JPS59115037A - Power artificial leg - Google Patents
Power artificial legInfo
- Publication number
- JPS59115037A JPS59115037A JP57223996A JP22399682A JPS59115037A JP S59115037 A JPS59115037 A JP S59115037A JP 57223996 A JP57223996 A JP 57223996A JP 22399682 A JP22399682 A JP 22399682A JP S59115037 A JPS59115037 A JP S59115037A
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic pump
- prosthetic leg
- power
- load cell
- hydraulic
- 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
- A61F2/70—Operating or control means electrical
-
- 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
- A61F2/64—Knee joints
-
- 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
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は、動力義足に関するものであり、も動する動
力義足に２するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a powered prosthetic leg, and is also a movable powered prosthetic leg.
従来、この種の装置として、第１図に示すものがあった
。図において大腿の断端部が挿着されるソケット／に大
腿部パイプλが結合し、さらに膝継手３を介して下腿部
パイプ亭、足部Ｓが順次結合してなるものである。かか
る構成の義足では、膝継手３を中心にして足部夕な振子
として下腿部パイプ亭を振り出し、足部ｊの着地後に体
重を義足Ｋかけることによって歩行している。しかし、
この従来の義足では、歩行速度は足部Ｓの質量と下腿部
パイプ亭の長さできまる振子の周期で決まるため歩行速
度をかえることができなかった。また、膝継手３に加わ
る力が下腿部パイプ亭と同一線上にないと膝継手３はま
わり、いわゆる中折れをおこして装着者は転倒するので
階段および坂道の昇降ができないという欠点を有してい
た。Conventionally, there has been a device of this type as shown in FIG. In the figure, a thigh pipe λ is connected to a socket/into which the stump of the thigh is inserted, and a lower leg pipe holder and a foot S are successively connected via a knee joint 3. In the prosthetic leg having such a configuration, the lower leg pipe is swung out as a pendulum around the knee joint 3, and the patient walks by applying his/her weight to the prosthetic leg K after the foot j lands on the ground. but,
With this conventional prosthetic leg, the walking speed could not be changed because it was determined by the period of the pendulum determined by the mass of the foot S and the length of the lower leg pipe. Additionally, if the force applied to the knee joint 3 is not on the same line as the lower leg pipe bow, the knee joint 3 will rotate, causing what is called a mid-fold and causing the wearer to fall, making it impossible to go up or down stairs or slopes. was.
以上のような欠点を除去するために提案された先行例と
して、膝継手を油圧で駆動する動力義足がある。これは
、第一図に示すように、動力源の電池６、膝用油圧駆動
装置７、この膝用油圧駆動装置７を制御する制御回路ｇ
、油圧ポンプデ、油圧用蓄圧器／θ、足首用油圧駆動装
置／／および断端足部の筋電信号を検出する電極１２を
備えてなるものである。かような構成により、電極７．
２によって平地歩行、階段歩行などの歩行モードに対応
した筋電信号を電極／２で検出し、この検出信号を制御
回路ざに送る。制御回路ｇでは、検出信号に応じてあら
かじめ各歩行モードに対応させて記憶しておいた動作パ
ターンを選択し、そのパターン信号に従って油圧ポンプ
デの発生する油圧によって膝用油圧駆動装置りおよび足
首用油圧駆動装置／／を駆動させ、歩行を行なう。As a prior example proposed to eliminate the above-mentioned drawbacks, there is a powered prosthetic leg in which the knee joint is hydraulically driven. As shown in FIG.
, a hydraulic pump, a hydraulic pressure accumulator/θ, an ankle hydraulic drive device, and an electrode 12 for detecting myoelectric signals from the stump leg. With such a configuration, the electrode 7.
2 detects myoelectric signals corresponding to walking modes such as walking on flat ground and walking on stairs with electrode/2, and sends this detection signal to the control circuit. The control circuit g selects a motion pattern stored in advance corresponding to each walking mode in accordance with the detection signal, and operates the knee hydraulic drive device and the ankle hydraulic pressure by the hydraulic pressure generated by the hydraulic pump D according to the pattern signal. The driving device // is driven to walk.
しかし、上に述べた従来の動力義足は、油圧駆動装置の
動力源である油圧ボンプデは使用中は常時作動している
ので、ポンプ用に大容量の電池が必要となり、動力義足
が大形で重量も大きくなるため、着用者の負担が太きい
などの欠点があった。However, in the conventional power prosthesis mentioned above, the hydraulic pump, which is the power source for the hydraulic drive device, is in constant operation during use, so a large-capacity battery is required for the pump, and the power prosthesis is large. Since the weight is also large, there are drawbacks such as a heavy burden on the wearer.
この発明は、上記のような従来のものの欠点を除去する
ためになされたもので、油圧ポンプの電源を開閉するだ
めの検知手段と制御装置を備えた動力義足を提供するこ
とを目的とするものである。This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and an object of the present invention is to provide a power prosthetic leg equipped with a detection means and a control device for opening and closing the power source of a hydraulic pump. It is.
以下、この発明の一実施例を第３図、第グ図について説
明する。図において義足の軸力な検知するためのロード
セ／ｌ／／、？を義足の大腿部に配設し、このロードセ
ル／３と油圧ポンプ９０間に油圧ポンプ９の電源を切入
する油圧ポンプ制御装置／４’を接続する。その他、第
３図と同一部分には同一の符号を付し、説明を省略する
。An embodiment of the present invention will be described below with reference to FIGS. 3 and 3. In the figure, load set for detecting the axial force of the prosthetic leg /l//? is placed on the thigh of the prosthetic leg, and a hydraulic pump control device/4' for turning on/off the power of the hydraulic pump 9 is connected between the load cell/3 and the hydraulic pump 90. Other parts that are the same as those in FIG. 3 are denoted by the same reference numerals, and explanations thereof will be omitted.
次に動作について説明する。歩行動作中に一時的に立ち
止まった場合、体重は両脚で支持される。Next, the operation will be explained. When a person temporarily stops during a walking motion, the body weight is supported by both legs.
そこで、ロードセＡ／／３が体重を検知すると、信号が
油圧ポンプ制御装置／グへ送られる。この状態が一定期
間以上持続すれば、油圧ポンプ制御回路／グは一時停止
状態と判断して、油圧ポンプデの電源を開とする。再び
歩行が開始されて、義足が地面をはなれて踏み出される
と、ロードセル／３は無荷重状態を検知する。その信号
によって油圧 （ポンプ制御装置／１１．は停止状
態の解除を判断して油圧ボンブタの電源を閉とする。Therefore, when the load cell A//3 detects the weight, a signal is sent to the hydraulic pump controller/g. If this state continues for a certain period of time or more, the hydraulic pump control circuit determines that the hydraulic pump is in a temporarily stopped state and turns off the power to the hydraulic pump. When walking is started again and the prosthetic leg leaves the ground and takes a step, the load cell/3 detects the no-load state. Based on the signal, the hydraulic pump control device/11. determines that the stopped state has been released and closes the power supply to the hydraulic pump.
なお、上記実施例では義足の大腿部にロードセル／３を
取付けたものを示したが、ロードセル１３は下腿部に設
けてもよい。また、上記実施例では両脚支持の一時停止
の場合について説明したが、無荷重状態が持続する場合
に油圧ボンブタの電源を開くのはもちろん、歩行時に周
期的に義足に体重が負荷するのを検知して油圧ポンプ９
の電源を開閉することもできる。In the above embodiment, the load cell 3 is attached to the thigh of the prosthetic leg, but the load cell 13 may be attached to the lower leg. In addition, in the above example, the case of temporary suspension of support for both legs was explained, but in addition to opening the power to the hydraulic bomber if the no-load state persists, it is also possible to detect the periodic weight being applied to the prosthetic leg while walking. Hydraulic pump 9
You can also open and close the power supply.
以上のように、この発明は、義足の軸力に応じて油圧ポ
ンプの電源を開閉するので、油圧ポンプの省電力を行な
うことができ、電池が小さくてすむため義足全体の小型
軽量化を可能にする効果がある０As described above, this invention opens and closes the power supply for the hydraulic pump according to the axial force of the prosthetic leg, so it is possible to save power for the hydraulic pump, and because the battery is small, the entire prosthetic leg can be made smaller and lighter. 0 has the effect of
第１図は従来の義足の側面図、第２図は同じく他の例の
斜視図、第３図はこの発明の一実施例の斜視図、第を図
は同じく要部の結線図である。
／・・ソケット、λ・・大腿部パイプ、３°・膝継手、
ダ・・下腿部パイプ、５・・足部、６・・電池、７・・
膝用油圧駆動装置、ｇ・・制御回路、？・・油圧ポンプ
、／θ・・油圧用蓄圧器１、／ ／・・足首用油圧駆動
装置、／２・・電極、／３・・ロードセル、／４’・・
油圧ポンプ制御装置。
なお、各図中、同一符号は同一または相当部分を示す。
特許出願人 工業技術院長 石板誠−
第２図Fig. 1 is a side view of a conventional prosthetic leg, Fig. 2 is a perspective view of another example, Fig. 3 is a perspective view of an embodiment of the present invention, and Figs. ／・・Socket, λ・・Thigh pipe, 3°・Knee joint,
Da...lower leg pipe, 5...foot, 6...battery, 7...
Hydraulic drive device for the knee, g... control circuit, ?・・Hydraulic pump, /θ・・Hydraulic pressure accumulator 1, / /・・Hydraulic drive device for ankle, /2・・Electrode, /3・・Load cell, /4'・・
Hydraulic pump control device. In each figure, the same reference numerals indicate the same or corresponding parts. Patent applicant Makoto Ishiita, Director of the Agency of Industrial Science and Technology - Figure 2
Claims (3)
に対応して前記油圧ポンプを制御する制御回路と、前記
油圧ポンプの油圧によって駆動される膝用油圧駆動装置
を備えた動力義足において、“義足の軸力な検出するロ
ードセルと、このロードセルの検出信号に対応して前記
油圧ポンプの電源を開閉する油圧ポンプ制御装置を備え
てなることを特徴とする動力義足。(1) A powered prosthetic leg that includes a power battery, a hydraulic pump, a control circuit that controls the hydraulic pump in response to a detected myoelectric signal, and a knee hydraulic drive device that is driven by the hydraulic pressure of the hydraulic pump. "A power prosthetic leg comprising: a load cell that detects the axial force of the prosthetic leg; and a hydraulic pump control device that opens and closes a power source for the hydraulic pump in response to a detection signal from the load cell.
請求の範囲第１項記載の動力義足。(2) The powered prosthetic leg according to claim 1, wherein the load cell is disposed in the thigh trap of the prosthetic leg.
請求の範囲第１項記載の動力義足。 （り）足首用油圧駆動装置を備えた特許請求の範囲第７
項記載の動力義足。(3) The powered prosthetic leg according to claim 1, wherein the load cell is disposed in the lower leg of the prosthetic leg. (ri) Claim 7, which is equipped with a hydraulic drive device for the ankle.
Power prosthesis as described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57223996A JPS59115037A (en) | 1982-12-22 | 1982-12-22 | Power artificial leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57223996A JPS59115037A (en) | 1982-12-22 | 1982-12-22 | Power artificial leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59115037A true JPS59115037A (en) | 1984-07-03 |
| JPS633619B2 JPS633619B2 (en) | 1988-01-25 |
Family
ID=16806948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57223996A Granted JPS59115037A (en) | 1982-12-22 | 1982-12-22 | Power artificial leg |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59115037A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
1982
- 1982-12-22 JP JP57223996A patent/JPS59115037A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS633619B2 (en) | 1988-01-25 |
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