JPS58163364A - Power accessory for lower limb disabled person - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a power tool worn by persons with lower limb paralysis due to spinal cord injury due to illness, traffic accidents, industrial accidents, etc. The present invention relates to a power orthosis for persons with lower limb disabilities that is rotated by a hydraulic drive device.

People with lower limb paralysis use manual or electric wheelchairs for daily transportation. However, when using this wheelchair, it is difficult to move around in places with steps or narrow spaces that the wheelchair cannot pass through.

As a friend, a power equipment has been proposed which eliminates the above-mentioned disadvantages.

However, in order to perform stable walking using a power orthosis, it is necessary to detect the position of each joint and, based on the detection signal, to control each drive device α to C in a related manner using a complex movement pattern signal. .

However, walking with conventional power orthoses is unstable, and the control device that generates the control signals is complex and large.

The purpose of the present invention is to eliminate such conventional drawbacks, that is, to provide a more stable gait and a simple and compact control device of 3kt based on the normal gait movement pattern of a healthy person. This is what I did.

Hereinafter, one embodiment of the power orthosis for persons with lower limb disabilities according to the present invention will be described in detail with reference to the attached FIGS. 3 to S.

1, :l, 3 is a hydraulic drive device, crotch A1 knee B.

It is provided at each joint part for rotating each joint of the ankle C. Also hydraulic drive system/,! , 3 is the thigh ψ
and a support member that supports the lower leg S and the foot 6? , r
, 9 are rotatably connected to each other. Hydraulic drive device/2
．． 3 is a sensor 10 for detecting the rotational position. // and /l are provided, and this signal is sent to a control device fll/3 that controls the rotation of the hydraulic drive device to control the rotation.

The control device 13 includes a storage control circuit 73 as shown in FIG.
It is equipped with a storage device/3h, an input terminal/3c, an output terminal/3d, and a changeover switch/3m.

Hydraulic drive system 1~3Fi will be connected to hydraulic system 1, which consists of a hydraulic pump and a hydraulic tank.

The control device 13 and the hydraulic device/4L are attached to the back of the support member lj attached to the torso.

Next, to explain the present invention in detail, first, the power equipment having the above structure is attached to a healthy person, the operation of the hydraulic system/G is stopped and pressure is applied so that the drive devices 1 to 3 can rotate freely, and the control device In preparation for /3, turn on the switch switch 73 to the input terminal /Jc side. In this state, a healthy person walks normally, and at that time, the sensor 1 installed in the drive device/~JK
Changes in each joint detected by 0-/2 are input to the memory control circuit/3g, and the memory device/34K is stored in the walking pattern, and the walking pattern signal of the able-bodied person is output to output terminal 1.
3d. Then, based on the difference between the walking pattern signal read out from the output terminal/3dK and the output signal of each sensor 10-/2, the control device/3 sends a signal to each drive device l to 3.
A signal is output to control the rotation direction and rotation speed of the
Each drive device/~3 is operated to allow the patient to walk almost in the same way as a healthy person.

As described above, the present invention provides a hydraulic drive device for rotating the joints of the knees, hips, and ankles, and a support member 7 for supporting the thighs, lower legs, and feet. In the power orthosis, r and q are rotatably connected to each other at joints, and the drive devices l to 3 are connected to a control device 13 for controlling operation and a hydraulic device lψ. In this power orthosis, the walking pattern signal of a healthy person is detected by a sensor 10-/J.
It is configured to be detected by a person with a disability and stored in a storage device 13b of the control device 13, and then worn by a person with a disability to operate a hydraulic numbering device at each joint at the 9 o'clock position based on the stored pattern signal. Almost the same

[Brief explanation of drawings]

The drawings show a power orthosis for persons with lower limb disabilities according to the present invention, in which Fig. 1 is a front view of the conventional power orthosis, Fig. 2 is a partial rear view of Fig. 1, and Fig. 3 is a view of the present invention. Lower leg 6~foot?
, r, 9~Support member 10. //, /2~sensor
/3~control device /3α~storage control circuit t3b~storage device 130~input terminal 134~output terminal 136~
Selector switch Fig. 1 Fig. 2 Fig. 5 Fig. 4

Claims (1)

[Claims] A hydraulic drive device that rotates the joints of the hip, knee, and ankle is rotatably connected to a support member that supports the thigh, lower leg, and foot at the joints, and the drive device controls the operation. In a power equipment that is connected to a control device and a hydraulic device, the hydraulic drive device Klfi is provided with a sensor for detecting a joint angle of a part of each joint, and the control device further includes a power device for a person with lower limb disabilities constituted by the sensor. Braces.