間スライド部材とを有し、
前記第3スライド軌道が前記第1スライド軌道及び前記第2スライド軌道とは異なる位置に曲率中心を有することを特徴とする請求項1に記載の関節機構。 - 前記第2スライド軌道の曲率半径が前記第1スライド軌道の曲率半径と異なることを特徴とする請求項1又は請求項2に記載の関節機構。
- 前記第3スライド軌道の曲率半径が前記第1スライド軌道の曲率半径及び前記第2スライド軌道の曲率半径の少なくとも一方と異なることを特徴とする請求項2に記載の関節機構。
- 前記第1スライド部材及び前記第2スライド部材の少なくとも一方が、対応する前記第1リンク又は前記第2リンクに、前記関節の運動軸と平行な回転軸まわりに回動可能に設けられていることを特徴とする請求項1〜請求項4のいずれかに記載の関節機構。
- 前記第1リンクと前記第2リンク又は前記第2スライド部材とに連結され、伸長時に前記第1リンクと前記第2リンクとを伸展させるモーメントを発生する弾性部材を更に備えることを特徴とする請求項1〜請求項5のいずれかに記載の関節機構。
- 前記弾性部材の前記第1リンクに対する連結位置を、前記弾性部材の伸長方向に調整することで前記弾性部材によるモーメントを調整可能なモーメント調整機構を更に備えることを特徴とする請求項6に記載の関節機構。
- 前記第1体部が大腿であり、前記第2体部が下腿であり、前記関節が膝関節であり、
前記第1スライド部材、前記中間スライド部材及び前記第2スライド部材が、前記膝関節の前方に配置されていることを特徴とする請求項1〜請求項7のいずれかに記載の関節機構。 - 前記第1スライド部材と前記第2スライド部材とが取り得る瞬間回転中心の領域が、前記膝関節の運動軸の軌跡を包含することを特徴とする請求項8に記載の関節機構。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017069857A JP6856431B2 (ja) | 2017-03-31 | 2017-03-31 | 動作補助装置の膝関節機構 |
US15/937,909 US20180280180A1 (en) | 2017-03-31 | 2018-03-28 | Joint mechanism |
CN201810265003.6A CN108685670B (zh) | 2017-03-31 | 2018-03-28 | 关节机构 |
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JP2017069857A JP6856431B2 (ja) | 2017-03-31 | 2017-03-31 | 動作補助装置の膝関節機構 |
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JP2018171142A JP2018171142A (ja) | 2018-11-08 |
JP6856431B2 true JP6856431B2 (ja) | 2021-04-07 |
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JP2017069857A Active JP6856431B2 (ja) | 2017-03-31 | 2017-03-31 | 動作補助装置の膝関節機構 |
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US (1) | US20180280180A1 (ja) |
JP (1) | JP6856431B2 (ja) |
CN (1) | CN108685670B (ja) |
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EP3616673B1 (en) * | 2014-03-31 | 2023-06-07 | Ekso Bionics Holdings, Inc. | Wearable robotic device |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE1006283A3 (fr) * | 1992-10-23 | 1994-07-12 | Dumont Francoise Ghislaine | Appareil d'assistance ou de suppleance du genou. |
AU4179296A (en) * | 1994-11-16 | 1996-06-06 | Arnaud Andre Soubeiran | Device for mutually moving two bodies |
WO1997038759A1 (en) * | 1996-04-15 | 1997-10-23 | Ditta Individuale Prof. Pellis Giancarlo | Adjustable rotation radius articulated joint for gym machines and knee tutors |
JP4236900B2 (ja) * | 2002-10-22 | 2009-03-11 | 本田技研工業株式会社 | ロボットの関節構造 |
JP4315720B2 (ja) * | 2003-04-01 | 2009-08-19 | 本田技研工業株式会社 | ロボット等の関節部のケーブルガイド |
US7452342B2 (en) * | 2004-03-08 | 2008-11-18 | Bonutti Research Inc. | Range of motion device |
JP5713388B2 (ja) * | 2011-02-10 | 2015-05-07 | 国立大学法人山梨大学 | 膝関節運動補助装置 |
KR101418833B1 (ko) * | 2012-08-01 | 2014-07-17 | (주)트리플씨메디칼 | 내외측 힌지 상호작용식 무릎보조기 |
CN204521456U (zh) * | 2015-03-31 | 2015-08-05 | 四川旭康医疗电器有限公司 | 一种便于调节的膝关节康复训练装置 |
CN104825312B (zh) * | 2015-05-06 | 2016-11-30 | 电子科技大学 | 一种外骨骼机器人小腿自适应绑缚装置 |
CN105856196A (zh) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | 一种膝关节外骨骼助力装置 |
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2017
- 2017-03-31 JP JP2017069857A patent/JP6856431B2/ja active Active
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2018
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US20180280180A1 (en) | 2018-10-04 |
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