KR20200074841A - A Prosthetic Leg - Google Patents

Abstract

The present invention relates to a prosthetic leg worn to substitute for a foot and an ankle. The prosthetic leg comprises: a prosthetic foot which substitutes for the foot; prosthetic toes which are pivotally joined to the front of the prosthetic foot; and a prosthetic ankle which is joined to and mounted on a wearer′s leg and to which the prosthetic foot is joined. In particular, the prosthetic toes can rotate about the prosthetic foot about an axis of rotation of the prosthetic foot, which is parallel or inclined with respect to a width direction of the prosthetic foot. A torsion spring, which is deformed according to a rotation of the prosthetic toes relative to the prosthetic foot, is disposed between the prosthetic toes and the prosthetic foot, thereby providing a resistance force against the rotation of the prosthetic toes relative to the prosthetic foot.

Description

A Prosthetic Leg}

The present invention relates to a prosthesis, and specifically, to a prosthesis that can be operated by a person who has cut ankle joints or less, replaces the foot and ankle, and operates according to the wearer's gait.

In the past, when a part of the body was lost, the body having only the shape of the corresponding part was fixed to replace the body that was lost only in shape, but recently, due to the development of materials, machinery, and control technology, the lost body can be operated. Alternatives are being used.

Sub-ankle part, that is, an ankle joint and a foot worn by a person who has lost the foot, a substitute for the foot and ankle joint under the name'Prosthetic foot and prosthetic frame for walking stability' in Korean Patent No. 10-165071 (Document 1) Phosphorus prosthesis.

The prosthesis according to document 1 is intended to improve the convenience of the wearer by having a configuration that is elastically deformed in accordance with the motion of the body, instead of just landing the foot by binding to the lower end of the calf.

However, the prosthesis that reproduces only this form has a problem that the wearer cannot sufficiently walk.

Prostheses that are driven to fit the wearer's gait have been proposed and used.

Republic of Korea Patent No. 10-1793141 (document 2) discloses a robotic prosthesis having an ankle joint rotated by a motor under the name of'joint drive module and adaptive robotic prosthesis'.

Although the invention of Document 2 discloses a robotic prosthesis having a sufficient driving force for walking of the wearer, it does not disclose how the robotic prosthesis is driven and driven according to the wearer's walking intention.

This type of robotic prosthesis is equipped with various sensors on different parts of the wearer's body so that the prosthesis is driven according to the wearer's walking intention, and grasps the intention of the wearer to walk according to signals from the sensors to determine the driving part of the prosthesis. Control.

However, due to the configuration of various sensors and control systems, there is a problem that the price of the prosthesis becomes very expensive, so that people who have lost the ankle portion cannot be widely used.

Document 1: Republic of Korea Patent No. 10-165071 Document 2: Republic of Korea Patent No. 10-1793141

The present invention is to provide a prosthesis to replace the feet and ankles of the lower extremity amputated patient, specifically to provide a prosthesis that assists walking in accordance with the walking motion of the wearer to facilitate walking.

Particularly, the present invention is to provide a prosthesis that has a simple configuration and is suitable for a gait motion in accordance with the gait of the wearer without attaching various sensors to the wearer's body and discriminating the movement of the wearer.

The above-described solving problem of the present invention is achieved by the present invention relating to a prosthetic foot and ankle.

The prosthesis of the present invention,

Artificial feet to replace the feet; Artificial toes rotatably coupled to the front of the artificial foot; And an artificial ankle coupled to the wearer's leg and the artificial foot coupled to it,

The artificial toe is rotatable about the artificial foot about a rotation axis parallel or inclined to the width direction of the artificial foot, and between the artificial toe and the artificial foot, a torsion spring that is deformed according to the relative rotation of the artificial toe relative to the artificial foot is disposed. , To provide resistance to the relative rotation of the artificial toe relative to the artificial foot.

The prosthesis of such a configuration operates in accordance with the wearer's walking motion without having a sensor or actuator that senses the wearer's walking motion and operates the components of the prosthesis accordingly.

When the wearer follows the moving leg prior to walking, the leg and prosthesis are inclined downward toward the front as a whole while lifting the leg for walking. At this time, the artificial toe is attached to the artificial foot. It rotates relative to it and comes into contact with the ground in parallel.

Therefore, since the walking starts in a state in which the artificial toe is stably brought into contact with the ground and supported, the gait initiating motion of the leg with the prosthesis becomes flexible.

In addition, the relative rotation of the artificial toe and the artificial foot causes the torsion spring disposed between them torsion. The torsional force due to twisting acts as the force of the artificial toe pushing the ground.

Accordingly, in the gait motion of lifting the leg, an auxiliary force is applied to the motion of lifting the leg by the restoring force of the torsion spring acting on the artificial toe, thereby making walking easier.

In addition, in the subsequent motion of lifting the leg wearing the prosthesis higher, the artificial toe is restored to a position parallel to the artificial foot by the restoring force by the torsion spring, so that the subsequent landing motion is smooth.

As an additional feature of the invention, the prosthesis of the invention,

The bottom surface of the front end of the artificial foot is provided with an inclined surface inclined upward toward the front side with respect to the remaining bottom surface of the artificial foot, and the artificial toes may be configured to be disposed on both sides or one side in the width direction of the inclined surface of the artificial foot.

In the motion of lifting the leg for walking, the legs and the prosthesis are generally inclined downward toward the front, and at this time, the front ends of the artificial toes and the artificial feet are also positioned adjacent to the ground.

Since the artificial toe rotates with respect to the artificial foot and lies parallel to the ground, the upwardly sloped inclined surface of the front end of the artificial foot comes into contact with the ground parallel to the ground. The front end of the artificial foot interferes with the ground and does not interfere with walking.

In addition to these additional features, the prosthesis of the invention,

The artificial ankle is combined with the artificial foot to be rotatable in a predetermined angle range around a rotation axis parallel to or inclined to the width direction of the artificial foot, and the artificial foot is rotated upward in the direction of the artificial foot with respect to the artificial ankle. A spring for pressing the artificial foot may be configured.

로서 As an embodiment of the invention, the prosthesis of the invention,

When the artificial foot rotates in the direction in which the front of the artificial foot rotates downward about the axis of rotation with respect to the artificial ankle, a shock absorber that absorbs shock may be disposed between the artificial foot and the artificial ankle.

As a further feature of this invention, in the prosthesis of this invention,

The artificial ankle is combined with the artificial foot to be rotatable in a predetermined angle range about a rotation axis parallel or inclined to the width direction of the artificial foot,

The artificial foot further includes a driving mechanism for rotating the artificial foot in a direction in which the front of the artificial foot rotates upward with respect to the axis of rotation with respect to the artificial ankle,

A pressure sensor is arranged on the inclined surface of the artificial foot to detect that the inclined surface is in contact with the ground, and when the pressure sensor detects that the inclined surface is in contact with the ground, the driving mechanism is driven to maintain the artificial foot rotated for a predetermined time. Can be.

When the inclined surface of the artificial foot contacts the ground, walking is initiated, and the artificial ankle and the rear of the artificial foot are lifted from the ground, but the artificial toes and the front end of the artificial foot are in contact with the ground.

In this state, it is sensed by the pressure sensor that the front end of the artificial foot touches the ground, and the driving mechanism is activated by the detection signal by the pressure sensor.

The driving mechanism prevents the front of the artificial foot from interfering with the ground by applying a force to the artificial foot in the upward direction of the artificial foot.

The action of the driving mechanism is similar to a spring in which the artificial foot presses the artificial foot in a direction in which the front of the artificial foot rotates upward with respect to the axis of rotation with respect to the artificial ankle.

Therefore, both the spring and the driving mechanism may be provided, or only one of the driving mechanism and the spring may be provided.

On the other hand, as a specific embodiment of the drive mechanism, the drive mechanism,

It consists of an electric ankle mounted on an artificial ankle and comprising a drive motor and a reducer, a drive gear coupled to the output shaft of the reducer, and a driven gear mounted on the artificial foot and engaged with the drive gear to rotate and drive, the drive motor from the pressure sensor. When the detection signal is input, it can be configured to be driven for a predetermined time.

Further, as a further feature of this invention with a drive mechanism, the prosthesis of the invention,

A control module for controlling the driving of the driving motor by inputting a signal from the pressure sensor is further included, and the control module calculates a period of signal input from the pressure sensor and operates the driving motor in proportion to the calculated period of signal input It can be configured to adjust the time.

When the prosthesis of this invention is worn and walking continues, a signal from the pressure sensor is continuously input to the control module. Since the period of signal input from the input sensor coincides with the wearer's gait period, the control module can determine the wearer's gait speed or gait period from the signal input period.

Since the duration of the wearer lifting the prosthesis by walking is proportional to the walking cycle, the duration of the action of pressing the driving mechanism so that the front of the artificial foot is upward with respect to the artificial ankle by operating the driving mechanism may also be adjusted in proportion to the walking cycle.

As a further feature of the invention, in the prosthesis of the invention,

The artificial foot is composed of a front portion to which the artificial toe is coupled and a rear portion to which the artificial ankle is coupled, and the front portion and the rear portion are screwed to each other, and the mutual coupling position may be variable so that the entire length of the artificial foot is adjusted.

According to this configuration, it is possible to adjust the overall length of the artificial foot in proportion to the weight or height of the wearer by adjusting the screwed position of the front and rear parts of the artificial foot.

1 and 2 is a perspective view showing the overall configuration of the prosthesis according to an embodiment of the present invention.
3 is a perspective view showing an artificial toe and an anterior portion of an artificial foot in a prosthesis according to an embodiment of the present invention.
4 is a perspective view showing a configuration in which the length of an artificial foot is adjusted in a prosthesis according to an embodiment of the present invention.
5 is an exploded perspective view of an artificial toe and an anterior portion of an artificial foot in a prosthesis according to an embodiment of the present invention.
Figure 6 is a side view showing the interaction between the artificial toe and the artificial foot in the prosthesis according to an embodiment of the present invention.
7 is an exploded perspective view showing a coupling relationship between an artificial ankle and an artificial foot in a prosthesis according to an embodiment of the present invention.
8 is a perspective view of an artificial toe and an anterior portion of an artificial foot as viewed from the bottom.
9 to 14 are side views showing the operation of the prosthesis according to an embodiment of the present invention.

Hereinafter, with reference to the drawings will be described the configuration and operation of the prosthesis according to an embodiment of the present invention as a specific content for carrying out the present invention.

In the following description and all of the words in this specification, the words referring to the orientation are based on the human body. That is, the'forward and backward direction' indicates a direction in which the foot is extended or the direction in which a person walks forward, the'up and down direction' means a direction perpendicular to the ground when the person is upright, and the'width direction' is the legs on both sides Alternatively, the direction in which the feet are spaced means a direction perpendicular to the front-rear direction and the vertical direction.

First, the overall configuration of the prosthesis according to an embodiment of the present invention will be described with reference to the drawings.

The prosthesis of this embodiment is worn by a person who has lost the ankle joint and the foot below the knee joint of the leg of one leg among the two legs of the person. The ankle joint and foot of the other leg may not have been lost or may be a prosthetic limb capable of autonomous walking according to the wearer's will. The prosthesis of this embodiment may be worn.

Referring to FIGS. 1 and 2, which are perspective views showing the overall configuration, the prosthesis according to the present embodiment is large, and the wearer is coupled to the front of the artificial foot 10 and the artificial foot 10 to replace the wearer's foot. Artificial toes (21, 22) to replace the toes of the, artificial ankle (30) fixed to the wearer's calf and fixedly coupled with the artificial foot (10), and artificial ankle (30) It consists of a drive mechanism 40 for rotating the artificial foot 10 with respect to (40).

The artificial foot 10 is largely provided with two parts separately and combined with each other. The artificial foot 10 is disposed in the front and the rear portions 13, 14 and 15 to which the artificial toes 21 and 22 are coupled and the front portion 11 and 12 to which the artificial ankle 30 is coupled are arranged. consist of.

The front portions 11 and 12 are formed in a block shape of a rectangular parallelepiped, and the bottom surface is supported by contact with the ground and extends forward from the coupling portion 11 and the coupling portion screwed with the rear portion 16 and artificial on both sides. Toe (21, 22) is mounted integrally with the mounting portion 12 is rotatably coupled.

Figure 3 shows the front portion (11, 12) and artificial toes (21, 22), the coupling portion 11 of the front portion of the screw hole (111, 112) is formed through two sets of female threads through the top and bottom It is done. In the screw holes 111 and 112, two screw holes formed at the same width direction are arranged in front and rear.

Referring back to Figure 1, the rear portion (13. 14. 15) of the artificial foot 10 is formed on the upper side of the body 13 and the artificial ankle 30 and the main body 13 having a bottom surface in contact with the ground to support the prosthesis And a rotating joint portion 14 that is rotatably coupled and a coupling portion 15 extending forward from the main body 13 and engaged with the coupling portion 11 of the front portion are integrally formed.

The lower surface of the coupling portion 15 is formed flat, and here, through holes 151 and 152 for coupling at positions corresponding to the positions of the screw holes 111. 112 formed in the coupling portion 11 of the front portion. Is formed.

Figure 4 shows that the combined position of the front portion (11, 12) and the rear portion (13, 14, 15) having this configuration is adjusted.

In the state shown in Fig. 4 (a), the through holes 151 and 152 of the engaging portion 15 of the rear portion are located at the positions of the screw holes of the front side among the screw holes 111 and 112 of the engaging portion 11 of the front portion. It is fastened with a bolt (not shown). In this state, the front portion 11, 12 and the rear portion 13, 14, 15 are disposed close to each other and combined, thereby shortening the entire length of the artificial foot 10.

In the state shown in Fig. 4 (b), the through holes 151 and 152 of the engaging portion 15 of the rear portion are located at the position of the screw hole of the rear side among the screw holes 111 and 112 of the engaging portion 11 of the front portion. It is fastened with a bolt (not shown). In this state, the front portion 11, 12 and the rear portion 13, 14, 15 are arranged to be spaced apart from each other, thereby increasing the overall length of the artificial foot 10.

In this way, the length of the artificial foot 10 is adjusted to two stages. In this embodiment, two screw holes 111 and 112 are formed in the front and rear at the same width direction in the engaging portion 11 of the front part to adjust in two stages, but three or more stages are formed by forming three or more screw holes in the front-rear direction. Can be adjusted to length. In addition, a plurality of through-holes may be formed in the front-rear direction in the engaging portion 15 of the rear portion rather than the front portion to adjust the length of the artificial foot.

1 and 2, the configuration of the artificial toes 21 and 22 and the coupling relationship with the artificial foot 10 will be described with reference to FIGS. 5 and 6 further.

The two artificial toes 21 and 22 formed symmetrically to each other with respect to the longitudinal centerline of the artificial foot 10 are coupled to both sides of the mounting portion 12 disposed in front of the engaging portion 11 of the front portion of the artificial foot. have.

The artificial toes 21 and 22 are formed with side portions 211 and 221 extending forward from the side of the mounting portion 12 of the artificial foot, and the front portions 212 and 222 from the side toward the widthwise center of the artificial foot 10 again. ) Is formed to be extended, and the front end faces of the left and right artificial toes 21. 22 are configured to face each other.

Holes 213 penetrating toward the mounting portion 12 of the artificial foot are formed on the side portions 211 and 221 of the artificial toes 21 and 22, and a coil-type torsion spring is formed on a surface facing the side surface of the mounting portion 12 A groove 224 into which 23 is inserted is formed. In addition, a groove 121 into which the torsion spring 33 is inserted is also formed on the side of the mounting portion 12 of the artificial foot.

The torsion spring 23 is coiled and has both ends 231 extending linearly opposite to each other.

The grooves 224 of the artificial toes 21 and 22 and the grooves 121 of the artificial foot are both formed in a cylindrical shape in which the torsion spring 23 is inserted, and the grooves 224 and 121 so that one end of the torsion spring is inserted. Fixing grooves 225 and 122 extending tangentially therefrom are provided. A screw hole 123 in which a female screw is formed is formed at the center of the groove 121 of the artificial foot.

According to this configuration, the side portions 211 and 221 of the artificial toes 21 and 22 face the side surface of the mounting portion 12 of the artificial foot, and the torsion springs in the groove 224 of the artificial toe and the groove 221 of the artificial foot By inserting (23), the bolt (not shown) passes through the hole 213 on the side of the artificial toe so that the tip of the bolt is screwed to the screw hole 123 of the mounting portion 12 of the artificial foot. Each end 231 of the torsion spring 23 is arranged and constrained in the fixing grooves 225 and 122.

Although not shown in the drawings, a bearing may be inserted between the bolt and the torsion spring 23.

According to this configuration, the artificial toes 21 and 22 are rotatable with respect to the artificial foot, respectively, using the bolts fastened to the artificial foot 10 as a rotation axis. Since both ends 231 of the torsion spring 23 are fixed to the artificial feet 10 and the artificial toes 21 and 22, respectively, when the artificial toes 21 and 22 and the artificial feet 10 rotate relative to each other , Torsion spring 23 is torsionally deformed and applies a restoring force to restore the artificial toes 21 and 22 and the artificial foot 10 to their original state.

The axis of rotation (A) of the artificial toe (21, 22) with respect to the artificial foot (10), that is, the longitudinal axis of the bolt, is the width direction of the artificial foot (10), which is generally perpendicular to the fore-and-aft direction of the artificial foot (10). It is arranged, but specifically, it is arranged to be inclined approximately 5 degrees in the counterclockwise direction when viewed on a plane with respect to the width direction.

This inclined arrangement forms the side of the mounting portion 12 of the artificial foot inclined with respect to the extending direction of the front and rear direction of the artificial foot 10, and inclines the screw hole 123 and the fixing groove 122 to which the bolt is fastened. Is done.

The human toe joint is in a slightly inclined state to the outside with respect to the walking direction of a real person, so that smooth walking is achieved. In this embodiment, the rotation axis of the artificial foot 10 of the artificial toes 21 and 22 corresponding to the human toe joint is configured to be inclined to the outside, thereby enabling smooth and natural walking.

On the other hand, Figure 6 shows a side view of a state where the artificial toe 21 on one side is removed from the mounting portion 11 of the artificial foot, in this figure (a) is the artificial foot 10 and the artificial toe (21, 22) Both of them show a state in contact with the ground (G), (b) the prosthetic wearer starts walking, the artificial toes (21, 22) are in contact with the ground (G) and the artificial foot (10) is the ground ( G) shows the injured state.

As shown in Fig. 6 (a), the bottom surface 124 of the mounting portion 12 disposed in front of the front portion of the artificial foot forms an inclined surface formed to be inclined upward toward the front. In this embodiment, the angle of inclination of the bottom surface 125 of the tip of the artificial foot 10 is 30 degrees with respect to the bottom surface of the rest of the artificial foot which is supported by touching the ground, and this angle is the maximum with respect to the sole of the toe in the gait of an ordinary person. It is the angle to bend.

The artificial toes 21 and 22 are in contact with the ground at the beginning of the prosthetic wearer's gait, and the artificial feet 10 are inclined downward to the ground from the rear.

In this state, the bottom surface 125 of the distal end of the artificial foot 10 is formed to be inclined 30 degrees upward with respect to the bottom surface of the other part of the artificial foot 10, so that the entire prosthesis including the artificial toes 21 and 22 is from the ground. The bottom surface 124 of the tip of the artificial foot 10 is in a state of being in contact with a large area even though the artificial foot 10 is injured from the ground until it is separated by being injured.

In addition, since the artificial toes 21 and 22 are rotatable relative to the artificial foot 10, the artificial foot 10 rises from the ground and becomes inclined downward to the ground, but the artificial toes 21 and 22 are still The bottom surface is in contact with the ground.

Accordingly, the artificial toes 21 and 22 are rotated relative to the artificial foot 10, so that the artificial toes 21 and 22 are supported in contact with the ground even though the artificial foot 10 is inclined downward. Becomes

In this rotational state, the torsion spring 23 is twisted, and a restoring force is applied to allow the artificial toes 21 and 22 and the artificial foot 10 to be restored to the original state, that is, the bottom surface is parallel to each other.

Of course, the restoring force of the torsion spring 23 allows the artificial toes 21 and 22 to be restored in a parallel arrangement with the artificial foot 10 when the entire limb is lifted from the ground, and the wearer of the prosthesis starts walking. When acting, it acts as a force to move the prosthesis, that is, a force to lift the prosthesis from the ground.

Referring to FIG. 7 together with FIG. 1 and FIG. 2, the configuration of the artificial ankle 30 and the driving mechanism 40 and the coupling relationship between the artificial foot 10 will be described.

The rotating joint portion 14 of the artificial foot rear portion is provided with a semicircular hinge portion 16 that protrudes from the upper surface in both width directions in approximately the middle of the front-rear direction. A hinge hole 16 is provided with a through hole 161, and the through hole 161 has an ankle joint, that is, a bolt (not shown) that becomes an axis of rotation in which the artificial foot 10 and the artificial ankle 30 rotate. Is inserted.

The artificial ankle 30 is provided with a body 31 that is formed in a block form, and a cylindrical connection portion 36 that is connected to a wearer's leg is integrally formed on the upper side of the body.

Although not shown in the drawings, a cover provided in accordance with the appearance of each wearer's leg may be coupled to the connection portion 36 so as to surround a longitudinal section of the leg that is cut so as to engage the wearer's leg.

On the lower surface of the main body 31, a semicircular hinge portion 32 is formed at a center in the width direction from approximately middle in the longitudinal direction. A through hole 321 is provided in the hinge portion 32, and a bolt inserted into the through hole 161 of the hinge portion 16 of the artificial ankle 10 is inserted into the through hole 321.

The hinge portion 32 of the artificial ankle is disposed in the form of being inserted between the hinge portions 16 of the artificial foot, and bolts are inserted into the through holes 321 and 161 of these and fastened with a nut to form a rotation axis of the bolt. A bearing may be disposed between the bolt and the through holes 321 and 161.

The bottom surface of the main body 31 of the artificial ankle and the top surface of the rotating joint 14 of the artificial foot are spaced apart from each other by a certain distance, so that when the artificial ankle 30 and the artificial foot 10 rotate relative to each other, there is no interference. It is restricted to rotate only in the angular range.

On the upper surface of the rotating joint portion 14 of the artificial foot, the cushioning pad 17 is disposed as a shock absorber in the front centering on the hinge portion 16 of the artificial foot, and between the bottom surface of the body 31 of the artificial ankle in the rear. A compression coil spring 18 is arranged.

The cushioning pad 17 is made of a good elastic material such as polyurethane, so that the bottom and the artificial foot 10 of the main body 31 of the artificial ankle 30 from the front side centered on the hinge portions 16 and 32 When the artificial ankle 30 and the artificial foot 10 rotate relative to each other in a direction in which the upper surfaces of the rotating joints 14 are close to each other, the bottom surface of the main body 31 of the artificial ankle 30 is a buffer pad 17 The shock is relieved by contact with.

The artificial ankle 30 in the direction in which the bottom surface of the main body 31 of the artificial ankle 30 and the upper surface of the rotating joint 14 of the artificial foot 10 are close to each other from the rear side around the hinge portions 16 and 32. When the and artificial feet 10 rotate relative to each other, the compression coil spring 18 is compressed to provide a restoring force to restore the artificial ankle 30 and the artificial foot 10 to their original state.

A mounting groove 33 is provided on the front side of the main body 31 of the artificial ankle, and the driving mechanism 40 is inserted therein and fixed.

Referring to Figure 2, the drive mechanism 40 is a drive motor and a reducer form one unit, the output shaft (not shown) of the reducer has a rotation axis parallel to the width direction. A drive gear 41 composed of a spur gear or a helical gear in which gear teeth are formed on the circumferential surface is coupled to the output shaft of the reduction gear. The drive gear 41 protrudes outward in the width direction from the body 31 of the artificial ankle.

In addition, a driven gear 19 is provided on the side of the rotating joint 14 of the artificial foot.

The driven gear 19 is formed of a flat plate, and a tooth-shaped gear teeth 191 that meshes with the gear teeth of the drive gear 41 is formed on a part of the outer surface. The center of the gear teeth 191 of the driven gear 19 is concentric with the through hole 161 of the hinge portion 16 and is disposed at a position engaged with the gear teeth of the drive gear 41.

According to this configuration, when the drive gear 41 is rotationally driven by the driving mechanism 40, the rotational force is transmitted to the driven gear 19 coupled to the artificial foot 10, so that the driving gear 41 is coupled. The ankle 30 and the artificial foot 10 combined with the driven gear 19 make relative rotation.

On the other hand, in this embodiment, the artificial ankle 30 is equipped with a driving mechanism 40, and the artificial foot 10 is equipped with a driven gear 19 that receives rotational force from the driving mechanism, but reversely drives the artificial ankle. The mechanism may be mounted and a driven gear mounted on the artificial ankle, such that rotational driving force is transmitted from the artificial foot 10 to the artificial ankle 30.

The operation of the driving mechanism 40 is made in accordance with the detection signal from the pressure sensor 42 mounted on the artificial foot 10.

8 shows a state in which the artificial foot 10 and the artificial toes 21 and 22 are viewed from the bottom.

A pressure sensor 42 is disposed on the inclined bottom surface 124 of the mounting portion 12 of the front portion of the artificial foot 10.

The pressure sensor 42 is a'FSR sensor' (Force Sensing Resistor). The'FSR sensor' is a sensor whose resistance value changes when a physical force is applied, but the sensitivity is not high, but it can be made in a thin film form and can increase the sensitivity by varying the level of force measured according to the setting.

The pressure sensor 42 is attached to the inclined surface 125 of the tip of the artificial foot 10 by using a material having a thickness of approximately 1.2 mm, and the signal line 421 from the pressure sensor 42 is driven mechanism 40 ) Is connected to a control module (not shown) that generates an operation signal.

According to this configuration, when the pressure sensor 42 detects that a force is applied, the detection signal is transmitted to the control module, and the driving mechanism 40 operates according to the operation signal of the control module to rotate the drive gear 41 Drive.

When the driving gear 41 coupled to the artificial ankle 30 is rotationally driven, the driven gear 19 attached to the artificial foot 10 is rotationally driven, so that the artificial foot 10 is hinged against the artificial ankle 30. The relative rotational movement centering on the branch 18 is performed.

The control module rotates the motor constituting the driving mechanism 40 so that the artificial foot 10 lifts the front about the artificial ankle 30 around the rotation axis. In addition, the control module operates the driving mechanism only for a predetermined predetermined time, and after a predetermined time elapses, the driving mechanism is turned off.

When the driving mechanism 40 operates so that the artificial foot 10 lifts the front about the artificial ankle 30 around the axis of rotation, the bottom end of the body 31 of the artificial ankle 30 is the artificial foot The artificial ankle 30 and the artificial foot 10 can no longer rotate while contacting the cushioning pad 17 disposed in front of the upper surface of the rotating joint portion 14 of (10) and pressing the cushioning pad 17 State.

The operation of the limb of this embodiment having the above configuration will be described.

9 to 14 show a state in which each part of the limb of this embodiment moves when a person walks, moves a leg, or descends an inclined road.

9 shows a person standing without walking.

Even without walking, a person may act by lifting or slightly twisting his legs to rotate.

In such an action, the wearer of the prosthesis moves using the thigh muscle of the upper part of the artificial ankle 30 of the prosthesis or the muscles around the knee joint, and the prosthesis of the lower part of the calf makes a movement following it.

At this time, the artificial ankle 30 and the artificial foot 10 are rotated relative to each other by mutual coupling of the hinge portions 16 and 32, and the artificial toes 21 and 22 are rotated relative to the artificial foot 10, The wearer does not feel the discomfort that the limb feels because the leg movements do not follow.

In particular, the torsion spring 23 is placed between the artificial toes 21 and 22 and the artificial foot 10, so that the relative rotation between the artificial toe 21 and 22 and the artificial foot 10 is caused by the movement of the wearer. Even if it occurs, the torsion spring 23 restores the original state by applying the restoring force by twisting.

10 shows a state in which the wearer does not walk, but lifts the calf in a stationary state.

As the artificial ankle 30 is lifted by the action of lifting the calf, the artificial foot 10 is also supported, but for mutual coupling of the hinge portions 16 and 32 between the artificial ankle 30 and the artificial foot 10. By the relative rotation and the rotatable coupling between the artificial toe (21.22) and the artificial foot (10), the artificial toes (21, 22) all remain in contact with the ground (G) to the limbs and the legs of the person. Provide support for.

In particular, the artificial foot 10 may rotate relative to the artificial ankle 30 in a direction in which the rear sides are close to each other with respect to the hinge portions 16 and 32 by such an operation.

Due to the relative rotation, the compression coil spring 18 disposed between the rear of the rotating joint 14 of the artificial foot and the rear of the main body 31 of the artificial ankle can be compressed.

The restoring force according to the compression of the compression coil spring 18 applies a restoring force that causes the artificial foot 10 and the artificial ankle 30 to restore to their initial state and rotate when the human motion is stopped.

FIG. 11 shows a state in which a person starts walking and the other leg first goes forward and lands, and then the leg wearing the prosthesis of this embodiment starts walking.

In this state, the leg worn by the prosthesis is in a state facing toward the rear, and as shown in the figure, the artificial ankle 30 coupled to the calf is in a forwardly inclined state, but because the prosthesis is not entirely supported, the artificial The toes 21 and 22 are brought into contact with the ground G and supported.

Also, the artificial foot 10 is inclined downward from the front mounting portion 12 combined with the artificial toes 21 and 22 to the rear body 13, but the artificial toes 21 and 22 are artificial feet. Since relative rotation is possible with respect to (10), it is in contact with the ground to maintain a state parallel to the ground.

In addition, in this state, since the inclined surface 125 of the tip of the artificial foot is supported in a state parallel to the ground, the tip of the artificial foot 10 does not interfere with the walking motion of the wearer.

When the artificial feet 10 and the artificial toes 21 and 22 rotate relative to each other, the torsion spring 13 disposed between them receives a twist and applies a restoring force, and such restoring force applies the artificial toes 21 and 22. It acts as a force to return to the original state with respect to the center of rotation (A).

This restoring force eventually acts as a force to assist the wearer's walking because the artificial toe (21.22) pushes the ground and acts in a direction to lift the prosthesis from the ground.

On the other hand, in this state, since the inclined surface 125 of the tip of the artificial foot comes into contact with the ground, the pressure sensor 42 mounted on the inclined surface 125 comes into contact with the ground G and pressure is applied.

According to the application of the pressure, a detection signal is generated from the pressure sensor 42, and the detection signal is applied to the control module so that the control module operates the driving mechanism 40.

When a person continues walking, the artificial toes (21, 22) are also supported from the ground while the artificial foot (10) is further lifted from this condition, and the artificial toes (21. 22) are restored by the restoring force of the torsion spring (23). ) Returns to a state parallel to the artificial foot 10.

12 shows a state in which both the artificial foot 10 and the artificial toe 21.22 are floated in the air.

In this state, the artificial foot 10 and the artificial toes 21 and 22 are coupled to the artificial ankle 30 to be floated in the air. Since most of the artificial feet 10 and the artificial toes 21 and 22 are disposed on the front side around the hinge portion 32 of the artificial ankle, because the load acting on the front side is large, the artificial feet 10 and the artificial toes (21, 22) can be tilted forward.

However, when the artificial foot 10 and the artificial toes 21 and 22 are inclined toward the front, the rear of the body 13 and the artificial ankle behind the artificial foot 10 around the hinge portion 32 of the artificial ankle. Since the compression coil spring 18 disposed between the rears of the main body 31 is compressed, the artificial foot 10 and the artificial toes 21 and 22 are not actually inclined toward the front, but the artificial ankle 30 It will remain vertical.

Particularly, in the initial state in which the artificial foot 10 and the artificial toes 21 and 22 are lifted from the ground G, the driving mechanism 40 is activated by the signal from the pressure sensor 42, and the artificial foot 10 Since the lifting force is applied to the artificial ankle 30, the artificial foot 10 quickly maintains the lifting state with respect to the artificial ankle 30.

Therefore, it does not occur that the artificial foot 10 is inclined downward toward the center of the hinge portion 32 of the artificial ankle 30.

When the artificial foot 10 is inclined downward toward the center of the hinge portion 32 of the artificial ankle 30, the artificial toes 21 and 22 constituting the front end of the prosthesis contact and interfere with the ground. Although this may occur, due to the operation of the compression coil spring 18 and the driving mechanism 40, the artificial toes 21 and 22 and the artificial foot 10 are lifted without being inclined downward with respect to the artificial ankle 30, and the ground Interference with is prevented.

On the other hand, in this embodiment, both the driving mechanism 40 and the compression coil spring 18 function to prevent the artificial foot 10 from being inclined downward with respect to the artificial ankle 30, but the driving mechanism 40 and the compression The same action can be obtained by having only one of the coil springs 18 configured.

13 shows a state in which the prosthesis lands on the ground.

When the prosthesis lands on the ground again, the prosthesis is placed in front of the calf, and the wearer's leg is inclined backward, so that the artificial ankle 30 is also inclined backward.

However, the load due to the weight of the wearer is applied to the rear of the artificial foot 10, and by such a load, the hinge portion 16 in the direction in which the rear of the rotating joint 14 of the artificial foot is close to the body 31 of the artificial ankle. ), the artificial foot 10 and the artificial ankle 30 are rotated relative to each other, so that the artificial foot 10 rotates in a direction inclined downward with respect to the artificial ankle 30, thereby making the artificial foot 10 and the artificial toe (21 22) is in contact with the ground (G) is made smooth landing.

After the prosthesis of this embodiment lands on the ground, if the other leg walks, the leg on which the prosthesis is worn will rotate with the calf in a range of angles relative to the ground.

The artificial ankle 30 also rotates according to the rotation of the calf, but since the hinge 32 between the artificial ankle 30 and the artificial foot 10 allows such rotation, the artificial foot 10 and the artificial toe (21, 22) is in contact with the ground to maintain a supported state, thereby providing stability to the wearer's walking.

In this way, one cycle of operating the prosthesis for the case where the leg with the prosthesis moves when the wearer walks is completed.

The state of the prosthesis is shown in FIG. 14 when the wearer descends the sloped road.

The prosthesis operation is the same as described above in the walking motion of the descending slope, but it is different from the flat walking in the state where the prosthetic touches the ground and supports the weight.

When walking on an inclined road, the wearer's body is not perpendicular to the ground inclined to the ground, but remains perpendicular to the direction of gravity, so the calf and artificial ankle 30 are inclined rearward with respect to the ground. , Artificial feet 10 and artificial toes (21, 22) are in contact with the inclined ground to maintain a state parallel to the ground. That is, the artificial foot 10 is inclined downward with respect to the artificial ankle 30.

The mutually inclined state of the artificial foot 10 and the artificial ankle 30 is allowed by the hinge part 32. 16, so that the wearer does not feel discomfort. In addition, in this inclined state, the compression coil spring 18 disposed between the artificial foot 10 and the artificial ankle 30 is compressed and the artificial foot 10 and the artificial ankle 30 are perpendicular to each other. The restoring force is applied.

Therefore, even when walking on a sloped road, the compression coil spring 18 acts as a restoration function in which the artificial foot 10 is maintained perpendicular to the artificial ankle 30.

However, since this restoring force is a very small force compared to the weight of the wearer, the restoring force causes discomfort to the wearer, or the wearer conducts from the standing posture by the restoring force to make the artificial foot 10 perpendicular to the artificial ankle 30. It does not happen.

The configuration and operation of the prosthesis according to the embodiments of the present invention have been described above. However, the present invention is not limited to these embodiments, and various modifications and elements can be added within the scope of the claims.

10: artificial feet 21, 22: artificial toes
30: artificial ankle 40: driving mechanism

Claims (8)

A prosthetic foot worn to replace the foot and ankle,
Artificial feet to replace the feet;
Artificial toes rotatably coupled to the front of the artificial foot; And
An artificial ankle in which the artificial foot is combined with the wearer's leg.
Including,
The artificial toe is rotatable about the artificial foot around a rotation axis parallel or inclined to the width direction of the artificial foot, and between the artificial toe and the artificial foot, a torsion spring that is deformed according to the relative rotation of the artificial toe relative to the artificial foot is disposed. , Prosthesis that provides resistance to the relative rotation of the artificial toe relative to the artificial foot. The method according to claim 1,
The bottom surface of the front end of the artificial foot is provided with an inclined surface inclined upward toward the front side with respect to the remaining bottom surface of the artificial foot,
The artificial toe is a prosthesis that is disposed on both sides or one side in the width direction of the slope of the artificial foot. The method according to claim 2,
The artificial ankle is combined with the artificial foot to be rotatable in a predetermined angle range about a rotation axis parallel or inclined to the width direction of the artificial foot,
A prosthetic foot in which a spring for pressing the artificial foot is disposed in a direction in which the front of the artificial foot rotates upward with respect to the axis of rotation with respect to the artificial ankle. The method according to claim 3,
A prosthetic limb, in which an artificial foot is placed between the artificial foot and the artificial ankle to absorb a shock when the artificial foot rotates in the direction in which the front of the artificial foot rotates downward with respect to the axis of rotation with respect to the artificial ankle. The method according to claim 2,
The artificial ankle is combined with the artificial foot to be rotatable in a predetermined angle range about a rotation axis parallel or inclined to the width direction of the artificial foot,
The artificial foot further includes a driving mechanism for rotating the artificial foot in a direction in which the front of the artificial foot rotates upward with respect to the axis of rotation with respect to the artificial ankle,
A pressure sensor is disposed on the inclined surface of the artificial foot to sense that the inclined surface is in contact with the ground, and when the pressure sensor detects that the inclined surface is in contact with the ground, the driving mechanism is driven to maintain the artificial foot rotated for a predetermined time. , Prosthesis. The method according to claim 5,
The driving mechanism,
It is mounted on an artificial ankle and consists of an electric module including a drive motor and a reducer, a drive gear coupled to the output shaft of the reducer, and a driven gear mounted on the artificial foot and engaged with the drive gear to rotate and drive,
The drive motor is a prosthesis that is driven for a predetermined time when a detection signal from a pressure sensor is input. The method according to claim 6,
A control module for controlling the driving of the driving motor by inputting a signal from the pressure sensor is further included,
The control module calculates the period of the signal input from the pressure sensor, and adjusts the operating time of the drive motor in proportion to the calculated period of the signal input. The method according to any one of claims 1 to 7,
The artificial foot is composed of an anterior portion to which an artificial toe is coupled and a rear portion to which an artificial ankle is coupled,
The anterior and posterior parts are screwed to each other, and the prosthetic position is variable so that the entire length of the artificial foot is adjusted.

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