TWI386194B - 具有可調節緩衝作用的被動式義膝的控制方法 - Google Patents

具有可調節緩衝作用的被動式義膝的控制方法 Download PDF

Info

Publication number
TWI386194B
TWI386194B TW096116412A TW96116412A TWI386194B TW I386194 B TWI386194 B TW I386194B TW 096116412 A TW096116412 A TW 096116412A TW 96116412 A TW96116412 A TW 96116412A TW I386194 B TWI386194 B TW I386194B
Authority
TW
Taiwan
Prior art keywords
control method
prosthetic
action
phase
deflection
Prior art date
Application number
TW096116412A
Other languages
English (en)
Other versions
TW200808279A (en
Inventor
Martin Pusch
Sven Zarling
Herman Boiten
Original Assignee
Bock Healthcare Ip Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bock Healthcare Ip Gmbh filed Critical Bock Healthcare Ip Gmbh
Publication of TW200808279A publication Critical patent/TW200808279A/zh
Application granted granted Critical
Publication of TWI386194B publication Critical patent/TWI386194B/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control 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
    • A61F2002/5016—Prostheses not implantable in the body adjustable
    • A61F2002/5033—Prostheses not implantable in the body adjustable for adjusting damping
    • 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
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • 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
    • A61F2002/607—Lower legs
    • 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
    • A61F2002/6854—Operating or control means for locking or unlocking a joint
    • 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
    • A61F2002/7625—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
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • 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
    • A61F2002/764—Measuring means for measuring acceleration
    • 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
    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
    • 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
    • A61F2002/765—Measuring means for measuring time or frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Materials For Medical Uses (AREA)

Description

具有可調節緩衝作用的被動式義膝的控制方法
本發明關於一種具有可調節之緩衝作用的被動式義膝關節的控制方法，該緩衝作用可沿撓曲方向及伸展方向調整以使一個具有一小腿幹軸及一義足的義肢裝置(該義肢裝置固定在義膝關節上)配合登梯動作。
需要義膝的義肢裝配者，在其義肢調整時，須就撓曲(Flexion)的緩衝作用及伸展(Extension)的緩衝作用方面作折衷，因為被動式(passiv)的義膝關節只對特定的用途作最佳化，因此要作明顯地不同的運動的模型(Muster)係不可能或極端困難。因此在該平面中(平地)步行的運動過程(對於這種運動過程，多數的被動式義膝關節設有撓曲及伸展的緩衝作用)，其所需緩衝特性與上樓梯(Treppaufgehen)大不相同。因此由義肢裝配者用傳統義膝關節作的上樓梯動作，使他在樓梯前站著，用未裝義肢的健全的腿升起到第一階，然後將對側的腿拉到同一階，如有必要，可將健全的腿放到各第二階段上而提高步行速度，但這點很吃力。
本發明的目的在提供一種被動式膝關節的控制方法，利用該膝關節，義肢裝配者可交替地一步一階登上梯階而 不需二步一階。依本發明，此目的利用具有申請專利範圍第1項之特點的控制方法達成，本發明有利的其他特點見於申請專利範圍附屬項。
在傳統的義膝關節(它們係設計成在平面中行走者)，義膝關節所需之低伸展緩衝作用使得在上樓梯時，在壓高(Hochdrücken)時造成驟變式的伸展，因此使義肢裝配者受到不能接受的高衝擊負荷。而且當該設有義肢的腿壓高時，不可能作平衝，因為三個關節--足關節、膝關節及髋關節--係上下重疊，且義肢裝配者只能直接控制髖關節。當義足與起以達到下個較迥的梯階時已會發生一問題，即：義足會被導至該立足階段(Setzstufe)或下一個較高梯階的下緣，因為用於在平面中行走的振動階段控制方法中的所需之撓曲緩衝作用會使得下一較高梯階的上側不可能達到。設在主動式(aktiv)膝關節中的撓曲驅動器〔用於在膝伸直(Durchdrücken)及身體上升，經由設有義肢的腿將足舉起及作伸展的驅〕很繁複也很重，此外，用於在平面中步行的振動期控制作用在這些主動式義膝關節的場合很有限。
本發明的控制方法，係一種具有可調節之緩衝作用的被動式義膝關節的控制方法，該緩衝作用可沿撓曲方向及伸展方向調整以使一個具有一小腿幹軸及一義足的義肢裝置(該義肢裝置固定在義膝關節上)配合走上樓梯動作。
將義足的力矩很小的升起動作檢出之後，在一升起階段使撓曲緩衝作用降低到一位準下，此位 準適合在該平面中作行走或將之最佳化。
藉著將撓曲阻力降低(其方法係撓曲緩衝作用降低)可使得義足舉起時達到一種膝角度，使義足能踏到下一個較高的梯階上。當髋關節撓曲以及義足以力矩很小的方式舉起時，會由於義肢的慣性在被動式義足的場合，達到一種膝角度，此膝角度在髖作回應(Vorbringen)時或在對應的伸展時，利用重力就足以越過梯階的邊緣，並將義足放到梯階上。在此，義肢中的質量分佈宜設計成使得重心儘量設在遠離本體之處，例如在連接到義足的連接元件中或在義足本身中。為此，舉例而言，膝系統的控制單元可不設在膝附近而在遠離膝之處，如此，在義足以力矩很少的方式舉起時，在義足中達成所要之膝撓曲而不會由於額外重量使義足重量增加。
在撓曲緩衝作用降低後，在一放上階段及髖伸展階段時(在此階段時，設有義足的腿伸直)該撓曲緩衝作用及伸展緩衝作用上升到一位準，此位準在作平面中行走的振動階段控制的緩衝作用之上，因此可使髖關節作受控制的伸展或伸直，以及可使膝關節與足關節作受控制的伸展或伸直。
在越過梯階邊緣後，膝受重力伸直，為了要能將位在梯階上的義足定位，故在義膝關節伸直前，撓曲緩衝作用提高，因此義足可利用該可受患直接控制的髖角度而定位。
撓曲緩衝作用在放上階段或髖伸直階段中宜提高到一 最大值，以防止或避免當髖伸直力矩不足時下降的情事。在此，撓曲緩衝作用當放上階段及髖伸直階段持不變一直到髖完全伸直為止。
為了使義足較易定位，故在舉起階段及放上階段及髖伸直階段時，將伸展緩衝作用調整，俾在舉起階段時，避免義膝關節受重力影響而伸直或義足掉下來的情事，且在放上階段時，義足能受控制地放上時。如果伸展緩衝作用在髖關節伸直階段完全保持，則造成患者不自然地向上加速，這點會造成碰撞以及在膝關節取大伸中突然中斷。在開放式的登梯時(亦即沒有放上階段)，在沒有伸展緩衝作用下將義足舉起時，義足會移到次高的梯階下方。
撓曲緩衝作用宜依膝角度改變而定而升高。如果達到一固定之膝角度(它一般大於在平面步行時在振動階段時適合的膝角度)則伸展緩衝作用提高。如果不用這種方式，也可(或者除了這種方式外，另外還可)依作用到小腿幹軸上的軸向力而定將撓曲緩衝作用上升或下降，如果當膝近乎伸直時，軸向力量以夠快的速度降到近乎0，則這點係為登梯過程之導入的指示物。
如不用上述方式，(或除了上述方式外，同時另外)也可將腿，亦即大腿或小腿及髖的垂直加速作用在軸向力同時下降時起動，以將對應的撓曲緩衝控制作用及伸展緩衝控制作用動作，以作登梯。此外，在軸向力很少或缺乏時，夠快的髖彎曲作用會造成膝彎曲。如不檢出軸向力，也可檢出膝伸直力矩、髁力矩、或這些力量及力矩的組合， 俾能作登梯模式。
將無力矩的舉起作用檢出的作業可用純機械式經由一檢出器或經一力量或力矩感測器達成。舉例而言，該檢出器可設計成一個支承在一導引件中的移動器的形式，該移動器只在義足近乎垂直舉起時才移到一切換位置，該位置使撓曲緩衝作用減少，力量或力矩可利用習知感測器裝置測量。如不用此方式，該無力矩的舉起作用也可藉測量義足的水平加速度以及將義膝關節的彎曲檢出而達成。當義足的水平速度小時，亦即在透乎垂直舉起時，則與在平面行走不同，在義膝關節中造成大彎曲，這點指示出登梯的動作，此外可將義足中的足前部中的力矩檢出，俾確認是否義肢使用者在沿水平方向行走時想要作運動，使義足中足前部受到高負荷，或者當義足放上時軸向力量減少或在膝關節中造成撓曲。
為了作所需撓曲，以在舉起之後，克服梯階高度，可在舉起階段中利用一預繃緊的彈簧另一力量儲存機構幫助撓曲。同樣地，如果在撓曲緩衝作用下降後延遲某一段時間，則也可利用一彈簧以幫助自由伸展。基於安全理由，這點係有必要者，俾在登梯模式錯誤地解發時，不會造成不想要的緩衝作用的控制作用。
如果在舉起後，義足再放上，例如，當得知軸向力量提高時，則宜將撓曲及伸展緩衝作用提高，如不用此方式，也可在近乎保持恆定的膝角度的場合作伸展及撓曲緩衝作用。
撓曲緩衝作用可在舉起階段減少到一最小值，因此，該各系統中的有效緩衝作用不會由於摩擦而進一步提高。
該力矩很少或無力矩的舉起作用，以及撓曲緩衝作用的減少的檢出作業可用機械方式達成，各種不同緩衝作用的變化亦然，俾能使義肢結構儘量簡單。
以下利用圖式說明一實施例。
圖1中顯示一義肢裝配者(1)，具有一義膝關節(2)，該義膝關節經由上側的接頭手段固定在一大腿殘肢上，此義腿(20)隨另一側的健康腿(4)站在一樓梯前。
要達到下一個次高的梯階，須使義足(6)越過梯階邊緣。如箭頭(7)所示，一種主動式的髖彎曲有助於被動式的膝彎曲(用箭頭8表示)。於義足(6)及連接元件(3)的慣性，使膝彎曲動作由義膝關節(2)作用到義足(6)。為此，需要一最起碼的撓曲緩衝作用，俾在髖撓曲後，義足(6)不會向前擺動並逆向放置階段運動或移到梯階(5)下方。其目的係在舉起階段中(如圖2所示)將義足儘量垂直地向上導進，如有必要，藉由一輕微運動向後導入。在此，舉起動作的檢出作業係利用連接元件(3)與大腿間的彎曲角度α或利用連接元件(3)的軸向力量的減少〔義足(6)無撓曲時〕而達成。同樣地，也可將登梯模式檢出，以及將撓曲緩衝作用減少到正常之擺動階段控制作用下的情形(特別是減少到該起碼值的情形)檢出，它係由於義足(6)向後作水平運動 配合髖彎曲而造成者。
在越過梯階邊緣後，以及舉起階段結束後，如圖2所示，須將義足(6)確實地定位在梯階上。為此，此義足(6)向前移，這點可受重力作伸展而達成。為此，可將伸展緩衝作用減少(如果此緩衝作用未在舉起階段達成的話)，當伸直前，如果義膝關節在撓曲及伸展時受充分緩衝，則可由義肢裝配者(1)將義足定位，其方法係將髖角度改變。在下降階段及髖伸直階段時，撓曲及伸展作用宜受大幅度緩衝，俾除了將放上動作作控制外，防止當髖伸直力矩不足時自發性落回的情事。伸展作用一直保持受緩衝，俾在髖及膝伸直時能控制速度，這點示於圖3。
圖4中，放上階段結束，義肢裝配者(1)可用一髖伸直力矩造成膝伸直作用，膝伸直作用可受到健康腳的伸展而幫助。
圖5中顯示藉著施一髖力矩使膝伸直程度增加，膝伸直程度增加，使有效槓桿(內臂)長度變短，使得膝較易藉髖伸直而伸直。
圖6顯示該設有義膝關節(2)的腿完全伸展的狀態，另一邊的腿(4)在義腿(20)邊移過去，並放到下一個較高的梯階，因此可用被動式義膝關節交替地作登梯動作。
依此，控制作用調整成使得在義足(6)舉起時，能調整一撓曲阻力，它可造成一膝角度α，此角度可使義足(6)踏到下一較高的梯階，利用彈簧機構幫助撓曲，可使得舉起及克服梯階高度的作業變得較容易。
如果藉檢出一無力矩的舉起而觸發登梯模式後，隨後沒有動作跟隨，則將一自由伸展的調整依時間而定，定時元件也可用機械方式達成。力矩很少的舉起動作的檢出作業可利用慣性達成(如果要先將健康的腿放上，再利用該設有義肢的腿登第二梯階的話)，如果義足先解除負荷，然後在義膝關節中作彎曲，則調整成登梯作用。緩衝作用沿伸展方向及撓曲方向在舉起階段後及在髖伸直階段係保持不變，直到達到或檢出到義膝關節完全伸展為止。
(1)‧‧‧義肢裝配者
(2)‧‧‧義膝關節
(3)‧‧‧連接元件
(4)‧‧‧健康腿
(5)‧‧‧梯階
(6)‧‧‧義足
(20)‧‧‧義腿
α‧‧‧膝角度
圖1~圖6係用被動式義膝關節交替地登梯的過程的示意圖。
(1)‧‧‧義肢裝配者
(2)‧‧‧義膝關節
(3)‧‧‧連接元件
(4)‧‧‧健康腿
(5)‧‧‧梯階
(6)‧‧‧義足
(20)‧‧‧義腿
α‧‧‧膝角度

Claims (17)

  1. 一種具有可調節之緩衝作用的被動式義膝關節的控制方法，該緩衝作用可沿撓曲方向及伸展方向調整以使一個具有一小腿幹軸及一義足的義肢裝置配合走上樓梯動作，該義肢裝置固定在該義肢關節上具有以下步驟：將義足的無力矩的舉起動作檢出，在一舉起階段使沿撓曲方向的緩衝作用降低到一位準下，此位準適合一該平面中作行走。
  2. 如申請專利範圍第1項之控制方法，其中：沿伸展方向的緩衝作用在一放置及髖伸直階段時升高到一位準，此位準係比在平面行走時的擺動階段控制的緩衝作用更高。
  3. 如申請專利範圍第2項之控制方法，其中：該沿撓曲緩衝方向的作用在放置階段上升到一最大值。
  4. 如申請專利範圍第2或第3項之控制方法，其中：該撓曲緩衝作用在放置階段及髖伸直階段一直保持到髖完全伸直為止。
  5. 如申請專利範圍第2項之控制方法，其中：撓曲緩衝作用依膝角度改變而定而升高。
  6. 如申請專利範圍第1或第2項之控制方法，其中：該撓曲緩衝作用依作用到小腿幹軸的軸向力量而定而升高或降低。
  7. 如申請專利範圍第2項之控制方法，其中： 在舉起及放置階段及髖伸直階段調整一種伸展緩衝作用。
  8. 如申請專利範圍第1或第2項之控制方法，其中：該無力矩的舉起作用的檢出作業利用一力量或力矩感測器達成。
  9. 如申請專利範圍第1第2項之控制方法，其中：該無力矩的舉起作用的檢出作業利用義足的水平加速的測量以及義膝關節的彎曲的檢出而達成。
  10. 如申請專利範圍第1或第2項之控制方法，其中：在義足中將一足前部力矩檢出而將一種無力矩的舉起動作檢出。
  11. 如申請專利範圍第1或第2項之控制方法，其中：利用一預繃緊之彈簧機構對舉起階段中的撓曲作用提供幫助。
  12. 如申請專利範圍第1或第2項之控制方法，其中：如義足在舉起後再次放上去，則將撓曲及延伸的緩衝作用提高。
  13. 如申請專利範圍第12項之控制方法，其中：測量小腿幹軸中或義足中的軸向力量而將放上的動作檢出。
  14. 如申請專利範圍第1或第2項之控制方法，其中：在舉起階段將撓曲緩衝作用降至一最小值。
  15. 如申請專利範圍第1或第2項之控制方法，其中：在撓曲緩衝作用降低後，依時間控制調整自由的伸展 作用。
  16. 如申請專利範圍第15項之控制方法，其中：該自由的伸展作用受彈簧幫助。
  17. 如申請專利範圍第15項之控制方法，其中：該時間控制利用機械方式或電子方式達成。
TW096116412A 2006-05-09 2007-05-09 具有可調節緩衝作用的被動式義膝的控制方法 TWI386194B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006021802A DE102006021802A1 (de) 2006-05-09 2006-05-09 Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung

Publications (2)

Publication Number Publication Date
TW200808279A TW200808279A (en) 2008-02-16
TWI386194B true TWI386194B (zh) 2013-02-21

Family

ID=38510309

Family Applications (1)

Application Number Title Priority Date Filing Date
TW096116412A TWI386194B (zh) 2006-05-09 2007-05-09 具有可調節緩衝作用的被動式義膝的控制方法

Country Status (11)

Country Link
US (4) US7731759B2 (zh)
EP (1) EP2015712B1 (zh)
JP (1) JP4718635B2 (zh)
CN (1) CN101453963B (zh)
AT (1) ATE476943T1 (zh)
CA (1) CA2651124C (zh)
DE (2) DE102006021802A1 (zh)
ES (1) ES2349878T3 (zh)
RU (1) RU2404730C2 (zh)
TW (1) TWI386194B (zh)
WO (1) WO2007128299A1 (zh)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2595895C (en) * 2005-02-02 2016-06-14 Ossur Hf Sensing systems and methods for monitoring gait dynamics
DE102006021802A1 (de) 2006-05-09 2007-11-15 Otto Bock Healthcare Ip Gmbh & Co. Kg Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung
WO2008080232A1 (en) 2007-01-05 2008-07-10 Victhom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US8435309B2 (en) * 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
US10842653B2 (en) 2007-09-19 2020-11-24 Ability Dynamics, Llc Vacuum system for a prosthetic foot
DE102007053389A1 (de) 2007-11-07 2009-05-20 Otto Bock Healthcare Ip Gmbh & Co. Verfahren zur Steuerung eines orthopädischen Gelenkes
JP5119440B2 (ja) * 2007-12-26 2013-01-16 財団法人ヒューマンサイエンス振興財団 股関節及び膝関節自動股義足
JP5213682B2 (ja) * 2008-12-17 2013-06-19 本田技研工業株式会社 体重支持装置
DE102009052887B4 (de) 2009-11-13 2016-09-15 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines orthetischen oder prothetischen Gelenkes einer unteren Extremität
DE102009052893A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052888A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052894A1 (de) 2009-11-13 2011-06-01 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052890A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Vorrichtung und Verfahren zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052895A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Kniegelenkes
DE102010031723B4 (de) * 2010-07-21 2012-08-02 Otto Bock Healthcare Gmbh Prothesenkniegelenk
KR101619551B1 (ko) 2010-12-06 2016-05-10 현대자동차주식회사 하지 착용식 로봇의 보행 장치
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US8920517B2 (en) 2011-05-04 2014-12-30 The Cleveland Clinic Foundation Modeling and desired control of an energy-storing prosthetic knee
USD733883S1 (en) 2011-05-31 2015-07-07 Ossur Hf Prosthetic knee
EP2713959B1 (en) 2011-05-31 2015-03-18 Össur HF Prosthetic knee
CN103190912B (zh) * 2012-01-09 2014-12-10 上海理工大学 膝关节运动参数测试装置
US9149371B2 (en) 2012-04-05 2015-10-06 Ossur Hf Prosthetic knee
US10441439B2 (en) * 2012-05-15 2019-10-15 Vanderbilt University Stair ascent and descent control for powered lower limb devices
DE102013013810B3 (de) 2013-08-22 2015-02-19 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes
WO2015157723A1 (en) 2014-04-11 2015-10-15 össur hf Prosthetic foot with removable flexible members
CN104207865B (zh) * 2014-09-18 2016-01-13 北京大学 一种电机驱动小腿假肢的阻尼控制方法
DE102015106391B4 (de) 2015-04-24 2020-07-09 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Kniegelenkes
DE102015106390B4 (de) 2015-04-24 2016-11-10 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung
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
DE102015106384B4 (de) 2015-04-24 2017-09-07 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung bei einem künstlichen Gelenk
DE102015107783A1 (de) * 2015-05-18 2016-11-24 Inventus Engineering Gmbh Prothesen- oder Exoskelettkomponente, Prothesen- oder Exoskelett und Verfahren
DE102019115098A1 (de) * 2019-06-05 2020-12-10 Otto Bock Healthcare Products Gmbh Verfahren zum Steuern eines künstlichen Kniegelenks
CN111805571B (zh) * 2020-07-17 2022-02-15 北京理工大学 一种含弹性储能与释能装置的仿生多体节机构
DE102020004339B4 (de) * 2020-07-20 2022-03-03 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Prothese oder Orthese
DE102020004336A1 (de) 2020-07-20 2022-01-20 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Prothese oder Orthese
CN118615076A (zh) * 2024-08-15 2024-09-10 浙江强脑科技有限公司 假腿上楼梯控制方法、装置和存储介质
CN118615077B (zh) * 2024-08-15 2024-10-22 浙江强脑科技有限公司 假腿上楼梯控制方法、装置和存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW267100B (zh) * 1991-12-05 1996-01-01 Bock Orthopaed Ind
TW388713B (en) * 1998-08-17 2000-05-01 Mauch Inc Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6755870B1 (en) * 1998-12-24 2004-06-29 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint and method for controlling a leg prosthesis
CN1575784A (zh) * 2003-07-17 2005-02-09 引地雄一 膝关节的阻力改变的假肢腿
JP2005230207A (ja) * 2004-02-19 2005-09-02 Japan Labour Health & Welfare Organization 健脚制御大腿義足

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5971746A (ja) 1982-10-19 1984-04-23 工業技術院長 動力義足
CA2057108C (en) 1991-12-05 1996-12-31 Kelvin B. James System for controlling artificial knee joint action in an above knee prosthesis
US5662693A (en) 1995-06-05 1997-09-02 The United States Of America As Represented By The Secretary Of The Air Force Mobility assist for the paralyzed, amputeed and spastic person
US5888212A (en) 1997-06-26 1999-03-30 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
GB2367753B (en) 1997-08-15 2002-05-29 Blatchford & Sons Ltd A lower limb prosthesis
ES2247057T3 (es) 2000-01-20 2006-03-01 Massachusetts Institute Of Technology Protesis de rodilla controlada electronicamente.
JP3436513B2 (ja) 2000-02-08 2003-08-11 有限会社長崎かなえ義肢製作所 義 足
JP4411622B2 (ja) 2000-03-29 2010-02-10 マサチューセッツ・インスティテュート・オブ・テクノロジー 下肢人工関節システム及びその制御方法
US7918808B2 (en) 2000-09-20 2011-04-05 Simmons John C Assistive clothing
US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
TW576184U (en) 2003-05-22 2004-02-11 Jian-Liang Chen Multifunctional artificial knee joint
US7637959B2 (en) 2004-02-12 2009-12-29 össur hf Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle
CN1929797B (zh) 2004-02-12 2010-05-26 奥瑟Hf公司 用于运动受控制的足单元的系统和方法
US20060184280A1 (en) 2005-02-16 2006-08-17 Magnus Oddsson System and method of synchronizing mechatronic devices
CA2559890C (en) * 2004-03-10 2014-01-07 Ossur Hf Control system and method for a prosthetic knee
US20050283257A1 (en) * 2004-03-10 2005-12-22 Bisbee Charles R Iii Control system and method for a prosthetic knee
GB0419480D0 (en) 2004-09-02 2004-10-06 Univ Surrey Movement description and analysis
EP1848380B1 (en) 2004-12-22 2015-04-15 Össur hf Systems and methods for processing limb motion
US20060249315A1 (en) 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
AU2006236579B2 (en) 2005-04-13 2011-09-22 The Regents Of The University Of California Semi-powered lower extremity exoskeleton
DE102005029160A1 (de) * 2005-06-23 2006-12-28 Dr.Ing.H.C. F. Porsche Ag Hydraulische Kniegelenkprothese
AU2006279208C1 (en) 2005-08-10 2011-10-20 Bionic Power Inc. Methods and apparatus for harvesting biomechanical energy
WO2007027808A2 (en) 2005-09-01 2007-03-08 össur hf System and method for determining terrain transitions
AU2007223733B2 (en) 2006-03-09 2013-01-10 The Regents Of The University Of California Power generating leg
DE102006021802A1 (de) 2006-05-09 2007-11-15 Otto Bock Healthcare Ip Gmbh & Co. Kg Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung
DE102007053389A1 (de) 2007-11-07 2009-05-20 Otto Bock Healthcare Ip Gmbh & Co. Verfahren zur Steuerung eines orthopädischen Gelenkes

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW267100B (zh) * 1991-12-05 1996-01-01 Bock Orthopaed Ind
TW388713B (en) * 1998-08-17 2000-05-01 Mauch Inc Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6755870B1 (en) * 1998-12-24 2004-06-29 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint and method for controlling a leg prosthesis
CN1575784A (zh) * 2003-07-17 2005-02-09 引地雄一 膝关节的阻力改变的假肢腿
JP2005230207A (ja) * 2004-02-19 2005-09-02 Japan Labour Health & Welfare Organization 健脚制御大腿義足

Also Published As

Publication number Publication date
EP2015712A1 (de) 2009-01-21
US20160030203A1 (en) 2016-02-04
TW200808279A (en) 2008-02-16
US9248031B2 (en) 2016-02-02
JP4718635B2 (ja) 2011-07-06
WO2007128299A1 (de) 2007-11-15
CA2651124C (en) 2015-01-20
RU2404730C2 (ru) 2010-11-27
CN101453963B (zh) 2012-04-18
US20100228360A1 (en) 2010-09-09
CN101453963A (zh) 2009-06-10
US20190274849A1 (en) 2019-09-12
CA2651124A1 (en) 2007-11-15
DE102006021802A1 (de) 2007-11-15
ES2349878T3 (es) 2011-01-12
US10265198B2 (en) 2019-04-23
EP2015712B1 (de) 2010-08-11
US7731759B2 (en) 2010-06-08
RU2008143732A (ru) 2010-06-20
DE502007004728D1 (de) 2010-09-23
US11571316B2 (en) 2023-02-07
ATE476943T1 (de) 2010-08-15
JP2009536050A (ja) 2009-10-08
US20090171468A1 (en) 2009-07-02

Similar Documents

Publication Publication Date Title
TWI386194B (zh) 具有可調節緩衝作用的被動式義膝的控制方法
TWI494095B (zh) 控制義肢關節的方法
TWI519292B (zh) 用於控制下肢的矯正體式或修復體式關節的方法
TWI551277B (zh) 用於控制人工矯正體式或修復體式關節的方法與裝置（二）
JP2018516636A (ja) 人工関節の緩衝変化の制御方法
CN106466219B (zh) 步态状态确定设备、步态状态确定方法以及步行训练设备
TWI563994B (zh) 用於控制人工修復體或義肢膝關節的方法
US7534218B2 (en) Walking assisting device
JP6400530B2 (ja) 義足膝継手およびその制御方法
TWI530278B (zh) 用於控制人工矯正體式或修復體式關節的方法與裝置（一）
KR100658981B1 (ko) 중력보상이 이루어지는 하지재활운동기구
TW201116267A (en) Device and process for controlling an artificial orsthetic or prosthetic joint
GB201208410D0 (en) A lower limb prosthesis
JP2023542827A (ja) 義足の制御方法
TWI542335B (zh) 用於控制人工矯正體式或修復體式關節的方法與裝置（五）
JP6251479B2 (ja) ランニング鍛錬装置
JP6597275B2 (ja) 歩行訓練装置
EP4311528A1 (en) Orthotic knee control device for providing ease of movement
JP6410142B2 (ja) 膝継手
SOPHYN et al. Above knee prosthesis for ascending/descending stairs with no external energy source
Choi et al. The Effects of Chair Height and Foot Position on Chronic Stroke Patients' Sit-To-Walk Movement
Talis et al. Characteristics of sit-to-stand and gait coordination in patients with total hip replacement
KR20240057183A (ko) 편마비 환자의 환측 강화를 위한 스탭퍼장치
Bundang The Effects of Chair Height and Foot Position on Chronic Stroke Patientsʼ Sit-To-Walk Movement