RU2016109606A - Способ управления искусственным ортезным или протезным коленным суставом - Google Patents
Способ управления искусственным ортезным или протезным коленным суставомInfo
- Publication number
- RU2016109606A RU2016109606A RU2016109606A RU2016109606A RU2016109606A RU 2016109606 A RU2016109606 A RU 2016109606A RU 2016109606 A RU2016109606 A RU 2016109606A RU 2016109606 A RU2016109606 A RU 2016109606A RU 2016109606 A RU2016109606 A RU 2016109606A
- Authority
- RU
- Russia
- Prior art keywords
- resistance
- knee
- angle
- sensor
- leg component
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims 14
- 210000000629 knee joint Anatomy 0.000 title claims 5
- 210000003127 knee Anatomy 0.000 claims 9
- 230000001133 acceleration Effects 0.000 claims 7
- 238000005452 bending Methods 0.000 claims 6
- 210000002414 leg Anatomy 0.000 claims 6
- 230000000399 orthopedic effect Effects 0.000 claims 2
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 claims 1
- 210000000689 upper leg Anatomy 0.000 claims 1
Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
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Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Claims (13)
1. Способ управления искусственным ортезным или протезным коленным суставом (2), на котором расположен компонент (3) голени и который снабжен оказывающим сопротивление устройством (5), в котором сопротивление R сгибанию изменяют в зависимости от данных датчика, определяемых во время использования ортезного или протезного коленного сустава по меньшей мере одним датчиком (11, 12, 31), причем определяют линейное ускорение aF компонента (3) голени, определенное линейное ускорение aF сравнивают по меньшей мере с одним пороговым значением, и при достижении порогового значения линейного ускорения aF компонента (3) голени изменяют сопротивление R сгибанию.
2. Способ по п. 1, отличающийся тем, что разогнутое положение шага протеза или ортеза определяют с помощью протезного или ортезного коленного сустава, и при наличии разогнутого положения шага изменяют сопротивление R сгибанию.
3. Способ по п. 1 или 2, отличающийся тем, что для обнаружения терминальной фазы стояния определяют абсолютный угол ϕus компонента (3) голени, и при превышении заданного предельного значения абсолютного угла ϕus компонента (3) голени уменьшают сопротивление R сгибанию.
4. Способ по п. 3, отличающийся тем, что абсолютный угол ϕus компонента (3) голени измеряют по абсолютному углу компонента бедра и углу ϕK колена или непосредственно с помощью датчика (31) инерциального угла.
5. Способ по п. 1 или 2, отличающийся тем, что с помощью датчика (11) угла колена определяют угол ϕK колена, и при не превышении заданного предельного значения угла ϕK колена уменьшают сопротивление R сгибанию.
6. Способ по п. 1 или 2, отличающийся тем, что дополнительно определяют угловую скорость ωK колена, и лишь при превышении предельного значения уменьшают сопротивление R сгибанию.
7. Способ по п. 1 или 2, отличающийся тем, что рассчитывают или определяют с помощью датчика (12) угловую скорость ωus компонента (3) голени, и сопротивление R сгибанию уменьшают только тогда, когда угловая скорость ωus ниже предельного значения.
8. Способ по п. 1 или 2, отличающийся тем, что за основу управления берут линейное ускорение aF компонента (3) голени на уровне ступни.
9. Способ по п. 1 или 2, отличающийся тем, что уменьшение сопротивления R сгибанию осуществляют при наличии гиперэкстензии компонента (3) голени.
10. Способ по п. 1 или 2, отличающийся тем, что коленный сустав (2) содержит упругий упор (10, 30) разгибания, рассчитывают момент колена с помощью угла ϕK колена, и характеристику пружины упора разгибания и сопротивление R сгибанию уменьшают, если момент колена в направлении экстензии превышает пороговое значение.
11. Способ по п. 1 или 2, отличающийся тем, что рассчитывают или определяют с помощью датчика направление вращения компонента (3) голени, и сопротивление R сгибанию уменьшают только тогда, когда имеет место вращение вперед.
12. Способ по п. 1 или 2, отличающийся тем, что с помощью датчика (12) ускорения и/или датчика (31) инерциального угла определяют данные ускорения компонента (3) голени.
13. Способ по п. 1 или 2, отличающийся тем, что после уменьшения сопротивления R сгибанию его снова повышают, если в течение заданного отрезка времени не произошло сгибания коленного сустава (2), или в пределах занятого угла ϕK колена превышено предельное значение ускорения.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013013810.8A DE102013013810B3 (de) | 2013-08-22 | 2013-08-22 | Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes |
DE102013013810.8 | 2013-08-22 | ||
PCT/EP2014/001869 WO2015024612A1 (de) | 2013-08-22 | 2014-07-07 | Verfahren zur steuerung eines künstlichen orthesen- oder prothesenkniegelenkes |
Publications (2)
Publication Number | Publication Date |
---|---|
RU2016109606A true RU2016109606A (ru) | 2017-09-27 |
RU2661000C2 RU2661000C2 (ru) | 2018-07-11 |
Family
ID=51205340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
RU2016109606A RU2661000C2 (ru) | 2013-08-22 | 2014-07-07 | Способ управления искусственным ортезным или протезным коленным суставом |
Country Status (11)
Country | Link |
---|---|
US (3) | US9968468B2 (ru) |
EP (1) | EP3035895B1 (ru) |
JP (1) | JP6328764B2 (ru) |
CN (1) | CN105517511B (ru) |
AU (1) | AU2014310946B2 (ru) |
BR (1) | BR112016002779B1 (ru) |
CA (1) | CA2920807C (ru) |
DE (1) | DE102013013810B3 (ru) |
RU (1) | RU2661000C2 (ru) |
TW (1) | TWI563994B (ru) |
WO (1) | WO2015024612A1 (ru) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013013810B3 (de) * | 2013-08-22 | 2015-02-19 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes |
US10531968B2 (en) | 2014-05-23 | 2020-01-14 | Joseph Coggins | Prosthetic limb test apparatus and method |
WO2016130745A1 (en) * | 2015-02-12 | 2016-08-18 | Board Of Regents, The University Of Texas System | Systems and methods for prosthetic device control |
DE102015106389B4 (de) * | 2015-04-24 | 2016-11-10 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines künstlichen Kniegelenkes |
DE102015106392B4 (de) * | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks |
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US20180200082A1 (en) | 2018-07-19 |
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EP3035895A1 (de) | 2016-06-29 |
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US9968468B2 (en) | 2018-05-15 |
AU2014310946A1 (en) | 2016-03-10 |
TWI563994B (zh) | 2017-01-01 |
US20210369474A1 (en) | 2021-12-02 |
RU2661000C2 (ru) | 2018-07-11 |
US20160206447A1 (en) | 2016-07-21 |
BR112016002779A2 (pt) | 2017-08-01 |
EP3035895B1 (de) | 2018-01-03 |
WO2015024612A1 (de) | 2015-02-26 |
JP6328764B2 (ja) | 2018-05-23 |
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