JPH11320463A - Artificial foot part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To project a tumbling prevention member sideways, to broaden the grounding area of the foot part, and to hold a standing state by providing the tumbling prevention member projecting sideways in moving the upper half body. SOLUTION: An artificial foot part 1 is provided with a foot part main body 3 connected to the bottom end part of a tibia member 2, a tumbling prevention member 4 rotationally attached to its front end part, and a drive part 5, when a wire 9 is tensed by a motor 8, the tumbling prevention member 4 is rotationally moved to be in a projected state, or when the wire 9 is loosened, it is in a folded state. In a state where the tumbling prevention member 4 is projected to the foot part main body 3, the grounding area of the artificial foot part 1, especially the frontward area, is increased thereby so that when the upper half body is bent and the gravity center moves forward, it is prevented from tumbling. Therefore, when a human body or a walking robot bents the upper half body and moves the gravity center, the tumbling prevention member is projected sideways to broaden the grounding area of the foot part and prevent the tumbling.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a novel artificial foot. In detail, in a human body wearing a walking robot or a prosthesis, when in a standing position, it does not fall even if the upper body is bent and the center of gravity moves significantly left or right or back and forth.
The present invention relates to a technique for maintaining a standing state.

[0002]

2. Description of the Related Art Conventionally, when a foot or prosthesis of a walking robot is bent in an upright position and its center of gravity is moved, the bottom surface of the foot changes in accordance with the movement of the center of gravity. Also, there was no such thing as shifting the center of gravity of the whole.

[0003]

However, when a walking robot or a human body with a prosthesis is bent over the upper body in a standing position and tilted left or right or back and forth, the walking robot or the human body loses balance and falls. There was an accident to do it.

[0004] That is, when the upper body is largely moved to the left or right or back and forth, the center of gravity of the upper body is greatly moved. Was.

[0005] In the movement of the upper body in the left-right direction, by opening both feet to the left and right, it is possible to maintain a relatively stable standing state. In particular, when the upper body moves in the front-rear direction, it falls over. I had to do it.

[0006] In the case of a healthy human, when the upper body moves back and forth, balance is achieved by applying force to the toe side or heel side of the feet and moving the waist position back and forth. To prevent falls,
In the case of a foot or a prosthesis of a walking robot, the foot cannot be moved finely, and thus often falls.

Therefore, the present invention solves the above-mentioned drawbacks,
It can be used as a prosthesis to be worn on humans or as a foot of a walking robot. When in the standing position, even if the upper body moves and the center of gravity moves significantly left or right or back and forth, the standing position without falling down The goal is to be able to maintain

[0008]

In order to solve the above-mentioned problems, the artificial foot of the present invention is provided with an overturn preventing member which protrudes laterally with the movement of the upper body in a standing state. .

Therefore, in the artificial foot of the present invention, when the human body is in a standing position, even if the upper body is bent and the center of gravity is moved, the fall prevention member protrudes to the side, and the foot contact area is wide. Therefore, it is difficult to fall down, and the standing state can be maintained.

In order to solve the above-mentioned problems, another artificial foot according to the present invention includes a fluid tank provided in the foot, a fluid storage chamber provided in a portion above the foot, and a fluid storage chamber provided in the fluid reservoir. A connection pipe for connecting the chamber to the fluid tank; and a fluid moving means for moving the fluid between the fluid tank and the fluid storage chamber via the connection pipe.

Therefore, according to the artificial foot of the present invention, the fluid can be moved to the foot and the center of gravity of the entire body can be moved downward in a timely manner, for example, when the human body is in a standing state, so that the stability can be improved. The property is improved, it is difficult to fall down, and the standing state can be maintained.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the artificial foot of the present invention will be described below with reference to the embodiments shown in the accompanying drawings.

FIG. 1 and FIG. 2 show a first embodiment of the artificial foot of the present invention.

An artificial foot 1 is connected to a lower end of a tibial member 2 corresponding to a tibia in a human body via a universal joint, and is rotatably attached to a front end of the foot main body 3. It has a fall prevention member 4 attached thereto, and a drive unit 5 for projecting the fall prevention member 4 forward.

The fall prevention member 4 is rotatably supported on a front end of the foot main body 3 by a rotation shaft 6 extending substantially horizontally in the left-right direction. On the other hand, when it is folded, it is housed in a recess 7 formed on the upper surface side of the front end of the foot main body 3 (see FIG. 1). The bottom surface and the bottom surface of the foot body 3 are flush with each other (see FIG. 2). Although not shown, for example, a toggle spring is provided so that the fall prevention member 4 is always urged in the folding direction with respect to the foot main body 3.

The drive unit 5 of the fall prevention member 4 is
And a wire 9 having one end wound around a drive shaft of the motor 8 and the other end wound around the rotation shaft 6.
The rotation of the motor 8 relaxes or tensions the wire 9.

The rotation of the motor 8 causes the wire 9 to rotate.
When the tension prevention member 4 is tensioned, the fall prevention member 4 rotates forward and extends with respect to the foot main body 3, and the fall prevention member 4 is in a protruding state, and the rotation of the motor 8 relaxes the wire 9. The fall prevention member 4 is folded by the toggle spring with respect to the foot body 3.

Although the illustration is omitted, when the fall prevention member 4 projects from the foot main body 3, the lock mechanism operates and even if a force is applied to the fall prevention member 4 from the back side thereof,
The fall prevention member 4 is not bent with respect to the foot body 3.

Thus, the fall prevention member 4 is connected to the foot main body 3.
In the protruding state, the contact area of the artificial foot 1, particularly the area to the front increases, so that even if the upper body is bent and the center of gravity moves forward, It becomes difficult.

In this embodiment, the fall prevention member 4 is projected forward with respect to the foot main body 3, but the present invention is not limited to this. May be.

FIGS. 3 and 4 show a second embodiment of the artificial foot of the present invention.

The fall prevention member 10 of the artificial foot 1A according to this embodiment is slidably provided on the foot main body 11.

That is, the foot body 11 includes the fall prevention member 1.
0 is formed so as to open forward, and a motor 1 is provided at the back of the storage recess 12.
3 are provided.

The drive shaft of the motor 13 has a ball screw 14
Is formed, and the ball screw 14 is used as the fall prevention member 1.
It is screwed to a nut (not shown) attached to the nut.

When the motor 13 is rotated, the ball screw 14 is rotated to move the tipping prevention member 10 in the front-rear direction.
It moves between a state protruding with respect to 1 (see FIG. 4) and a stored state (see FIG. 3).

Thus, when the fall prevention member 10 projects from the foot main body 11, the contact area of the artificial foot 1A, particularly, the area toward the front increases, so that the center of gravity is bent by bending the upper body. Even if you move forward,
It becomes difficult to fall (see FIG. 4).

FIGS. 5 and 6 show another embodiment of the artificial foot of the present invention.

[0028] The artificial foot 1B according to this embodiment includes:
The fluid is provided so as to be movable between the foot and a portion above the foot, and the fluid is moved to the foot to lower the center of gravity so as to prevent a fall. In this embodiment, in addition to the above, the fall prevention member in the second embodiment is provided slidably with respect to the foot main body.

The artificial foot 1B includes a foot main body 15 and a bellows 1 as a fluid tank provided in the foot main body 15.
6, an adjusting cylinder 17 as a fluid storage chamber provided above the foot main body 15, for example, at the waist, and a connection pipe 1 connecting the adjusting cylinder 17 and the bellows 16 to each other.
8 and a fluid, for example, an oil 19 filled in the bellows 16, the adjusting cylinder 17 and the connecting pipe 18. Instead of the oil 19, liquid silicone or physiological saline or sodium hyaluronate which has little effect on the human body even when a liquid leakage accident occurs may be used.

A piston 20 as a fluid moving means is slidably provided on the adjusting cylinder 17. By sliding the piston 20 relative to the adjusting cylinder 17, the adjusting cylinder 17, the connecting pipe 18, The internal pressure in the bellows 16 changes, and the bellows 16 expands and contracts.

As described above, the artificial foot 1B includes:
A fall prevention member 21 is slidably provided on the foot main body 15.
Are projected from the foot main body 15 or housed.

Thus, the piston 20 is moved to the adjusting cylinder 1
7, the oil 19 in the adjusting cylinder 17
Moves to the bellows 16 of the foot body 15, and the foot body 15
And the bellows 16 expands,
The fall prevention member 21 projects from the front end of the foot body 15,
The contact area of the artificial foot 1B increases (see FIG. 6).

As a result, since the center of gravity moves downward due to the movement of the oil 19 to the foot main body 15, it is difficult for the oil 19 to fall down in the standing position and the fall prevention member 2
With the protrusion of 1, it is possible to further prevent falling.

Further, since the oil 19 can be moved between the foot main body 15 and a portion above the foot main body 15, the foot main body of the stance phase foot (grounded foot) during walking. The oil 19 can be moved to the position 15 to stabilize the foot, and the oil 19 can be moved to a position above the foot main body 15 of the free leg phase foot (off foot). It can be made light and easy to move, so that walking can be performed smoothly.

In this embodiment, the oil 19
A description will be given of a combination of a structure in which (fluid) is provided between the foot main body 15 and a portion above the foot main body 15 so as to freely flow, and a structure in which the fall prevention member 21 is provided on the foot main body 15 so as to freely project. However, the present invention is not limited to this, and the fluid may have a fluid tank or a fluid storage chamber in each of the artificial foot portion and a portion above the artificial foot portion, and may have a configuration in which the fluid can flow freely between the two. Of course. In short, it is only necessary that the fluid can be moved between the artificial foot and a portion located above the artificial foot, and that the fluid can be moved to the foot and the center of gravity can be moved downward.

The details of the driving of the piston 20 have been omitted, but in addition to the motor, pneumatic pressure, hydraulic pressure, etc., any driving source, for example,
The invention (driving device) according to the application (Japanese Patent Application No. 10-12328) on Jan. 26, 0 can be applied.

Further, the oil 19 (fluid) is applied to the foot main body 15.
In the above-described embodiment, the adjusting cylinder 17
Although the piston 20 sliding inside is shown, the present invention is not limited to this, and may be a fluid pump or the like for moving a fluid.

[0038]

As is apparent from the above description, the artificial foot of the present invention is provided with an overturn preventing member which protrudes laterally with the movement of the upper body in the standing state.

Therefore, in the artificial foot portion of the present invention, even when the human body or the walking robot is standing and the upper body is bent and the center of gravity is moved, the fall prevention member protrudes to the side.
Since the foot contact area is widened, the fall can be prevented.

According to the second aspect of the present invention, since the fall prevention member is projected forward of the foot, the upper body is often bent forward when bent, and in such a case, the standing member stands up. State can be maintained.

According to the third and fourth aspects of the present invention, the fall prevention member is rotatably supported with respect to the foot main body, and is rotated when it protrudes to increase the ground contact area. By simplifying the structure, the fall of the human body or the walking robot can be easily prevented.

According to the fifth and sixth aspects of the present invention, the fall prevention member is slid and protruded with respect to the foot body, so that the structure is simplified and the human body or the walking robot can be used. Fall prevention can be easily realized.

In another artificial foot according to the present invention, a fluid tank provided on the foot, a fluid storage chamber provided above the foot, and the fluid storage chamber and the fluid tank are provided. And a fluid moving means for moving the fluid between the fluid tank and the fluid storage chamber via the connecting pipe.

Therefore, according to such another invention, in the standing state, the fluid can be moved to the foot and the center of gravity of the whole can be moved downward, so that the stability is improved.
It is difficult to fall down, and the standing state can be maintained.

In addition, during walking, fluid is moved to the foot of the standing phase (the foot contacting the ground) to stabilize the foot, and the foot of the swinging phase (the foot that has taken off) The fluid can be moved to an area above from the front to make it lighter and easier to move, and walking can be performed smoothly.

In the invention described in claim 8, the fluid storage chamber is constituted by a cylinder, and the fluid moving means is constituted by a piston which slides in the cylinder. The fall prevention of the walking robot can be easily realized, and the walking can be smoothly performed.

According to the ninth and tenth aspects of the present invention, the fluid tank is a bellows, and the overturn prevention member projects laterally from the foot body by extending the bellows. In the standing state, the center of gravity can be moved downward, and the fall prevention member can be protruded, so that the fall of the human body or the walking robot can be further prevented.

It should be noted that the shapes and structures of the respective parts shown in the above-described embodiments are merely examples of the specific embodiments to be carried out when carrying out the present invention. The scope should not be construed as limiting.

[Brief description of the drawings]

FIG. 1 schematically shows a first embodiment of the artificial foot of the present invention together with FIG. 2, and is a cross-sectional view showing a state in which a fall prevention member does not protrude.

FIG. 2 is a sectional view showing a state in which a fall prevention member is projected.

FIG. 3 schematically shows a second embodiment of the artificial foot of the present invention together with FIG. 4, and is a cross-sectional view in a state where the overturn prevention member does not protrude.

FIG. 4 is a cross-sectional view of a state in which a fall prevention member is projected.

5 schematically shows another embodiment of the artificial foot of the present invention, together with FIG. 6, which is a cross-sectional view showing a state in which a fluid is in an upper fluid storage chamber. FIG.

FIG. 6 is a cross-sectional view showing a state where fluid is moved to a fluid tank of a foot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Artificial foot part, 3 ... Foot body, 4 ... Fall-over prevention member, 1A
... artificial foot, 10 ... fall prevention member, 11 ... foot body, 1
B: artificial foot, 15: foot body, 16: bellows (fluid tank), 17: adjusting cylinder (fluid storage chamber), 18:
Connection pipe, 19 ... oil (fluid)

Claims (10)

[Claims] 1. An artificial foot portion provided with an overturn prevention member which protrudes laterally from a foot portion main body as the upper body moves in a standing state. 2. The artificial foot according to claim 1, wherein the fall prevention member protrudes forward of the foot main body. 3. The artificial foot according to claim 1, wherein the fall prevention member is rotatably supported with respect to the foot body.
An artificial foot, characterized in that it rotates when protruding to increase the ground contact area. 4. The artificial foot according to claim 2, wherein the fall prevention member is rotatably supported with respect to the foot body.
An artificial foot, characterized in that it rotates when protruding to increase the ground contact area. 5. The artificial foot according to claim 1, wherein the fall prevention member slides and protrudes with respect to the foot body. 6. The artificial foot according to claim 2, wherein the overturn preventing member slides and protrudes with respect to the foot main body. 7. A fluid tank provided at a foot, a fluid storage chamber provided at a position above the foot, a connection pipe connecting the fluid storage chamber to the fluid tank, and a fluid tank connected to the fluid tank. An artificial foot portion comprising: a fluid moving means for moving between the fluid reservoir and the fluid reservoir via a connection pipe. 8. The artificial foot according to claim 7, wherein the fluid reservoir is a cylinder, and the fluid moving means is a piston that slides in the cylinder. 9. The artificial foot according to claim 7, wherein the fluid tank is a bellows, and the overturn prevention member projects laterally from the foot main body by extension of the bellows. Artificial foot to do. 10. The artificial foot according to claim 8, wherein the fluid tank is a bellows, and the overturn prevention member projects laterally from the foot main body by extension of the bellows. Artificial foot to do.