JPWO2013132662A1 - 多節リンク膝継手 - Google Patents
多節リンク膝継手 Download PDFInfo
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- JPWO2013132662A1 JPWO2013132662A1 JP2013546498A JP2013546498A JPWO2013132662A1 JP WO2013132662 A1 JPWO2013132662 A1 JP WO2013132662A1 JP 2013546498 A JP2013546498 A JP 2013546498A JP 2013546498 A JP2013546498 A JP 2013546498A JP WO2013132662 A1 JPWO2013132662 A1 JP WO2013132662A1
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 80
- 210000003127 knee Anatomy 0.000 claims abstract description 85
- 238000005452 bending Methods 0.000 claims abstract description 43
- 230000008602 contraction Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000005415 magnetization Effects 0.000 claims description 6
- 239000012530 fluid Substances 0.000 abstract description 27
- 238000009434 installation Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 9
- 210000002414 leg Anatomy 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000011109 contamination Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229910000828 alnico Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
Images
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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
- A61F2/642—Polycentric joints, without longitudinal rotation
- A61F2/644—Polycentric joints, without longitudinal rotation of the single-bar or multi-bar linkage 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment 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
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- 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
- A61F2002/5081—Additional features
- A61F2002/5084—Additional features telescopic
-
- 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
- A61F2002/6863—Operating or control means magnetic
-
- 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
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
-
- 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
- A61F2002/762—Measuring means for measuring dimensions, e.g. a distance
-
- 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
- A61F2002/7625—Measuring means for measuring angular position
-
- 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
- A61F2002/7665—Measuring means for measuring temperatures
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
Vout=(VH×GAIN)×(1+PTC/R1)+Vref
・・・式(1)
Lx=22.17×(Vout−V0)/(V90−V0)・・・式(2)
Ka=0.0041×Lx3−0.0773×Lx2
+3.7559×Lx+0.9886・・・式(3)
Ka=0.0041
×[22.17×(Vout−V0)/(V90−V0)]3
−0.0773
×[22.17×(Vout−V0)/(V90−V0)]2
+3.7559
×[22.17×(Vout−V0)/(V90−V0)]
+0.9886 ・・・式(4)
30 膝部
40 流体シリンダー(シリンダー)
41 シリンダーチューブ
42 ピストンロッド
43 ピストン
60 位置検出装置(伸縮量検出手段)
61 磁石
62 磁気センサー
80 コンピューター(角度取得手段)
Claims (5)
- 多節リンク機構の膝部と、前記膝部の動作を制限または補助するシリンダーと、前記シリンダーの伸縮量を検出する伸縮量検出手段と、前記伸縮量検出手段によって検出された前記伸縮量を変換して前記膝部の屈曲角度を取得する角度取得手段とを備えていることを特徴とする多節リンク膝継手。
- 前記伸縮量検出手段は、磁石と、前記磁石の位置を検出する磁気センサーとを備えており、
前記磁石および前記磁気センサーの一方は、前記シリンダーのピストンロッドに収納されており、
前記磁石および前記磁気センサーの他方は、前記シリンダーのシリンダーチューブに対して固定されており、
前記伸縮量検出手段は、前記伸縮量として、前記シリンダーチューブに対する前記ピストンロッドの位置を前記磁石および前記磁気センサーによって検出することを特徴とする請求項1に記載の多節リンク膝継手。 - 前記磁石は、前記ピストンロッドに収納されており、
前記磁気センサーは、前記シリンダーチューブに対して固定されていることを特徴とする請求項2に記載の多節リンク膝継手。 - 前記磁石は、前記膝部の動作範囲に相当する前記シリンダーのストロークより長く前記ピストンロッドの延在方向に延在しており、磁化方向が前記ピストンロッドの延在方向であり、
前記磁気センサーは、前記磁石が発生させる磁界の大きさによって前記磁石の位置を検出することを特徴とする請求項2または請求項3に記載の多節リンク膝継手。 - 前記磁石は、前記膝部の動作範囲に相当する前記シリンダーのストロークより長く前記ピストンロッドの延在方向に延在しており、磁化方向が前記ピストンロッドの延在方向であり、
前記磁気センサーは、前記磁石が発生させる磁界の大きさによって前記磁石の位置を検出し、
前記磁石は、延在方向に直交する断面が円形であることを特徴とする請求項3に記載の多節リンク膝継手。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/056196 WO2013132662A1 (ja) | 2012-03-09 | 2012-03-09 | 多節リンク膝継手 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP5465365B1 JP5465365B1 (ja) | 2014-04-09 |
JPWO2013132662A1 true JPWO2013132662A1 (ja) | 2015-07-30 |
Family
ID=49116173
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013546498A Active JP5465365B1 (ja) | 2012-03-09 | 2012-03-09 | 多節リンク膝継手 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9089443B2 (ja) |
EP (1) | EP2823791B1 (ja) |
JP (1) | JP5465365B1 (ja) |
CN (1) | CN104066404B (ja) |
WO (1) | WO2013132662A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105456087B (zh) * | 2015-11-18 | 2018-08-24 | 广州玖玖伍捌健康科技股份有限公司 | 一种可接入互联网的智能调香设备 |
CN105769395B (zh) * | 2016-04-12 | 2017-07-18 | 上海理工大学 | 用于智能膝关节的电控液压阻尼缸结构 |
JP7016726B2 (ja) * | 2017-04-28 | 2022-02-07 | ナブテスコ株式会社 | 多節リンク膝継手 |
KR101889656B1 (ko) * | 2017-05-23 | 2018-08-17 | 근로복지공단 | 작동인식 가능한 대퇴의지 |
JP7203509B2 (ja) | 2018-04-11 | 2023-01-13 | ナブテスコ株式会社 | 多節リンク膝継手 |
JP7199155B2 (ja) * | 2018-04-11 | 2023-01-05 | ナブテスコ株式会社 | 多節リンク膝継手 |
DE102018111234B3 (de) * | 2018-05-09 | 2019-08-29 | Otto Bock Healthcare Products Gmbh | Orthopädisches Hilfsmittel |
JP7347930B2 (ja) | 2018-12-25 | 2023-09-20 | ナブテスコ株式会社 | 分析システムおよび情報記録方法 |
CN110711054A (zh) * | 2019-08-03 | 2020-01-21 | 苏州自如医疗器械有限公司 | 一种基于磁流变阻尼器的假肢膝关节 |
RU2731310C1 (ru) * | 2019-11-28 | 2020-09-01 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Северо-Осетинская государственная медицинская академия" Министерства здравоохранения Российской Федерации | Ортопедический демпфер для ортезов коленного сустава |
JP7460399B2 (ja) | 2020-03-06 | 2024-04-02 | ナブテスコ株式会社 | 状態推定装置、制御弁、状態推定プログラム、および状態推定方法 |
JP2021139461A (ja) | 2020-03-06 | 2021-09-16 | ナブテスコ株式会社 | 状態推定装置、制御弁、状態推定プログラム、および状態推定方法 |
JP2021139460A (ja) | 2020-03-06 | 2021-09-16 | ナブテスコ株式会社 | 状態推定装置、制御弁、状態推定プログラム、および状態推定方法 |
JP2021139459A (ja) | 2020-03-06 | 2021-09-16 | ナブテスコ株式会社 | 状態推定装置、制御弁、状態推定プログラム、および状態推定方法 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US5383939A (en) * | 1991-12-05 | 1995-01-24 | James; Kelvin B. | System for controlling artificial knee joint action in an above knee prosthesis |
GB9312131D0 (en) | 1993-06-11 | 1993-07-28 | Blatchford & Sons Ltd | Prosthesis control system |
US6113642A (en) * | 1996-06-27 | 2000-09-05 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
GB9813904D0 (en) * | 1997-08-15 | 1998-08-26 | Blatchford & Sons Ltd | A lower limb prosthesis |
JP4194150B2 (ja) * | 1998-11-06 | 2008-12-10 | ナブテスコ株式会社 | 多節リンクの膝関節を備える義足 |
DE19859931A1 (de) | 1998-12-24 | 2000-07-06 | Biedermann Motech Gmbh | Beinprothese mit einem künstlichen Kniegelenk und Verfahren zur Steuerung einer Beinprothese |
JP2001221653A (ja) * | 1999-12-01 | 2001-08-17 | Honda Motor Co Ltd | 変位検出装置 |
JP3938900B2 (ja) | 2002-11-21 | 2007-06-27 | ナブテスコ株式会社 | 柔軟なひざ制動機能をもつ義足 |
DE10307328A1 (de) * | 2003-02-17 | 2004-09-02 | Eska Implants Gmbh & Co. | Beinprothese |
US20080127711A1 (en) * | 2006-12-04 | 2008-06-05 | Farag Tarek A Z | Force and Torque Measurements with Calibration and Auto Scale |
CA2723015C (en) * | 2008-04-30 | 2016-07-19 | Rizzoli Ortopedia S.P.A. | Automatic prosthesis for above-knee amputees |
-
2012
- 2012-03-09 EP EP12870368.3A patent/EP2823791B1/en active Active
- 2012-03-09 US US14/352,843 patent/US9089443B2/en active Active
- 2012-03-09 JP JP2013546498A patent/JP5465365B1/ja active Active
- 2012-03-09 WO PCT/JP2012/056196 patent/WO2013132662A1/ja active Application Filing
- 2012-03-09 CN CN201280067789.1A patent/CN104066404B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
EP2823791A1 (en) | 2015-01-14 |
US20150032228A1 (en) | 2015-01-29 |
JP5465365B1 (ja) | 2014-04-09 |
EP2823791A4 (en) | 2015-05-06 |
EP2823791B1 (en) | 2016-09-28 |
CN104066404B (zh) | 2015-07-29 |
CN104066404A (zh) | 2014-09-24 |
WO2013132662A1 (ja) | 2013-09-12 |
US9089443B2 (en) | 2015-07-28 |
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