JPH1119105A - Artificial leg - Google Patents
Artificial legInfo
- Publication number
- JPH1119105A JPH1119105A JP9194844A JP19484497A JPH1119105A JP H1119105 A JPH1119105 A JP H1119105A JP 9194844 A JP9194844 A JP 9194844A JP 19484497 A JP19484497 A JP 19484497A JP H1119105 A JPH1119105 A JP H1119105A
- Authority
- JP
- Japan
- Prior art keywords
- variable valve
- knee
- leg
- resistance
- piston
- 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.)
- Granted
Links
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
- 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
-
- 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
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2/80—Sockets, e.g. of suction 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
- A61F2002/607—Lower legs
-
- 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
- A61F2002/608—Upper legs
-
- 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
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7655—Measuring means for measuring fluid pressure
Landscapes
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (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)
- Prostheses (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】この発明は、膝より近位で切
断された脚に脚の代用として装着され、膝継手部の屈曲
伸展の抵抗を調整する液圧シリンダーが装備され、液圧
シリンダーのピストンを挟んでその両側のシリンダー室
の液体の移動は可変バルブを通過して行われる義足に係
り、特に、切断脚の断端部の筋肉の収縮運動をセンサー
で検知して、これにより液圧シリンダー内の可変バルブ
の絞り具合を調整して、使用中の義足の膝の曲げ伸ばし
抵抗を任意に調整でき、義足の膝折れをすることなく階
段や坂道や平地を歩行できる義足に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic cylinder which is mounted on a leg cut proximally of a knee as a substitute for the leg and adjusts the resistance of the knee joint to flexion and extension. The movement of the liquid in the cylinder chambers on both sides of the piston is related to the prosthesis performed through the variable valve. In particular, the contraction movement of the muscle at the stump of the cutting leg is detected by a sensor, and the hydraulic pressure is thereby detected. The present invention relates to a prosthetic foot that can adjust the degree of throttle of a variable valve in a cylinder to freely adjust the bending and stretching resistance of a knee of a prosthesis in use, and can walk on stairs, hills, and level ground without breaking a knee of a prosthesis. .
【0002】[0002]
【従来の技術】従来、膝より近位で切断された脚に脚の
代用として装着され、空圧又は油圧シリンダーが装備さ
れ、膝継手部の屈曲伸展の抵抗の調整を空圧又は油圧シ
リンダーを利用して行われる義足が知られている。2. Description of the Related Art Conventionally, a pneumatic or hydraulic cylinder is mounted on a leg which has been cut proximally of a knee as a substitute for the leg, and a pneumatic or hydraulic cylinder is used to adjust the bending and extension resistance of the knee joint. Prosthetic limbs performed using are known.
【0003】従来の義足においては、膝継手部の屈曲、
伸展における抵抗を空圧又は油圧シリンダーを利用して
行われているが、この場合、空圧又は油圧シリンダーの
ピストンを挟んでその両側のシリンダー室の流体の移動
は可変バルブを通過して行われている。[0003] In a conventional prosthesis, bending of a knee joint,
The resistance in extension is achieved by using a pneumatic or hydraulic cylinder.In this case, the movement of the fluid in the cylinder chambers on both sides of the piston of the pneumatic or hydraulic cylinder is performed through a variable valve. ing.
【0004】[0004]
【発明が解決しようとする課題】しかしながら、この可
変バルブは一度調整されると一定、若しくは歩行速度に
より変化するだけであり、装着中においては任意に調整
することができず、その結果、義足使用者は、使用環境
の変化に対応した脚の屈曲や伸展を行うことができなか
った。However, once the variable valve is adjusted, it is constant or only changes according to the walking speed, and cannot be adjusted arbitrarily during mounting. The person could not flex or extend the legs in response to changes in the use environment.
【0005】義足使用者の使用環境の変化、即ち、下り
坂を歩くときには、膝は体重を支えながらゆっくり曲が
り、しかも、膝が必要以上に深く曲がっては歩きにくく
危険であり、この場合には膝は浅い角度に曲がり止まる
のがよい。逆に、上り坂を歩くときには、膝はある程度
曲がるのがよいが、転倒の恐れのある膝折れを起こさな
いようにしなければならない。そして同時に体重をかけ
たときは曲がる抵抗は大きく、伸ばす抵抗は小さいほう
がよい。また、平地をゆっくり歩くときには、膝は曲が
り易い方がよく、平地を走るときには膝は抵抗が大きく
曲がりにくい方がよい。[0005] When the use environment of the prosthetic limb user changes, that is, when walking downhill, the knees bend slowly while supporting the weight, and if the knees are bent deeper than necessary, it is difficult to walk. The knee should bend at a shallow angle and stop. Conversely, when walking uphill, the knees should bend to some extent, but they must be free from knee breaks that could cause them to fall. And when weight is applied at the same time, the resistance to bending is high and the resistance to stretching is low. Also, when walking slowly on flat ground, it is better for the knee to bend easily, and when running on flat ground, it is better for the knee to have high resistance and to be hard to bend.
【0006】この発明は、上記のような課題に鑑み、そ
の課題を解決すべく創案されたものであって、その目的
とするところは、膝より近位で切断された切断脚の断端
部の筋肉の収縮運動をセンサーで検知して、センサーか
らの検知情報により義足の膝に設けられた液圧シリンダ
ー内の可変バルブの絞り具合を制御して、使用中の義足
の膝の抵抗を任意に調整し、義足の膝折れをすることな
く階段や坂道や平地を楽に歩行することのできる義足を
提供することにある。SUMMARY OF THE INVENTION In view of the above problems, the present invention has been made to solve the problems, and an object of the present invention is to provide a stump of a cutting leg that is cut near a knee. The contraction movement of the muscles of the prosthesis is detected by the sensor, and the resistance of the knee of the prosthesis in use is controlled by controlling the degree of throttle of the variable valve in the hydraulic cylinder provided on the knee of the prosthesis based on the detection information from the sensor It is an object of the present invention to provide a prosthetic leg that can be easily walked on stairs, hills, and level ground without breaking the knee of the prosthetic leg.
【0007】[0007]
【課題を解決するための手段】以上の目的を達成するた
めに、この発明は、膝より近位で切断された脚に脚の代
用として装着され、膝継手部の屈曲伸展の抵抗を調整す
る液圧シリンダーが装備され、液圧シリンダーのピスト
ンを挟んでその両側のシリンダー室の液体の移動は可変
バルブを通過して行われる義足において、切断脚の断端
部に装着される義足の大腿ソケット内に切断脚の断端部
の筋肉の収縮運動を検知するセンサーを設け、膝継手部
の屈曲伸展の抵抗を調整する前記液圧シリンダーの可変
バルブの絞り具合を、前記センサーからの検知情報によ
り制御する手段よりなる。In order to achieve the above object, the present invention is applied to a leg cut proximally of a knee as a substitute for the leg, and adjusts the resistance of the knee joint to flexion and extension. The prosthesis is equipped with a hydraulic cylinder, and the movement of liquid in the cylinder chambers on both sides of the piston of the hydraulic cylinder is performed through a variable valve. A sensor for detecting the contraction movement of the muscle at the stump of the cutting leg is provided therein, and the degree of narrowing of the variable valve of the hydraulic cylinder for adjusting the resistance of flexion and extension of the knee joint is determined by the detection information from the sensor. Control means.
【0008】[0008]
【発明の実施の形態】以下、図面に記載の発明の実施の
形態に基づいて、この発明をより具体的に説明する。こ
こで、図1は義足の側断面図、図2は膝屈曲時の液圧シ
リンダー及び可変バルブの側断面図、図3は膝伸展時の
液圧シリンダー及び可変バルブの側断面図である。DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described more specifically based on embodiments of the invention shown in the drawings. Here, FIG. 1 is a side sectional view of the artificial leg, FIG. 2 is a side sectional view of the hydraulic cylinder and the variable valve when the knee is bent, and FIG. 3 is a side sectional view of the hydraulic cylinder and the variable valve when the knee is extended.
【0009】図において、義足1は、切断脚の断端部に
装着される大腿ソケット2、膝軸3、膝軸3の下側の足
部4、屈曲伸展の抵抗を行う液圧シリンダー5、センサ
ー6及び可変バルブ7から主に構成され、大腿ソケット
2の下部と足部4の上部である下腿部9とは膝軸3によ
って連結され、又この膝軸3と液圧シリンダー5、可変
バルブ7からなる膝継手部8によって人間の脚の膝同様
に屈曲伸展ができるようになっている。In the figure, a prosthetic leg 1 includes a thigh socket 2 attached to a stump of a cutting leg, a knee shaft 3, a lower leg 4 of the knee shaft 3, a hydraulic cylinder 5 for resistance to bending and extension, The lower part of the thigh socket 2 and the lower leg 9 which is the upper part of the foot part 4 are mainly connected by a sensor 6 and a variable valve 7, and are connected by a knee shaft 3. The knee joint 8 composed of the valve 7 allows the human leg to bend and extend similarly to the knee.
【0010】大腿ソケット2は、その上半部側が空洞部
分2aになっており、空洞部分2aの上端側となる大腿
ソケット2の上端は開口部2bになっていて、この上端
の開口部2bから内部の空洞部分2aに、切断脚の断端
部を挿入して装着するようになっている。The upper half of the thigh socket 2 is a hollow portion 2a, and the upper end of the thigh socket 2 at the upper end of the hollow portion 2a is an opening 2b. The stump of the cutting leg is inserted into the hollow portion 2a inside and attached.
【0011】液圧シリンダー5は、膝軸3の屈曲伸展の
膝の抵抗を調整するものであり、膝軸3の下方の足部4
の上部側の下腿部9の内部に装備されている。液圧シリ
ンダー5の内部にはシリンダー室5aが設けられ、シリ
ンダー室5aにはピストン5bが摺動自在に内挿されて
いる。The hydraulic cylinder 5 adjusts the resistance of the knee to the flexion and extension of the knee shaft 3, and the foot 4 below the knee shaft 3.
It is equipped inside the lower leg 9 on the upper side. A cylinder chamber 5a is provided inside the hydraulic cylinder 5, and a piston 5b is slidably inserted in the cylinder chamber 5a.
【0012】シリンダー室5aの内部はピストン5bに
よって両側に分けられており、ピストン5bによって両
側に分けられたシリンダー室5aの内部に例えば油など
の液体が封入されている。ピストン5bの両側の液体は
ピストン5bの移動方向に伴って、その移動方向と逆方
向に流れるようになっている。The inside of the cylinder chamber 5a is divided on both sides by a piston 5b, and a liquid such as oil is sealed in the cylinder chamber 5a divided on both sides by the piston 5b. The liquid on both sides of the piston 5b flows in a direction opposite to the moving direction of the piston 5b in accordance with the moving direction of the piston 5b.
【0013】ピストン5bにはピストンロッド5cの一
端が固設されており、このピストンロッド5cの他端側
は液圧シリンダー5の外部に延設されている。この実施
の形態では、液圧シリンダー5は上下向きに取付けら
れ、ピストンロッド5cは上向きに延設されていて、そ
の上端は膝軸3の回転中心部より少し後ろ側に、義足1
の左右方向に取付けられた軸に回転自在に連結されてい
る。One end of a piston rod 5c is fixed to the piston 5b, and the other end of the piston rod 5c extends outside the hydraulic cylinder 5. In this embodiment, the hydraulic cylinder 5 is mounted vertically and the piston rod 5c is extended upward, and the upper end thereof is slightly behind the center of rotation of the knee shaft 3, and the prosthesis 1
Is rotatably connected to a shaft mounted in the left-right direction.
【0014】ピストン5bにより両側に分けられたシリ
ンダー室5aの片側、図面ではピストン5bの下側には
伸展補助バネ5dが内装されている。伸展補助バネ5d
はピストンロッド5cを上方に押し上げるように付勢さ
れていて、液圧シリンダー5のピストンロッド5cが上
方に伸長することによって、曲がっている義足1を伸展
させる方向に作用する。An extension assist spring 5d is provided on one side of the cylinder chamber 5a divided on both sides by the piston 5b, that is, below the piston 5b in the drawing. Extension auxiliary spring 5d
Is urged to push the piston rod 5c upward, and acts in a direction to extend the bent prosthesis 1 by the piston rod 5c of the hydraulic cylinder 5 extending upward.
【0015】下腿部9の内部に図面で上下方向に取付け
られた液圧シリンダー5は、その下端側が下腿部9の内
部に連結され、又義足1の左右方向に取付けられた軸に
回転自在に連結されている。The hydraulic cylinder 5, which is mounted in the lower leg 9 vertically in the drawing, is connected at its lower end to the lower leg 9 and rotates about a shaft mounted in the left and right direction of the artificial leg 1. They are freely connected.
【0016】センサー6は、切断脚の断端部の筋肉の収
縮運動を検知するもので、切断脚の断端部が挿入される
大腿ソケット2の空洞部分2aの内部に設けられてい
る。この実施の形態におけるセンサー6は、流体圧で作
動する構造になっていて、センサー6は流体が封入され
た帯状袋体6aからなり、流体圧を可変バルブに伝達す
る信号路6bが設けられている。The sensor 6 detects the contraction movement of the muscle at the stump of the cutting leg, and is provided inside the hollow portion 2a of the thigh socket 2 into which the stump of the cutting leg is inserted. The sensor 6 in this embodiment has a structure operated by fluid pressure. The sensor 6 is composed of a band-like bag 6a in which fluid is sealed, and is provided with a signal path 6b for transmitting fluid pressure to a variable valve. I have.
【0017】センサー6はその帯状袋体6aの内部に流
体例えば空気が封入されており、流体が封入された帯状
袋体6aは大腿ソケット2の空洞部分2aの内周側面に
1周若しくは一部分に設けられていて、大腿ソケット2
の空洞部分2aに挿入された切断脚の断端部の皮膚と密
着するか、軟らかい内ソケットを挟んで接触するように
なっている。The sensor 6 has a band-shaped bag 6a filled with a fluid, for example, air. The band-shaped bag 6a filled with the fluid is formed on the inner peripheral side surface of the hollow portion 2a of the thigh socket 2 in one or a part thereof. Provided, thigh socket 2
Of the cutting leg inserted into the hollow portion 2a of the cutting device, or comes into contact with the skin of the cut end of the cutting leg through a soft inner socket.
【0018】信号路6bは例えばチューブのような通路
からなり、その一端は帯状袋体6aに接続されていて帯
状袋体6aの内部と連通状態にあり、信号路6bの内部
には帯状袋体6aの内部に封入された流体と同一の流体
が封入されている。信号路6bの他端は可変バルブに連
通接続されている。The signal path 6b is composed of, for example, a tube-like path. One end of the signal path 6b is connected to the band-shaped bag 6a and is in communication with the inside of the band-shaped bag 6a. The same fluid as the fluid sealed inside 6a is sealed. The other end of the signal path 6b is connected to the variable valve.
【0019】センサー6は、大腿ソケット2の空洞部分
2aに装着されている切断脚の断端部の筋肉が収縮運動
すると、切断脚の断端部の皮膚が帯状袋体6aのセンサ
ー6を押圧し、押圧された帯状袋体6aの内部の流体圧
が信号路6bを通って可変バルブ側に伝わり、可変バル
ブを制御する構造になっている。When the muscle at the stump of the cutting leg attached to the hollow portion 2a of the thigh socket 2 contracts and moves, the skin of the stump of the cutting leg presses the sensor 6 of the band-shaped bag 6a. Then, the fluid pressure inside the pressed band-shaped bag 6a is transmitted to the variable valve through the signal path 6b, and the variable valve is controlled.
【0020】可変バルブ7は、切断脚の断端部の筋肉の
収縮運動を検知したセンサー6からの情報によって、シ
リンダー室5aのピストン5bの両側の液体がピストン
5bの移動方向に伴ってその移動方向と逆方向に流れる
液体流量を制御して、液圧シリンダー5の抵抗を可変さ
せて膝継手部8の屈曲伸展の抵抗を調整するものであ
る。可変バルブ7は、液圧シリンダー5の側面に設けら
れ、又流体連通路7aの途中に設けられた可変バルブ摺
動シリンダー室7b内に摺動自在に内挿されている。The variable valve 7 moves the liquid on both sides of the piston 5b in the cylinder chamber 5a in accordance with the movement direction of the piston 5b based on information from the sensor 6 which detects the contraction movement of the muscle at the stump of the cutting leg. By controlling the flow rate of the liquid flowing in the direction opposite to the direction, the resistance of the hydraulic cylinder 5 is varied to adjust the resistance of the knee joint 8 to flexion and extension. The variable valve 7 is provided on a side surface of the hydraulic cylinder 5, and is slidably inserted into a variable valve sliding cylinder chamber 7b provided in the middle of the fluid communication passage 7a.
【0021】流体連通路7aはシリンダー室5aのピス
トン5bの両側の液体がピストン5bの移動方向に伴っ
てその移動方向と逆方向に流れるときに通る通路で、流
体連通路7aの両端はシリンダー室5aの両端側面に開
口接続されていて、ピストン5bで分けられるシリンダ
ー室5aの内部の両側はこの流体連通路7aによって連
通されている。The fluid communication passage 7a is a passage through which the liquid on both sides of the piston 5b of the cylinder chamber 5a flows in the direction opposite to the moving direction of the piston 5b in accordance with the moving direction of the piston 5b. Openings are connected to both side surfaces of the both ends of the cylinder chamber 5a, and both sides inside the cylinder chamber 5a divided by the piston 5b are communicated by the fluid communication passage 7a.
【0022】図2において、流体連通路7aはその一端
側がシリンダー室5aの下端側の側面に横方向に開口接
続されており、そこから上方に向かって延設され、上方
側に延設された流体連通路7aは可変バルブ7が摺動す
る可変バルブ摺動シリンダー室7bの側面に開口接続さ
れている。In FIG. 2, one end of the fluid communication passage 7a is laterally opened and connected to a lower side surface of the cylinder chamber 5a, and extends upward therefrom and extends upward. The fluid communication passage 7a is opened and connected to a side surface of a variable valve sliding cylinder chamber 7b in which the variable valve 7 slides.
【0023】さらに、流体連通路7aの他端側はこの可
変バルブ摺動シリンダー室7bを通り、シリンダー室7
bの上部側の側面からシリンダー室5aの上端側面に向
けて開口されていて、流体連通路7aは途中に設けられ
た可変バルブ摺動シリンダー室7bを介してその両端が
シリンダー室5aの上下両端側に連通している。Further, the other end of the fluid communication passage 7a passes through the variable valve sliding cylinder chamber 7b,
b is open from the upper side surface to the upper end side surface of the cylinder chamber 5a, and both ends of the fluid communication passage 7a are connected to the upper and lower ends of the cylinder chamber 5a via a variable valve sliding cylinder chamber 7b provided in the middle. Communicating with the side.
【0024】図2において、可変バルブ摺動シリンダー
室7bはシリンダー室5aに平行な上下方向に形成され
ていて、その内部には上下方向に摺動する可変バルブ7
が内挿されている。可変バルブ摺動シリンダー室7bの
上部には可変バルブ7を下向きに付勢するバネ7cが内
装されている。In FIG. 2, the variable valve sliding cylinder chamber 7b is formed in a vertical direction parallel to the cylinder chamber 5a, and has a variable valve 7 that slides in the vertical direction.
Is interpolated. A spring 7c for biasing the variable valve 7 downward is provided above the variable valve sliding cylinder chamber 7b.
【0025】また、可変バルブ摺動シリンダー室7bの
下部には、前記信号路6bの一端が接続されていて、信
号路6bと連通されており、信号路6b内の流体と同じ
流体が封入されていて、この流体の圧力によって可変バ
ルブ7を上下方向に摺動させる構造になっている。One end of the signal path 6b is connected to the lower part of the variable valve sliding cylinder chamber 7b and communicates with the signal path 6b, and the same fluid as the fluid in the signal path 6b is sealed. The variable valve 7 is vertically slid by the pressure of the fluid.
【0026】上下方向に摺動する可変バルブ7は、摺動
するバルブ側面が可変バルブ摺動シリンダー室7bの側
面に形成された途中の流体連通路7aの開口断面の大き
さを可変して、流体連通路7a内を移動する液体流量を
制御する構造になっている。The variable valve 7 which slides in the up and down direction can change the size of the opening cross section of the fluid communication passage 7a in the middle of which the sliding valve side is formed on the side of the variable valve sliding cylinder chamber 7b. The structure is such that the flow rate of the liquid moving in the fluid communication passage 7a is controlled.
【0027】流体連通路7aのシリンダー室5aの下部
側面に接続する一端側の途中にはニードル弁室が設けら
れ、ニードル弁7dが取付けられている。ニードル弁7
dは流体連通路7aを流れる液体抵抗を調整するもので
ある。A needle valve chamber is provided in the middle of one end connected to the lower side surface of the cylinder chamber 5a of the fluid communication passage 7a, and a needle valve 7d is mounted. Needle valve 7
d is for adjusting the resistance of the liquid flowing through the fluid communication passage 7a.
【0028】また、可変バルブ摺動シリンダー室7bに
接続直前の流体連通路7aとシリンダー室5aの上部側
面との間には流体連通路7a側に開く逆止弁7eが設け
られていて、ピストン5bで分けられたシリンダー室5
aの上部側の液圧が或る値よりも高くなった場合に、液
体を流体連通路7aを通してシリンダー室5aの下部側
に移動できるようになっている。A check valve 7e that opens toward the fluid communication passage 7a is provided between the fluid communication passage 7a immediately before connection to the variable valve sliding cylinder chamber 7b and the upper side surface of the cylinder chamber 5a. 5b divided cylinder chamber 5
When the liquid pressure on the upper side of a becomes higher than a certain value, the liquid can move to the lower side of the cylinder chamber 5a through the fluid communication path 7a.
【0029】次に、上記発明の実施の形態の構成に基づ
く作用について以下説明する。切断脚の断端部に義足1
の大腿ソケット2を装着して歩行する場合において、切
断脚の断端部の筋肉を収縮運動させると、切断脚の断端
部の筋肉は膨れて大腿ソケット2の内周側面に設けられ
た帯状袋体6aのセンサー6を押圧する。Next, the operation based on the configuration of the embodiment of the present invention will be described below. Prosthesis 1 at the end of the amputated leg
When walking while wearing the thigh socket 2 of the above, when the muscle at the stump of the cutting leg is contracted, the muscle at the stump of the cutting leg swells and the band-like shape provided on the inner peripheral side surface of the thigh socket 2. The sensor 6 of the bag 6a is pressed.
【0030】帯状袋体6aのセンサー6が押圧される
と、内部の流体の一部が帯状袋体6aに一端が連通接続
されている信号路6b内に移動して流入する。このた
め、信号路6b内の流体は押圧されて他端側に移動し、
信号路6bの他端が連通接続されている可変バルブ摺動
シリンダー室7b下側内に流体の一部が流入する。When the sensor 6 of the band-shaped bag 6a is pressed, a part of the internal fluid moves and flows into the signal path 6b having one end connected to the band-shaped bag 6a. Therefore, the fluid in the signal path 6b is pressed and moves to the other end,
Part of the fluid flows into the lower part of the variable valve sliding cylinder chamber 7b to which the other end of the signal path 6b is connected.
【0031】可変バルブ摺動シリンダー室7b下側内に
信号路6bから流体の一部が流入すると、可変バルブ摺
動シリンダー室7b内の可変バルブ7は流体によって押
圧されて上側に移動する。移動する可変バルブ7の側面
が可変バルブ摺動シリンダー室7bの側面に開口された
流体連通路7aの開口面積を狭め(図2参照)或いは塞
ぐ。When a part of the fluid flows from the signal path 6b into the lower part of the variable valve sliding cylinder chamber 7b, the variable valve 7 in the variable valve sliding cylinder chamber 7b is pushed upward by the fluid and moves upward. The side surface of the moving variable valve 7 narrows (see FIG. 2) or closes the opening area of the fluid communication passage 7a opened on the side surface of the variable valve sliding cylinder chamber 7b.
【0032】その結果、ピストン5bで分けられたシリ
ンダー室5aの両側の液体は流体連通路7a内をスムー
ズに移動できなくなるので、特に逆止弁7eの止める方
向であるピストンロッド5cの下降する方向にはスムー
ズに移動できなくなる。As a result, the liquid on both sides of the cylinder chamber 5a divided by the piston 5b cannot move smoothly in the fluid communication passage 7a, and in particular, the downward direction of the piston rod 5c, which is the direction in which the check valve 7e stops. Can not move smoothly.
【0033】このため、坂道や階段を上り下りするため
に膝継手部8が曲げられたときに、ピストンロッド5c
には下降方向に力が働くが、ピストンロッド5cの下降
方向にピストン5bがスムーズに移動できないので、膝
継手部8での曲げ抵抗が大きくなり、また膝継手部8の
曲げ角度が必要以上に深くなるのが防がれて、坂道や階
段をスムーズに上り下りすることができる。また平地を
歩く場合の膝折れも防止できる。Therefore, when the knee joint 8 is bent to go up or down a hill or stairs, the piston rod 5c
, A force acts in the descending direction, but the piston 5b cannot move smoothly in the descending direction of the piston rod 5c, so that bending resistance at the knee joint 8 increases, and the bending angle of the knee joint 8 becomes more than necessary. It is prevented from getting deep, and you can go up and down slopes and stairs smoothly. Also, knee breaks when walking on level ground can be prevented.
【0034】これに対して、断端部の筋肉を収縮運動さ
せない場合は帯状袋体6aのセンサー6は押圧されな
い。On the other hand, when the muscle at the stump is not contracted, the sensor 6 of the band-shaped bag 6a is not pressed.
【0035】帯状袋体6aのセンサー6が押圧されない
ので、内部の流体が帯状袋体6aに一端が連通接続され
ている信号路6b内に移動して流入することもない。こ
のため、信号路6bの他端が連通接続されている可変バ
ルブ摺動シリンダー室7b下側内に流体が流入すること
もない。Since the sensor 6 of the band-shaped bag 6a is not pressed, the internal fluid does not move and flow into the signal path 6b one end of which is connected to the band-shaped bag 6a. Therefore, fluid does not flow into the lower side of the variable valve sliding cylinder chamber 7b to which the other end of the signal path 6b is connected.
【0036】可変バルブ摺動シリンダー室7b下側内に
信号路6bから流体が流入されないので、可変バルブ摺
動シリンダー室7b内の可変バルブ7はその上部側に設
けられたバネ7cによって下側に付勢されており、可変
バルブ7の側面が可変バルブ摺動シリンダー室7bの側
面に開口された2つの流体連通路7aの開口面積を狭め
ることがない(図4参照)。Since no fluid flows into the lower part of the variable valve sliding cylinder chamber 7b from the signal path 6b, the variable valve 7 in the variable valve sliding cylinder chamber 7b is lowered by a spring 7c provided on the upper side thereof. Since the side faces of the variable valve 7 are urged, the opening areas of the two fluid communication passages 7a opened to the side faces of the variable valve sliding cylinder chamber 7b are not reduced (see FIG. 4).
【0037】その結果、ピストン5bで分けられたシリ
ンダー室5aの両側の液体は流体連通路7a内をスムー
ズに移動でき、ピストン5bもシリンダー室5a内を弱
い力でもスムーズに移動できることになる。As a result, the liquid on both sides of the cylinder chamber 5a divided by the piston 5b can move smoothly in the fluid communication passage 7a, and the piston 5b can also move smoothly in the cylinder chamber 5a with a small force.
【0038】このため、平地などを普通に歩く場合にお
いては、このセンサー6は働かず、ピストンロッド5c
の上昇及び下降方向にピストン5bがスムーズに移動で
きるので、膝継手部8での曲げ抵抗がニードル弁7dの
みの小さな抵抗となって、膝継手部8で下腿部9をスム
ーズに曲げ伸ばすことができ、平地などをスムーズに歩
くことができる。For this reason, when walking on a flat ground or the like, the sensor 6 does not work, and the piston rod 5c
Since the piston 5b can move smoothly in the ascending and descending directions, the bending resistance at the knee joint 8 becomes a small resistance of only the needle valve 7d, and the knee joint 8 smoothly bends and extends the lower leg 9 at the knee joint 8. Can walk smoothly on flat ground.
【0039】なお、この発明は上記発明の実施の形態に
限定されるものではなく、この発明の精神を逸脱しない
範囲で種々の改変をなし得ることは勿論である。例え
ば、前記の発明の実施の形態では、切断脚の断端部の収
縮運動を検知したセンサー6が流体圧にして情報を送っ
て可変バルブ7を作動させる構造の場合で説明したが、
これに限定されるものではなく、要は切断脚の断端部の
収縮運動を検知したセンサー6からの情報で可変バルブ
7を作動させる構造であればどのような構造でもよい。It should be noted that the present invention is not limited to the above embodiment of the present invention, and it is needless to say that various modifications can be made without departing from the spirit of the present invention. For example, in the embodiment of the invention described above, a case is described in which the sensor 6 that detects the contraction movement of the stump end of the cutting leg sends fluid pressure to transmit information and operates the variable valve 7.
The present invention is not limited to this, but any structure may be used as long as the variable valve 7 is operated based on information from the sensor 6 that has detected the contraction movement of the stump of the cutting leg.
【0040】[0040]
【発明の効果】以上の記載より明らかなように、この発
明に係る義足によれば、膝より近位つまり膝より上で切
断された脚に脚の代用として装着され、膝継手部の屈曲
伸展の抵抗を調整する液圧シリンダーが装備され、液圧
シリンダーのピストンを挟んでその両側のシリンダー室
の液体の移動は可変バルブを通過して行われる義足にお
いて、切断脚の断端部に装着される義足の大腿ソケット
内に切断脚の断端部の筋肉の収縮運動を検知するセンサ
ーを設け、膝継手部の屈曲伸展の抵抗を調整する前記液
圧シリンダーの可変バルブの絞り具合を、前記センサー
からの検知情報により制御することにより、使用中の義
足の膝の抵抗を任意に調整することができる。これによ
り、義足の膝折れをすることなく階段や坂道や平地を楽
に歩行することができるという極めて新規的有益なる効
果を奏するものである。As is apparent from the above description, according to the prosthesis according to the present invention, the knee prosthesis is attached to a leg that is proximal to the knee, that is, cut above the knee, as a substitute for the leg, and the knee joint is bent and extended. The hydraulic cylinder is equipped with a hydraulic cylinder to adjust the resistance of the hydraulic cylinder. The movement of the liquid in the cylinder chambers on both sides of the piston of the hydraulic cylinder is mounted on the stump of the cutting leg in the prosthesis, which is performed through a variable valve. A sensor for detecting the contraction movement of the muscle at the stump of the cutting leg is provided in the thigh socket of the prosthesis, and the throttle condition of the variable valve of the hydraulic cylinder for adjusting the bending and extension resistance of the knee joint is determined by the sensor. , The knee resistance of the prosthesis in use can be adjusted arbitrarily. As a result, an extremely novel and beneficial effect can be obtained in that the user can easily walk on stairs, slopes, and flat ground without breaking the knee of the prosthesis.
【図1】この発明の実施の形態を示す義足の側断面図で
ある。FIG. 1 is a side sectional view of a prosthesis showing an embodiment of the present invention.
【図2】この発明の実施の形態を示す膝屈曲時の液圧シ
リンダー及び可変バルブの側断面図である。FIG. 2 is a side sectional view of the hydraulic cylinder and the variable valve when the knee is bent, showing the embodiment of the present invention.
【図3】この発明の実施の形態を示す膝伸展時の液圧シ
リンダー及び可変バルブの側断面図である。FIG. 3 is a side sectional view of the hydraulic cylinder and the variable valve during knee extension according to the embodiment of the present invention.
1 義足 2 大腿ソケット 2a 空洞部分 2b 開口部 3 膝軸 4 足部 5 液圧シリンダー 5a シリンダー室 5b ピストン 5c ピストンロッド 5d 伸展補助バネ 6 センサー 6a 帯状袋体 6b 信号路 7 可変バルブ 7a 流体連通路 7b 可変バルブ摺動シリンダー室 7c バネ 7d ニードル弁 7e 逆止弁 8 膝継手部 9 下腿部 DESCRIPTION OF SYMBOLS 1 Prosthesis 2 Thigh socket 2a Hollow part 2b Opening 3 Knee shaft 4 Foot 5 Hydraulic cylinder 5a Cylinder chamber 5b Piston 5c Piston rod 5d Extension auxiliary spring 6 Sensor 6a Band-shaped bag 6b Signal path 7 Variable valve 7a Fluid communication path 7b Variable valve sliding cylinder chamber 7c Spring 7d Needle valve 7e Check valve 8 Knee joint 9 Lower leg
Claims (1)
して装着され、膝継手部の屈曲伸展の抵抗を調整する液
圧シリンダーが装備され、液圧シリンダーのピストンを
挟んでその両側のシリンダー室の液体の移動は可変バル
ブを通過して行われる義足において、切断脚の断端部に
装着される義足の大腿ソケット内に切断脚の断端部の筋
肉の収縮運動を検知するセンサーを設け、膝継手部の屈
曲伸展の抵抗を調整する前記液圧シリンダーの可変バル
ブの絞り具合を、前記センサーからの検知情報により制
御することを特徴とする義足。1. A hydraulic cylinder mounted on a leg cut proximally of a knee as a substitute for the leg, for adjusting the resistance of the knee joint to flexion and extension. In a prosthesis where the movement of liquid in the cylinder chamber is performed through a variable valve, a sensor that detects the contraction movement of the muscle at the stump of the cutting leg in the thigh socket of the prosthesis attached to the stump of the cutting leg A prosthetic foot, wherein the degree of throttling of a variable valve of the hydraulic cylinder for adjusting the resistance of bending and extension of the knee joint is controlled based on detection information from the sensor.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19484497A JP3235720B2 (en) | 1997-07-04 | 1997-07-04 | Right foot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19484497A JP3235720B2 (en) | 1997-07-04 | 1997-07-04 | Right foot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH1119105A true JPH1119105A (en) | 1999-01-26 |
JP3235720B2 JP3235720B2 (en) | 2001-12-04 |
Family
ID=16331224
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19484497A Expired - Fee Related JP3235720B2 (en) | 1997-07-04 | 1997-07-04 | Right foot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3235720B2 (en) |
Cited By (13)
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JP2001276100A (en) * | 2000-03-28 | 2001-10-09 | Seiko Epson Corp | Muscular force assisting device of mounting on body type |
JP2002021908A (en) * | 2000-06-30 | 2002-01-23 | Showa Corp | Hydraulic shock absorber |
US6558430B1 (en) * | 1999-11-15 | 2003-05-06 | Nabco Limited | Air-cylinder apparatus for prosthetic limb |
WO2004019832A1 (en) * | 2002-08-30 | 2004-03-11 | Honda Giken Kogyo Kabushiki Kaisha | Joint device for artificial leg, and method and control unit for controlling the joint device |
US6902585B2 (en) | 2003-07-17 | 2005-06-07 | Yuichi Hikichi | Above-knee prosthesis with variable resistance knee joint |
JP2008220636A (en) * | 2007-03-13 | 2008-09-25 | Nagasaki Kanae:Kk | Artificial leg |
JP2011510766A (en) * | 2008-02-07 | 2011-04-07 | オットー・ボック・ヘルスケア・ゲーエムベーハー | Orthopedic knee joint and method for controlling an orthopedic knee joint |
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US6558430B1 (en) * | 1999-11-15 | 2003-05-06 | Nabco Limited | Air-cylinder apparatus for prosthetic limb |
JP2001276100A (en) * | 2000-03-28 | 2001-10-09 | Seiko Epson Corp | Muscular force assisting device of mounting on body type |
JP2002021908A (en) * | 2000-06-30 | 2002-01-23 | Showa Corp | Hydraulic shock absorber |
WO2004019832A1 (en) * | 2002-08-30 | 2004-03-11 | Honda Giken Kogyo Kabushiki Kaisha | Joint device for artificial leg, and method and control unit for controlling the joint device |
JP2004089359A (en) * | 2002-08-30 | 2004-03-25 | Honda Motor Co Ltd | Joint apparatus of artificial leg |
US6902585B2 (en) | 2003-07-17 | 2005-06-07 | Yuichi Hikichi | Above-knee prosthesis with variable resistance knee joint |
JP2008220636A (en) * | 2007-03-13 | 2008-09-25 | Nagasaki Kanae:Kk | Artificial leg |
US7704283B2 (en) | 2007-03-13 | 2010-04-27 | Nagasaki Kanae Co. | Prosthetic leg |
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US10632002B2 (en) | 2008-02-07 | 2020-04-28 | Ottobock Se & Co. Kgaa | Orthopedic knee joint and method for controlling an orthopedic knee joint |
US11684494B2 (en) | 2008-02-07 | 2023-06-27 | Ottobock Se & Co. Kgaa | Orthopedic knee joint and method for controlling an orthopedic knee joint |
US11478366B2 (en) * | 2016-10-06 | 2022-10-25 | Otto Bock Healthcare Products Gmbh | Actuator-damper unit |
WO2019037776A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳市罗伯医疗科技有限公司 | Knee joint rehabilitation robot and control method therefor |
WO2020203762A1 (en) | 2019-03-29 | 2020-10-08 | 本田技研工業株式会社 | Joint device |
JP2021037141A (en) * | 2019-09-04 | 2021-03-11 | Kyb−Ys株式会社 | Walking auxiliary device |
WO2022186081A1 (en) | 2021-03-02 | 2022-09-09 | 本田技研工業株式会社 | Joint device |
CN114795850A (en) * | 2022-07-01 | 2022-07-29 | 南昌大学第二附属医院 | Knee joint auxiliary movement device and control method thereof |
CN114795850B (en) * | 2022-07-01 | 2022-10-11 | 南昌大学第二附属医院 | Knee joint auxiliary movement device and control method thereof |
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