JPS6219176B2 - - Google Patents
Info
- Publication number
- JPS6219176B2 JPS6219176B2 JP57139732A JP13973282A JPS6219176B2 JP S6219176 B2 JPS6219176 B2 JP S6219176B2 JP 57139732 A JP57139732 A JP 57139732A JP 13973282 A JP13973282 A JP 13973282A JP S6219176 B2 JPS6219176 B2 JP S6219176B2
- Authority
- JP
- Japan
- Prior art keywords
- leg
- momentum
- prosthetic leg
- walking
- circuit
- 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.)
- Expired
Links
- 210000002414 leg Anatomy 0.000 claims description 35
- 230000033001 locomotion Effects 0.000 claims description 10
- 210000003127 knee Anatomy 0.000 claims description 7
- 210000003423 ankle Anatomy 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 description 9
- 210000002683 foot Anatomy 0.000 description 5
- 230000003183 myoelectrical effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 1
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
Description
【発明の詳細な説明】
この発明は片足を大腿部から切断した障害者が
装着する義足の膝関節部を油圧駆動装置で駆動す
る動力義足に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a powered prosthetic leg that uses a hydraulic drive device to drive the knee joint of a prosthetic leg worn by a disabled person who has had one leg amputated from the thigh.
従来、この種の装置としては第１図に示すもの
があつた。図において１は断端部を挿入するソケ
ツト、２は大腿部パイプ、３は膝継手、４は下腿
部パイプ、５は足部である。 Conventionally, there has been a device of this type as shown in FIG. In the figure, 1 is a socket into which the stump is inserted, 2 is a thigh pipe, 3 is a knee joint, 4 is a lower leg pipe, and 5 is a foot.
この義足では膝継手３を中心にして足部５を振
子として下腿部を振り出し、足部５の着地後に体
重を義足にかけることによつて歩行している。し
かし、この従来の義足では歩行速度は足部５の質
量と下腿部パイプ４の長さできまる振り子の周期
で決まるため歩行速度をかえることができなかつ
た。また、膝継手３に加わる力が下腿部パイプ４
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。
このため、従来の義足のこのような欠点を除去す
るための動力義足として膝継手を油圧で駆動する
ものがある。これを、以下第２図で説明する。図
において６は動力源の電池、７は膝用油圧駆動装
置、８は膝用油圧駆動装置を制御する制御回路、
９は油圧ポンプ、１０は油圧用蓄圧器、１１は足
首用油圧駆動装置、１２は断端足部の筋電信号を
検出する電極である。 With this prosthetic leg, the patient walks by swinging out the lower leg around the knee joint 3 with the foot 5 as a pendulum, and after the foot 5 lands on the ground, the user puts his weight on the prosthetic leg. However, with this conventional prosthetic leg, the walking speed cannot be changed because it is determined by the period of the pendulum determined by the mass of the foot 5 and the length of the crural pipe 4. In addition, the force applied to the knee joint 3 is
If the knee joint 3 is not on the same line as the knee joint 3, the knee joint 3 will rotate, causing what is called a mid-fold, causing the wearer to fall, which has the disadvantage of making it impossible to go up and down stairs and slopes.
Therefore, in order to eliminate these drawbacks of conventional prosthetic legs, there is a powered prosthetic leg in which the knee joint is hydraulically driven. This will be explained below with reference to FIG. In the figure, 6 is a battery as a power source, 7 is a hydraulic drive device for the knee, and 8 is a control circuit that controls the hydraulic drive device for the knee.
9 is a hydraulic pump, 10 is a hydraulic pressure accumulator, 11 is a hydraulic drive device for the ankle, and 12 is an electrode for detecting myoelectric signals of the stump leg.
電極１２によつて平地歩行、階段歩行などの歩
行モードに対応した筋電信号を検出し、この検出
信号を制御回路８に送る。制御回路８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
て記憶させておいた膝用油圧駆動装置の動作パタ
ーンを選択し、そのパターン信号に従つて膝用油
圧駆動装置７を駆動させ、歩行を行う。 Myoelectric signals corresponding to walking modes such as walking on flat ground and walking on stairs are detected by the electrodes 12, and this detection signal is sent to the control circuit 8. In response to the detection signal, the control circuit 8 selects an operation pattern for the knee hydraulic drive device that has been stored in advance in correspondence with each walking mode, and drives the knee hydraulic drive device 7 in accordance with the pattern signal. , walking.
ところが、この動力義足では、電極１２よつて
歩行モードに対して、筋電信号を検出し、この検
出信号を制御回路に送信する。このため、装着者
が筋電信号の制御をする必要があるばかりでな
く、また、装着者より発生する汗、脂、等によつ
て指令信号が不安定となる欠点を有していた。 However, in this powered prosthetic leg, the electrode 12 detects a myoelectric signal in the walking mode, and transmits this detection signal to the control circuit. This not only requires the wearer to control the myoelectric signals, but also has the drawback that the command signals become unstable due to sweat, oil, etc. generated by 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、健常脚の運動量
を義足に与え、歩行動作を確実に、容易に制御す
る動力義足を提供することを目的としている。 This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and the purpose of this invention is to provide a powered prosthetic leg that imparts the momentum of a healthy leg to the prosthetic leg and that reliably and easily controls walking motion. There is.
以下、この発明の一実施例について説明する。
第３図において、１３は動力義足を装着する装着
者、１４は運動量を検出する検出器、１５はこの
検出器１４からの運動量を計測する運動量計測回
路、１６は運動量計測回路１５からのデータによ
つて義足を制御する制御回路、１７は制御回路１
６からの指令によつて義足を駆動する義足駆動回
路、１８は義足駆動回路１７からの指令によつて
動く動力義足駆動部であり、第２図中ソケツト
１、電池６、膝用油圧駆動装置７、油圧ポンプ
９、油圧用蓄圧器１０、足首用油圧駆動装置１１
を含んでいる。 An embodiment of the present invention will be described below.
In FIG. 3, 13 is a wearer who wears a powered prosthetic leg, 14 is a detector that detects the amount of exercise, 15 is an exercise amount measuring circuit that measures the amount of exercise from this detector 14, and 16 is data from the exercise amount measuring circuit 15. Therefore, a control circuit for controlling the prosthetic leg, 17 is a control circuit 1
A prosthesis drive circuit 18 drives the prosthesis according to commands from the prosthesis drive circuit 17, and 18 is a power prosthesis drive section that operates according to commands from the prosthesis drive circuit 17. In FIG. 7, hydraulic pump 9, hydraulic pressure accumulator 10, ankle hydraulic drive device 11
Contains.
上記のように構成されたものにおいては、装着
者１３が平坦な道路を歩行する際、まず健常脚を
一歩動作させる。その一歩動作の運動量、すなわ
ち歩足速度、膝の曲げ角度、足首の曲げ角度が検
出器１４で検出され運動量計測回路１５に送られ
る。運動量計測回路１５で運動量が時々刻々計測
され記憶される。 In the device configured as described above, when the wearer 13 walks on a flat road, he or she first takes a step with his/her healthy leg. The amount of momentum of the one-step movement, that is, the walking speed, the bending angle of the knee, and the bending angle of the ankle are detected by the detector 14 and sent to the momentum measuring circuit 15. The amount of exercise is measured every moment by the amount of exercise measurement circuit 15 and is stored.
健常脚で得られた動作パターンを制御回路１６
で一時記憶し、健常脚の足裏が地面に着地するま
で待機している。 The control circuit 16 uses the movement pattern obtained with the healthy leg.
It temporarily memorizes it and waits until the sole of the healthy leg touches the ground.
次に、健常脚の足裏に付加した足裏センサが地
面に着地すると、制御回路１６に信号指令を送
る。制御回路１６は動作パターンを義足駆動回路
１７に送り、義足を動作させる。動力義足の一歩
動作が終り、地面に接触すると一周期の歩行が終
了する。 Next, when the sole sensor attached to the sole of the healthy leg lands on the ground, it sends a signal command to the control circuit 16. The control circuit 16 sends the motion pattern to the prosthetic leg drive circuit 17 to operate the prosthetic leg. One cycle of walking ends when the powered prosthetic leg makes contact with the ground.
連続して歩行したければ、上記動作を連続して
行なえば良い。 If you want to walk continuously, you can perform the above movements continuously.
なお、上記実施例では、一般的な平坦な道路を
歩行する場合について説明したが、歩行環境は階
段、坂道、又は駆足動作であつてもよく、上記実
施例と同様の効果を奏する。 In the above embodiment, the case of walking on a general flat road has been described, but the walking environment may be stairs, a slope, or a walking motion, and the same effects as in the above embodiment can be obtained.
以上のように、この発明によれば健常脚からの
運動量を計測し、健常脚と同じ歩行動作を動力義
足に与えて制御するように構成したので、歩行の
スタート、ストツプ、歩足速度、モードの対応が
確実になり信頼性が高く安全な動力義足が得られ
る効果がある。 As described above, according to the present invention, the amount of movement from the healthy leg is measured and the powered prosthetic leg is controlled by giving the same walking motion as the healthy leg. This has the effect of making it possible to provide a highly reliable and safe powered prosthetic leg.
第１図は従来の義足を示す構成図、第２図はこ
の発明に関する先行例の動力義足を示す構成図、
第３図はこの発明の一実施例による動力義足のブ
ロツク図である。
１…ソケツト、２…大腿部パイプ、３…膝継
手、４…下腿部パイプ、５…足部、６…電池、７
…膝用油圧駆動装置、８…制御回路、９…油圧ポ
ンプ、１０…油圧用蓄圧器、１１…足首用油圧駆
動装置、１２…電極、１３…装着者、１４…検出
器、１５…運動量計測回路、１６…制御回路、１
７…義足駆動回路。なお、図中同一部分又は担当
部分は同一符号で示す。
FIG. 1 is a block diagram showing a conventional prosthetic leg, FIG. 2 is a block diagram showing a power prosthetic leg of a prior example related to the present invention,
FIG. 3 is a block diagram of a powered prosthetic leg according to an embodiment of the present invention. 1... Socket, 2... Thigh pipe, 3... Knee joint, 4... Lower leg pipe, 5... Foot, 6... Battery, 7
...Hydraulic drive device for knee, 8...Control circuit, 9...Hydraulic pump, 10...Hydraulic pressure accumulator, 11...Hydraulic drive device for ankle, 12...Electrode, 13...Wearer, 14...Detector, 15...Momentum measurement Circuit, 16...Control circuit, 1
7...Prosthetic leg drive circuit. In addition, the same parts or corresponding parts in the figures are indicated by the same reference numerals.
Claims (1)
に、その一歩毎の健常脚の歩足速度、膝の曲げ角
度、並びに足首の曲げ角度に応じた信号を出力す
る検出器、この検出器の出力信号を計測し運動量
として記憶する運動量計測回路、駆動部を有し、
この駆動部に駆動されて歩行動作をおこなう義
足、この義足の駆動部を駆動する駆動回路、及び
上記運動量計測回路からの運動量信号により上記
駆動回路を制御する制御回路を備え、健常脚から
得られた運動量を上記義足に与え、歩行動作を制
御することを特徴とした動力義足。1. A detector that is attached to a healthy leg and outputs signals according to the walking speed of the healthy leg, the bending angle of the knee, and the bending angle of the ankle every time the wearer walks. It has a momentum measurement circuit that measures the output signal and stores it as momentum, and a drive unit.
A prosthetic leg that is driven by the drive unit to perform walking motions, a drive circuit that drives the drive unit of the prosthesis, and a control circuit that controls the drive circuit using a momentum signal from the momentum measurement circuit. A powered prosthetic leg that controls walking motion by imparting momentum to the prosthetic leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57139732A JPS5932453A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57139732A JPS5932453A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5932453A JPS5932453A (en) | 1984-02-21 |
| JPS6219176B2 true JPS6219176B2 (en) | 1987-04-27 |
Family
ID=15252089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57139732A Granted JPS5932453A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5932453A (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE528516C2 (en) | 2005-04-19 | 2006-12-05 | Lisa Gramnaes | Combined active and passive leg prosthesis system and a method for performing a movement cycle with such a system |
| EP2104476B1 (en) | 2007-01-05 | 2016-01-06 | Victhom Human Bionics Inc. | High torque active mechanism for orthotic devices |
| CA2673399C (en) | 2007-01-05 | 2017-08-29 | Victhom Human Bionics, Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
| CA2676067C (en) | 2007-01-19 | 2017-06-20 | Victhom Human Bionics, Inc. | Reactive layer control system for prosthetic and orthotic devices |
| CN102036626B (en) | 2008-03-24 | 2014-07-02 | 奥瑟Hf公司 | Transfemoral prosthetic systems and methods for operating the same |
| US8915968B2 (en) | 2010-09-29 | 2014-12-23 | össur hf | Prosthetic and orthotic devices and methods and systems for controlling the same |
| US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
| US9532877B2 (en) | 2011-11-11 | 2017-01-03 | Springactive, Inc. | Robotic device and method of using a parallel mechanism |
| US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
| US9044346B2 (en) | 2012-03-29 | 2015-06-02 | össur hf | Powered prosthetic hip joint |
| EP3427702A1 (en) | 2013-02-26 | 2019-01-16 | Össur HF | Prosthetic foot with enhanced stability and elastic energy return |
| WO2014159114A1 (en) | 2013-03-14 | 2014-10-02 | össur hf | Prosthetic ankle: a method of controlling based on adaptation to speed |
| CN106456339B (en) | 2014-04-11 | 2020-02-07 | 奥索有限责任公司 | Prosthetic foot with removable flexible member |
| JP6883819B2 (en) * | 2017-03-13 | 2021-06-09 | 公立大学法人岩手県立大学 | Prosthesis device with drive mechanism |
-
1982
- 1982-08-13 JP JP57139732A patent/JPS5932453A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5932453A (en) | 1984-02-21 |
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