WO2020245261A1 - Verfahren zum steuern eines künstlichen kniegelenkes - Google Patents
Verfahren zum steuern eines künstlichen kniegelenkes Download PDFInfo
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- WO2020245261A1 WO2020245261A1 PCT/EP2020/065465 EP2020065465W WO2020245261A1 WO 2020245261 A1 WO2020245261 A1 WO 2020245261A1 EP 2020065465 W EP2020065465 W EP 2020065465W WO 2020245261 A1 WO2020245261 A1 WO 2020245261A1
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- WO
- WIPO (PCT)
- Prior art keywords
- knee
- angle
- movement
- leg
- height difference
- Prior art date
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Classifications
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- 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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- 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
- A61F2002/5016—Prostheses not implantable in the body adjustable
- A61F2002/5018—Prostheses not implantable in the body adjustable for adjusting angular orientation
-
- 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
Definitions
- the invention relates to a method for controlling an artificial knee joint with an upper part with an anterior and a posterior side, a lower part pivoted about a knee axis on the upper part with an anterior and a posterior side, a foot part arranged on the lower part and an actuator, via which an attainable knee angle between the posterior side of the upper part and the posterior side of the lower part can be set at the end of a swing phase.
- An artificial knee joint has an upper part and a lower part, which are mounted so that they can pivot relative to one another about a knee axis.
- the knee joint is designed as a single-axis knee joint, in which, for example, a bolt or two bearing points arranged on a pivot axis form an individual knee axis.
- knee joints that do not form a fixed axis of rotation of the upper part relative to the lower part, but instead have either sliding or rolling surfaces or a large number of articulated arms that are connected to one another.
- So-called four-axis knee joints with spring devices and dampers in the prior art have been described relatively often.
- multi-axis designs of the artificial knee joints are the exception.
- Prosthetic knee joints are often made and delivered as a complete assembly with upper connection means for setting a thigh shaft or another device for setting the upper part on the patient and fastening devices for setting a lower part, for example a lower leg tube or a prosthetic foot.
- fastening devices for fixing the artificial knee joint to the patient can be arranged directly on an upper part and a lower part, for example in the form of belts, cuffs or shells which are arranged on rails or external frame structures.
- an actuator between the upper part and the lower part, for example in the form of a damper or a drive.
- DE 10 2013 011 080 A1 relates to a method for controlling an orthopedic joint device of a lower extremity with an upper part and a lower part articulated thereon, between which a conversion device is arranged, via which during a pivoting of the upper part re relative to the lower part mechanical work is converted from the relative movement and stored in at least one energy store.
- the energy is fed back to the joint device with a time delay in order to support the relative movement, the stored energy being converted back and the mechanical work being supplied in a controlled manner while supporting the relative movement.
- a separate damper in the form of a hydraulic or pneumatic damper can be provided, which is adjustable so that the resistance during walking can be influenced both in the flexion direction and in the extension direction via the damper device.
- No. 5,181,931 A relates to a pivot connection between two parts of an orthopedic device with an upper part and a lower part and an adjustable mechanical extension stop.
- EP 2 240 124 B1 relates to an orthopedic knee joint with an upper part on which upper connection means are arranged, a lower part pivotably mounted on the upper part with connection means for orthopedic components and a stop for limiting an extension movement.
- the stop is designed to be movable and is connected to an adjustment device, which in turn is coupled to a control device that actuates the adjustment device as a function of sensor data and changes the position of the stop to the effect that an extension stop is moved forward for walking and withdrawn for standing.
- An artificial knee joint has a knee angle of 180 ° in the maximally constructively achievable extension; hyperextension, that is to say an angle on the posterior side greater than 180 °, is generally not provided.
- knee flexion Pivoting the lower part posteriorly with respect to the upper part is called knee flexion, while pivoting anteriorly is called extension.
- the foot touches the ground at the end of the swing phase at the beginning of the stance phase.
- a heel bump that is, the foot touches the heel first. If the artificial knee joint remains in an extended, straight position, this leads to an immediate transmission of force into the pelvis, which is perceived as very uncomfortable.
- a so-called stance phase flexion is permitted or carried out in prostheses or orthotics, in which the knee joint bends around the knee axis after the heel shock, possibly against a resistance force via a hydraulic damper.
- the artificial knee joint can be stopped at a certain knee angle via an extension stop in order to initiate or contribute to the stance phase flexion.
- the setting of an extension stop in such a way that there is no fully extended leg when it initially occurs at the end of the swing phase, i.e. the maximum knee angle is not set, but the achievable knee angle is reduced, is referred to as foreflexion and has a positive effect on the Gait behavior, as more even walking is made possible.
- Typical values of the extension stop for walking on the flat are around 176 ° knee angle.
- the object of the present invention is to provide a method with which it is possible for a user of an artificial knee joint to better master special situations of walking. According to the invention, this object is achieved by a method with the features of the main claim.
- the inventive method for controlling an artificial knee joint with an upper part with an anterior and a posterior side, a lower part pivoted about a knee axis on the upper part with an anterior side, a foot part arranged on the lower part, at least one sensor, egg ner with the at least a sensor-connected control device and an actuator which is coupled to the control device and via which an achievable knee angle between the posterior side of the upper part and the posterior side of the lower part at the end of a swing phase can be set, provides that from sensor data of the at least one sensor a height difference to be overcome of the foot part to a foot or a foot part of the contralateral side of a patient in the stance phase or to the immediately preceding stance phase of the foot part is closed and the knee angle achievable in the swing phase, in particular depending on the ascertained Elten or estimated height difference, preferably in the swing phase, is adjusted.
- the achievable knee angle differs from the constructively maximum knee angle in that it is set by the actuator and is variable, while the constructively maximally planned knee angle is usually a stretched, maximally extended one Means leg with a knee angle of 180 °.
- the maximum design knee angle is determined by the design and arrangement of components of the artificial knee joint.
- step template takes place over the leg in the swing phase, i.e. the leg that is lifted and is or should be placed on a higher level than the supporting leg.
- the achievable knee angle of the artificial knee joint is dependent on a determined or estimated height difference of the foot part of the treated side, i.e. the side that is provided with the artificial knee joint, to a foot or a foot part of the contralateral side of a patient in the stance phase adjusted.
- the stride length is in a better proportion to the contralateral side, which makes the gait pattern more symmetrical and natural.
- the foot With passive feet and foot parts, the foot also touches the ground in a more favorable orientation.
- the achievable knee angle is reduced by 5 ° -30 ° compared to the maximum design angle.
- it can be advantageous to reduce the achievable knee angle beyond this range, especially when overcoming particularly large differences in altitude.
- Climbing uphill, climbing stairs or otherwise overcoming a height difference intended by the user can be deduced from a determined or estimated height difference.
- the height difference is preferably rence between the foot or foot part of the contralateral leg and the hurrying ahead, in the swing phase, the foot or foot part used for the control. Another possibility is to use the height difference that the ipsilateral foot overcomes in the swing phase.
- the achievable knee angle in particular the knee angle achievable in the swing phase extension, can in particular be adapted during the swing phase of a step.
- the adaptation is therefore preferably carried out in such a way that the achievable knee angle is matched to the subsequent initial contact and / or the subsequent stance phase.
- the achievable knee angle is already adjusted in the previous stance phase or a previous step, in particular that in the previous step walking uphill, climbing stairs and / or the intention to overcome a height difference was recognized and based on this information the attainable knee angle is adjusted for the next step.
- the achievable knee angle is only adjusted when walking uphill, climbing stairs and / or the intention to overcome a height difference is recognized for several successive steps.
- the knee angle that can be achieved remains unchanged over several successive steps, for example if several successive steps are carried out uphill and an adjustment only takes place when a different situation is recognized.
- knee flexion with low flexion resistance can be permitted and / or knee flexion can be initiated, in particular as a function of sensor data, which allow conclusions to be drawn about the overcoming of a height difference, the knee angle that can be reached in the swing phase being adjusted.
- a further development of the invention provides that the achievable knee angle is reduced in the event of an upward climb, that is to say a height difference increasing against the direction of gravity.
- the extension will be stopped earlier.
- the adaptation of the achievable knee angle to the difference in height can take place continuously and / or in several discrete steps. It is also possible that the knee angle that can be reached is no longer reduced further from a certain height difference.
- by adapting the knee angle to the height difference and / or the step height it is possible to reduce the load on the supplied or ipsilateral side of the user of the artificial knee joint, who usually does not have the full functionality of the leg muscles available.
- the height difference to be overcome as a parameter for the achievable knee angle can be detected and / or determined via the trajectories of the hip joint, the knee axis and / or the foot part of the respective ipsilateral side.
- a trajectory describes the time course of the position of a point in space.
- the translational path of a point that is connected to the artificial joint and is positioned, for example, on the upper part or the lower part or on the knee axis, and thus also the vertical component can for example be determined from its determined acceleration values by means of double integration.
- the initial conditions of the integration are determined, for example, using a kinematic model, the start of the integration advantageously being in the late stance phase.
- the segment lengths required for the kinematic model can be measured and stored in the control device required to calculate the control signals for the actuator.
- a kinematic chain allows conclusions to be drawn from the trajectory of one point via the relative degrees of freedom and segment lengths that of another, for example those of the hip, the knee axis or the foot section.
- the degrees of freedom and segment lengths are known or stored in the control device, so that no movement data or other data of the unaided, contralateral leg have to be used for the determination.
- the acceleration and the orientation of the lower part are determined via an initial sensor, and the angle between the lower and upper part and determined by integrating the acceleration data and the kinematic chain, the trajectory, the speeds and accelerations of the hip.
- the speeds and accelerations can be used as indicators for overcoming a height difference.
- the body's center of gravity and thus the hips are raised.
- the knee is moved particularly quickly forwards and upwards.
- the distance covered, the speed and / or the acceleration of one or more points, in particular the lower part and / or the knee axis can be used, in particular the ratio of a horizontal and a vertical component, in order to indicate that a height difference has been overcome close.
- the trajectory of the hip can alternatively or additionally from one or more angle measurements on the contralateral side and known segment lengths can be determined.
- the entire hip advancement and hip elevation can then be calculated using an angle measurement and the known leg length of the contralateral side.
- the difference in height between the contralateral foot in the stance phase and the ipsilateral foot or foot section in the swing phase can be calculated or estimated using the vertical path of the hip joint of the ipsilateral leg that is being treated, the vertical path of the knee axis and / or the vertical path of the foot section and serve as a parameter for the achievable knee angle.
- the vertical path of the hip joint of the treated leg can be determined, for example, from determined acceleration values of a point that is fixedly connected to the artificial knee joint, for example on the upper part or the lower part or on the knee axis, as described above.
- the trajectory of this point can be determined by double integration. Using a kinematic chain, the trajectory of the hip joint can be determined as a function of the relative degrees of freedom and segment lengths.
- the degrees of freedom and segment lengths are known, stored and available in the control device so that the vertical path of the hip joint can be calculated from them without the need to use movement data or other data from the unaided, contralateral leg.
- the vertical path of the knee axis can be determined as described above by double integration of the accelerations of a fixed point on the artificial knee joint or components arranged there, for example a prosthesis shaft, the same applies to the vertical path of the foot part.
- the movement of the hip and / or the torso can also be determined directly via a sensor which is attached to the hip or to the torso, for example an inertial sensor which detects accelerations. From the accelerations, speeds and trajectories can be calculated by double integration.
- a further development of the invention provides that the height difference over a hip angle of the leg or the orientation of the upper part in space and possibly its temporal course is determined as a parameter for the achievable knee angle.
- an inertial angle sensor can be arranged on the upper part, so that a direct measurement of the spatial position of the upper part is possible.
- an inertial angle sensor or an IMU inertial measurement unit
- a knee angle sensor is also arranged on the prosthetic knee joint or another artificial knee joint, so that the spatial orientation of the upper part can be calculated from the spatial orientation of the lower part and the knee angle of the hip angle.
- the orientation in space is the orientation to an essentially unchangeable reference direction, for example the gravitational direction or a horizontal one. No sensors are required on the contralateral, unsupervised side of the patient.
- the hip angle can be measured directly as the relative angle between the torso and the upper part or thigh.
- the orientation of the trunk in space can be assumed or measured by means of an IMU and shared with the Orientation of the upper part or thigh of the hip angle can be determined.
- the symmetry of the courses of the hip angle and / or the orientation of the upper part with respect to the vertical neutral position for example as a ratio or difference, a swept angular range and / or a high flexion speed as indicators for the detection and / or the determination of the to be overcome Difference in height can be used.
- a difference in height against the force of gravity can be assumed if the upper part is guided into strong flexion, a large angular range is swept over and / or a particularly rapid hip flexion takes place.
- the thresholds and sizes for the detection can be related to the walking speed in order to distinguish the influence of the walking speed on the temporal angular progressions from the height difference to be overcome.
- a further development of the method provides that the height difference to be overcome between the supplied leg and the non-supplied leg is detected from the ratio of a translational, horizontal movement of the hip joint of the supplied leg or the knee axis to the hip angle or the orientation of the upper part in space , is calculated and / or estimated.
- the translational movement of a point on the prosthesis or orthotic for example the movement of the knee axis, can be calculated, for example by integrating measured linear accelerations twice with suitable initial conditions, as well as absolute and relative angles of the kinematic chain up to the hip pursued.
- the initial conditions for integration are determined using a kinematic model, with the start of integration advantageously being in the late stance phase.
- the roll point on the foot part and its course over time can also be formulated as a function of loading and location or location.
- the segment lengths required for the kinematic model can be measured and stored in the control device necessary for calculating the control signals for the actuator.
- the horizontal component of hip movement represents the amount of forward progression that is over the supporting leg is generated.
- the hip angle or the orientation of the upper part controls the positioning of the swing leg side. Both aspects of the movement are coordinated with each other and are therefore suitable for detecting whether a mountain is going up or whether it is going up stairs.
- the height difference is determined or removed from a knee angle it averages, for example by a direct measurement via a knee angle sensor, and / or from the ratio of the spatial orientation of the upper part and / or lower part or thigh and / or lower leg is appreciated.
- the hip angle can be used to calculate the height difference.
- the hip angle can either be calculated or estimated by the IMU using an assumed orientation of the upper body and the determined orientation of the upper part or thigh in space, or using a spatial position sensor on the upper body, for example on an orthosis or an exoskeleton, in combination with the upper part ori can be determined from the IMU.
- the height difference can be determined or estimated from the course over time, from the ratio of the knee angle to the orientation of the OR or lower part and / or the ratio of the orientation of the upper and lower part to one another.
- the temporal progression and the movement of the segments in relation to one another provide information about the intention of the user and the height difference to be overcome. This makes it possible to recognize in the swing phase whether you are going uphill, climbing stairs or otherwise overcoming a difference in height, so that the achievable knee angle, especially in the swing phase, is determined and set.
- the knee angle that can be achieved can be set using an adjustable mechanical extension stop.
- the mechanical stop can be adjusted via various actuators, for example via a motor-driven end stop, by rotating an eccentric, by longitudinal displacement of a stop, by stiffening a buffer or in some other way. It is also possible to adjust the extension stop hydraulically or pneumatically by closing a valve depending on the knee angle reached, so that no fluid can flow from an extension chamber into a flexion chamber or a compensation tank. It is also possible, please include, to stiffen the extension stop by stiffening a cushion, for example by filling a stop buffer with hydraulic fluid or pneumatic fluid.
- the stop can be formed by locking a drive, for example egg nes motor, the adjustment being made by locking the Mo tor after reaching the desired knee angle.
- the extension stop can be set using a magnetorheological fluid and activation or deactivation of a magnetic field.
- the knee-flexing muscles can be activated to stop.
- a further parameter for the achievable knee angle is the orientation of the lower part in space.
- the lower leg When climbing stairs physiologically or when going uphill, the lower leg remains in a comparatively narrow angular range at the end of the swing phase and during initial contact in relation to the vertical.
- the achievable knee angle can therefore be adjusted so that a defined orientation of the lower part is achieved when walking uphill or climbing stairs or when overcoming an obstacle or a height difference at the end of the swing phase and / or upon initial contact.
- a defined orientation of the lower part is achieved when walking uphill or climbing stairs or when overcoming an obstacle or a height difference at the end of the swing phase and / or upon initial contact.
- an uphill or staircase or an overcoming of an obstacle or a height difference is taking place.
- the orientation of the upper part in space at initial contact depends on the step height to be achieved, the orientation of the lower part in space varies only slightly.
- an orientation of the lower part to be achieved upon initial contact can be specified and the corresponding achievable or attainable knee angle can be calculated depending on the orientation of the upper part.
- the orientation of the lower part to be achieved can depend not only on the step height but also on the walking speed and / or the step length.
- the walking speed and the step length With the walking speed and the step length, the hip moments introduced by the user, the step template of the leading leg, the step duration, as well as the force application point on the prosthetic foot or foot part and / or its temporal course change. It is therefore advantageous to adjust the achievable knee angle accordingly. In particular, it is advantageous to reduce the knee angle that can be achieved at slower walking speed.
- the walking speed as well as the step length can be determined via sensor data, in particular via inertial sensors, which detect the orientation of segments in space and their changes over time, as well as accelerations. Speed and position can be determined from accelerations through integration.
- the stride length can in particular be derived from the horizontal movement of the hip and / or that of the knee axis.
- the step length can be derived from the forward inclination of the leg that is being treated at the end of the terminal stance phase.
- the height difference is determined or estimated from a knee angle measured with a knee angle sensor on the artificial knee joint and a spatial position of the upper part or the lower part measured by a spatial position sensor arranged on the artificial knee joint. This makes it possible to recognize in the swing phase whether you are walking uphill or climbing stairs, so that the increased foreflexion and the reduced knee angle that can be reached are already determined and set in the swing phase.
- the height difference can be determined from three parameters, the knee angle, the upper part orientation in the room and the lower part orientation in the room; alternatively, the height difference is determined from two of the three parameters, for example the two room orientations or the knee angle in connection with a room orientation of either the upper part or the lower part.
- a further development of the invention provides that the achievable knee angle is set in the swing phase of the supplied, ipsilateral leg and until a predetermined spatial position and / or movement of the lower part and / or the upper part, a predetermined rotation and / or rotational speed of the lower part and / or upper part in space, an ankle joint angle, a predetermined force application point in the foot part, a predetermined force on the foot part, a defined moment on the foot part, the knee axis or the hip axis, the position of the floor reaction force vector, a defined acceleration on the foot part and / or maintained for a specified period of time.
- the extension stop can be changed after a predetermined time in order to provide increased safety through an increased stretching movement of the knee joint. It can be assumed that after a certain period of time either a progression of movement or a change in the movement pattern has taken place, so that increased security through an extended knee joint is desirable.
- the user of the artificial knee joint can stop on a step or take a break while walking uphill, for which purpose a knee joint that is extended to the maximum is advantageous.
- a further development of the invention provides that a knee extension movement is permitted in the stance phase following the swing phase.
- the extension movement can be controlled depending on the knee angle and / or the Kniewinkelge speed, the orientation of the upper and / or lower part in space, the ankle angle, and / or the position, location and size of the floor reaction force.
- An extension resistance that is constant via the knee extension movement or that is coupled to the knee angle can be set.
- the level and the course of the stretching resistance can depend on the step height, the step length, the walking speed, the knee flexion and / or the force application point on the foot when the foot touches down and / or the local slope of the ground.
- the resistance to the extension of the knee can increase degressively, linearly or progressively, especially in the course of the rolling and knee extension movement.
- the stretching movement can also be controlled in such a way that the knee stretching speed is controlled, in particular kept constant or does not exceed a predefined value.
- the stretching movement can be controlled such that the lower part has an approximately constant orientation during knee extension and the thigh thus rolls over the knee axis, the backward rotation of the lower part is limited or a defined forward rotation of the lower part is achieved.
- there is typically a slight forward rotation of the lower leg Due to the behavior of the foot or part of the foot that deviates from physiological walking, for example the lack of dorsiflexion, it can make sense, deviating from the physiological gait, to achieve different courses for the movement of the lower part than a slow forward rotation, for example an almost stationary lower part.
- the force application point on the foot can be determined via force sensors and the extension movement can be controlled in such a way that the force application point is controlled during the extension movement, preferably remains in the middle area of the foot and does not move towards the heel or too early towards the toes.
- a faster knee extension causes the point of application of force to move in the direction of the heel and less quickly in the direction of the forefoot
- a slower knee extension causes the point of application to move towards the forefoot.
- the local ground slope can be determined via the ankle joint angle, on the basis of which the control of the stretching movement can be adjusted.
- the extension stop at the end of the stance phase extension is advantageously designed so that the extension movement is gently braked.
- An interface enables the user to adapt the control parameters and thus to influence the behavior in the stance phase extension himself. It is also possible for the control to adapt the stretching behavior from step to step in order to adapt to the movement style of the user, the characteristics of the foot part and / or the shoe.
- a further development of the invention provides that after reaching a mini paint ventilation angle and a reversal of movement of the thigh, i.e. after an increase in the ventilation angle, the orientation of the lower part in space until an initial contact, an axial force on the lower part and / or Change of an ankle joint angle is kept constant.
- An initial contact can take place, for example, when the foot touches the ground or bumps into an object or a flinder and can be detected by changes in movement behavior, for example by detecting the acceleration behavior.
- the orientation of the lower part in space can be kept constant, for example perpendicular or parallel to the vertical, by adjusting the extension and flexion resistances or by an active system with drives Touchdown or roll down is detected.
- the touchdown can be detected, for example, by the detection of an axial force or a moment on the lower part, accelerations of the lower part or by the temporal course of the pitch angle.
- a pause in the lowering movement can indicate that the foot has been placed and that the patient is being lifted to the next level via the leg that is being treated.
- the orientation of the connecting line be controlled from hip to foot or foot part (leg tendon) in space after reaching a mini paint hip angle up to a detection of the touchdown of the foot, in particular kept constant.
- the orientation of the leg tendon can be kept constant, for example, by actively extending the knee joint using an actuator.
- the knee angle can also be controlled in the course of hip extension in such a way that the foot or the foot part maintains the same or approximately the same horizontal distance from the hip, that is, the step length is kept constant in a stepping down movement.
- the knee angle can be increased if the hip is moved strongly anteriorly. It is also possible that knee extension is achieved if the hip is brought into strong flexion again after reaching a first maximum hip flexion, i.e. the step on the swing leg is extended forward in the late swing phase.
- a further development of the invention provides that climbing uphill, climbing stairs or the like is detected via the temporal course of the orientation of the upper part and / or the ratio of the upper part orientation to a translational, horizontal movement of the knee axis and the achievable knee angle based on the course and / or the relationship between the upper part orientation and the movement of the knee axis is adjusted.
- the horizontal movement of the knee axis can be calculated from the known length of the upper part or thigh and the course of the orientation of the upper part over time together with the hori zontal movement of the hip axis.
- a further development of the invention provides that a flexion resistance in the swing phase of the supplied leg after a reversal of the direction of movement of the lower part, that is to say the knee movement, to a level higher than when walking in the level is set.
- a flexion movement occurs first, i.e. a reduction in the knee angle. If the lower part or lower leg is then brought forward, i.e. the knee movement changes from flexion to extension after the knee axis has been raised to a higher level, it is advantageous to provide resistance to the flexion movement for safety reasons, for example in the event of a bump to avoid stumbling on a flinder or a step and in particular to prevent unwanted bending of the knee joint around the knee axis.
- the swing phase knee angle can be reduced by 5 ° to 20 ° in order to define the minimum knee angle that can be achieved.
- a further development of the invention provides that when a mountain climbing or climbing stairs or the like is recognized, the minimum attainable knee angle in the swing phase is reduced compared to walking on a level surface.
- knee flexion is typically limited or reduced by a resistance in the direction of flexion in order to achieve knee extension in time at the end of the swing phase.
- Due to a smaller, minimal knee angle when going uphill, climbing stairs or the like the lower part swings further and approaches the upper part, whereby the ground clearance is increased when swinging under the body.
- the minimum knee angle is advantageously reduced when the height difference to be overcome increases. Typical values for the reduction are between 5 ° and 20
- a further development of the invention provides that when walking uphill, climbing stairs or when intentionally overcoming a height difference in the stance phase, preferably in the terminal stance phase, knee flexion is permitted with low flexion resistance and / or knee flexion is initiated.
- the initiation of knee flexion in the stance phase and thus when the foot is in contact with the ground or under load, corresponds to the physiological one Walking in which the knee is flexed before the foot loses contact with the ground.
- the initiation of knee flexion thus typically takes place during the rolling movement of the foot. Bending under full or partial load at the end of the stance phase is known as the pre-swing phase.
- the resistance to movement in the bending direction is reduced or kept at a low level for this purpose in the stance phase, preferably in the terminal stance phase.
- a flexion movement can be initiated and / or supported under load.
- the resistance to movement is preferably reduced in the bending direction, or the bending movement is initiated on the basis of sensor data.
- the knee angle that can be achieved in particular the knee angle that can be achieved in the swing phase extension, is further adapted in such a way that it supports walking uphill, climbing stairs or overcoming a height difference in the following swing phase and / or in the subsequent stance phase. It is advantageous that the user can maintain the natural sequence of movements for initiating knee flexion and a swing phase and does not have to carry out a special sequence of movements to initiate swing phase flexion when going uphill, climbing stairs or overcoming a height difference.
- a further development of the invention provides that the achievable knee angle when going uphill, climbing stairs or when intentionally overcoming a height difference is set in the swing phase, the user relieving the prosthesis, the orthosis or the exoskeleton before initiating the knee flexion movement.
- the knee flexion can be initiated, for example, by the knee joint reducing the resistance to movement in the flexion direction when the ipsilateral side is relieved and / or after it has been relieved and the user performs a hip flexion or a combination of a hip extension and a subsequent hip flexion. It is also possible that, in addition to the partial or full load, a further movement is necessary in order to reduce the movement resistance, for example a hip extension, in particular a rapid hip extension.
- knee flexion is supported or actively initiated in an active knee joint.
- a further development of the method provides that the knee angle to be achieved can be set and / or changed over time, consciously and independently of the ascertained or estimated height difference.
- the user for example an orthopedic technician, therapist or end user, can use an interface to set the control parameters.
- the user can set, for example, manually by entering appropriate values or making appropriate settings, that the achievable knee angle should be increased and / or decreased.
- the user's setting can be superimposed on the other control parameters so that, for example, the control continues to set a lower attainable knee angle for larger height differences, but in both cases a greater attainable knee angle is set compared to the standard setting. It can also be made possible for the user to temporarily completely deactivate the reduced reachable knee angle.
- the system can adjust or determine parameters to control the achievable knee angle based on gait data, either through an ongoing, auto-adaptive adjustment or through a setting mode that is consciously activated and deactivated again after the setting has been made.
- the height difference to be overcome is detected and / or determined by determining the distance to the ground and / or the ground profile.
- the subsurface and / or the distance to the subsurface can be measured without contact, for example via sensors attached to the lower leg and / or foot section, in particular optical, using lidar, radar, and / or infrared measurement and / or ultrasound measurement. From the measurement of several points on the subsurface, conclusions can be drawn about the subsurface profile and thus the amount of a height difference to be overcome.
- the relative speed to the ground can be measured, in particular by utilizing the Doppler effect or by deriving a determined distance over time.
- the knee angle to be reached is set as a function of the ascertained height difference.
- a further development of the invention provides that the resistance to bending the knee joint in the swing phase, in particular at the end of the swing phase, and / or during the stance phase, in particular during the initial contact and / or the load response, to a level higher than during the Walking in the plane is set.
- a flexion movement occurs first, i.e. a reduction in the knee angle. If a knee extension then occurs after the knee axis has been raised to an elevated level, it is advantageous to provide the flexion movement with a resistance that prevents the knee joint from bending unintentionally around the knee axis.
- the resistance in the flexion and extension directions can be set independently of one another.
- the flexion resistance can be increased when the maximum knee angle is reached, when the foot is set down and / or when initial contact is made, in particular to a level higher than when walking on the plane.
- the flexion resistance can be increased in such a way that bending of the knee joint is completely prevented.
- the flexion resistance on initial contact can also be designed so that controlled knee flexion is allowed.
- the flexion resistance is adapted in particular in such a way that the flexion rate is controlled and / or the maximum flexion angle is limited by increasing the flexion resistance.
- the knee flexion can be controlled directly via a measured knee angle or via a measured orientation of the lower part in space, so that the forward inclination of the lower part reaches or does not exceed a defined value.
- the level of resistance and the amount of permitted knee flexion can also depend on the flea difference to be overcome, the walking speed, the step length and / or the course of the force application point on the foot during rolling, so that a maximum degree of safety and security for every situation Support can be obtained.
- Figure 1 - a schematic representation of a prosthetic leg
- Figure 2- shows different phases and situations when overcoming a height difference
- FIG. 3 shows an illustration of a prosthesis with angles
- FIG. 4 shows a sequence diagram of walking uphill
- FIG. 5 shows a flow chart of overcoming a stage
- FIG. 6 trajectories of the ankle joint axis, knee joint axis and the tro chanter major when walking flat
- FIG. 7 trajectories of the ankle joint axis, knee joint axis and the tro chanter major when walking uphill;
- FIG. 10 the dependence of the knee angle on the height difference when going up a hill
- FIG. 11 the dependency of the knee angle on the height difference when overcoming a step
- FIG. 12 knee angle profiles for different height differences over the relative time
- FIG. 13 the course of a thigh orientation over a step cycle
- FIG. 14 the relationship of the thigh orientation in relation to the horizontal path of the hip;
- FIG. 15 a possible auxiliary variable for estimating the step height;
- FIG. 16 the knee angle profile KA in ° over a step cycle
- FIG. 17 different control courses of a stance phase extension
- FIG. 18 two different knee angle profiles over phases of the gait cycle
- FIG. 19 shows a resistance curve for a passive control
- FIG. 20 - a variant of FIG. 19;
- FIG. 21 shows the course of a lower leg angle in relation to the upper leg angle
- FIG. 22 the course of the knee angle in relation to the thigh angle
- Figure 23 - a definition of the leg tendons.
- FIG. 1 shows a schematic representation of an artificial knee joint 1 in an application on a prosthetic leg; as an alternative to an application on a prosthetic leg, a correspondingly designed artificial knee joint 1 can also be used in an orthosis or an exoskeleton. Instead of replacing a natural joint, the respective artificial knee joint is then arranged medially and / or laterally on the natural joint.
- the artificial knee joint 1 is in the form of a prosthetic knee joint with an upper part 10 with an anterior or walking direction or front side 11 and a posterior side 12 opposite the anterior side 11.
- a lower part 20 is mounted on the upper part 10 so as to be pivotable about a pivot axis 15.
- the lower part 20 also has a anterior side 21 or anterior side and a posterior side 22.
- the knee joint 1 is designed as a monocentric knee joint, in principle it is also possible to control a polycentric knee joint accordingly.
- a foot part 30 is arranged, which can be verbun either as a rigid foot part 30 with an immovable ankle or with a pivot axis 35 with the lower part, in order to move closer to the natural sequence of movements enable.
- the knee angle KA is measured between the posterior side 12 of the upper part 10 and the posterior side 22 of the lower part 20.
- the knee angle KA can be measured directly via a knee angle sensor 25, which can be arranged in the area of the pivot axis 15.
- An inertial angle sensor 51 is arranged on the upper part 10, which measures the spatial position of the upper part 10, for example in relation to a constant force direction, for example the gravitational force G, which points vertically downwards.
- An inertial angle sensor 52 is also arranged on the lower part 20 in order to determine the space of the lower part during use of the prosthetic leg.
- a force sensor or torque sensor 54 can be arranged on the lower part 20 or the foot part 30, in which an axial force FA acting on the lower part 20 can be determined.
- An actuator 40 is arranged between the upper part 10 and the lower part 20 in order to influence a pivoting movement of the lower part 20 relative to the upper part 10.
- the actuator 40 can be designed as a passive damper, as a drive or as a so-called semi-active actuator 40, with which it is possible to store motion energy and give it back at a later point in time in order to slow down or support movements.
- the actuator 40 can be designed as a linear or rotary actuator.
- the actuator 40 is connected to a control device 60, for example wired or via a wireless connection, which in turn is connected to at least one of the sensors 25, 51,
- the controller 60 processes the from the Sensors transmitted signals electronically with processors, arithmetic units or computers. It has an electrical power supply and at least one memory unit in which programs and data are stored and in which a working memory is available for processing data. After the processing of the sensor data, an activation or deactivation command is issued, with which the actuator 40 is activated or deactivated. By activating the actuator 40, for example, a valve can be opened or closed in order to change a damping behavior.
- a prosthesis shaft is taken attached, which is used to hold a thigh stump.
- the prosthetic leg is connected to the hip joint via the stump of the thigh; a hip angle HA is measured on the anterior side of the upper part 10, which is between a vertical line through the hip joint and the longitudinal extension of the upper part 10 and the connecting line between the hip joint and the knee joint axis 15 on the anterior side 11. If the thigh stump is raised and the hip joint flexed, the hip angle HA decreases, for example when sitting down. Conversely, the hip angle HA increases in the event of an extension, for example when standing up or performing similar movements.
- the foot part 30 is first placed with the heel, the first contact of the heel or a Fer senteils of the foot part 30 is called a heel strike. Plant arflexion then takes place until the foot part 30 rests completely on the floor; as a rule, the longitudinal extent of the lower part 10 is behind the vertical that runs through the ankle joint axis 35. While walking in the plane, the body's center of gravity is then shifted forward, the lower part 20 is pivoted forward, the ankle angle AA is reduced and there is an increasing load on the forefoot. The floor reaction force vector migrates from the heel forward to the forefoot.
- a toe-off solution or the so-called toe-off takes place, followed by the swing phase, in which the foot part 30 moves behind the center of gravity or the hip joint of the ipsilateral side while walking in the plane while reducing the knee angle KA is to then be rotated forward after reaching a minimum knee angle KA, in order to then reach heel contact again with a knee joint 1 that is usually maximally extended.
- the force introduction point PF thus migrates from the heel to the forefoot during the stance phase and is shown schematically in FIG.
- the human gait is essentially determined by the coordinated movement of both legs.
- the stance leg must take over the movement of the body's center of gravity and produce the forward progression, while the swing leg positions the contralateral foot in such a way that balance is maintained and efficient weight transfer is possible.
- the movement of both sides or both legs is therefore functionally linked and can be observed during the most varied of movements.
- the functional coupling of movements is simulated by modeling, and the functional coupling of both the components on the ipsilateral side and the contralateral side can be used to determine any missing information of individual segments from the behavior or the states of other segments.
- the method provides for the coupling of the respective segments of the supplied, ipsilateral side to be used in order to understand or control the leg movement and to use target variables with regard to an intention recognition and to derive target values.
- the invention provides, without a sensor system on the contralateral side, to analyze the movement and intended movement and to generate a control based on this evaluation. While with bilateral restorations it is possible to receive the movement of the respective contralateral side through sensors on the prosthesis, orthosis or the exoskeleton or via biosignals such as muscle activity or the like, this possibility is not given with unilateral restorations. Here additional sensors would have to be arranged on the unpowered, contralateral side, which would make the overall system much more complex.
- the ipsilateral leg movement must be sufficiently determined from a technical point of view; for a cross-knee orthopedic device, for example, an inertial angle sensor 52 on the lower part, which records the absolute angle and the horizontal accelerations, and an angle sensor 25 for recording the knee angle KA between the upper part 10 and the lower part 20 are sufficient.
- an inertial angle sensor 52 on the lower part which records the absolute angle and the horizontal accelerations
- an angle sensor 25 for recording the knee angle KA between the upper part 10 and the lower part 20 are sufficient.
- the hip translation is calculated from this, and a conclusion on the contralateral leg movement is drawn from the hip translation.
- To determine the translational movement of the hip the translational movement of a point on the supplied side, that is to say on the orthopedic device, for example the movement of the knee axis, is used.
- the translational movement of the knee axis is determined in particular via a double integration of measured linear accelerations with the appropriate initial conditions.
- the kinematic chain is followed up to the hip using absolute angles and relative angles.
- the initial conditions of the integration can be determined using a kinematic model, the start of the integration advantageously being in the late standing phase.
- the roll-off point of the foot part also called the center of rotation (COR)
- COR center of rotation
- segment lengths are known, since these must necessarily be recorded in order to select components when assembling the prosthesis system.
- segment lengths can be determined with sufficient accuracy using anthropometric models from characteristic lengths, such as.
- B. Calculate the knee-floor measurement or amputation features such as the amputation height by means of scaling.
- the trajectory of this point can be determined by double integration.
- the hip trajectory is then determined via the kinematic chain as a function of the relative degrees of freedom and segment lengths.
- the translational movement of the hip is already a good measure to evaluate the intended movement; in particular, the horizontal component of the hip movement represents the proportion of the forward progression that is generated by the supporting leg. Due to the coordination of swing leg movement and standing leg movement, the relation of the ipsilateral swing leg movement to the hip translation enables a classification of the movement and a control of the prosthetic behavior.
- a combination of orientation of the upper part and hip translation or translation of the knee axis and hip translation is particularly suitable for recognizing which movement is being carried out or intended, since these variables can be determined completely using the sensors in the orthopedic technical device.
- leg angle of the contralateral side whereby the leg angle between the hip joint and the touchdown point during the heel strike is measured in relation to the direction of gravity
- two assumptions are made, namely that the contralateral foot is in contact with the ground and thus the relative movement between the foot and the ground is equal to 0 and that at least one point in time in the double support phase, i.e. when both feet or foot parts are on the ground, an inertial leg angle of the contralateral side can be determined.
- One assumption for this would be that the leg angle on the contralateral side corresponds to the negative leg angle on the prosthesis side.
- the change in position of the contralateral leg angle can be calculated using trigonometric functions from the segment lengths and the relative translation of the hip.
- the ratio can provide information about whether the user wants to go uphill with the supplied side, climb stairs or other overcoming a height difference AH when walking intentionally taken.
- Typical of such an intended gait behavior is a strong backward inclination of the angle of the ipsilateral upper part in the middle of the swing phase with a relatively low presentation of the contralateral side in the stance phase.
- the contralateral side remains almost vertical, which means that the translational hip movement is small while the upper part or the thigh is raised and flexed strongly.
- the extent of such a forward flexion can be determined so that the ipsilateral and contralateral leg angles are harmonious when the supplied side makes contact with the ground Relate to each other.
- the flexion and extension resistances in the form of setpoints of the actuator 40 are then set in the orthopedic equipment in the swing phase so that a harmonious relationship is established between the leg angle on the contralateral side in the stance phase and the leg angle on the ipsilateral side in the swing phase .
- the setpoint values of the actuator 40 and thus also the flexion resistances and extension resistances are set so that the maximum attainable knee angle KAmax is adjusted as a function of the determined or estimated height difference AH of the foot part of the ipsilateral side, the height difference AH being adjusted to a foot or a Foot part of the contralateral side of a patient is applied. If going uphill, climbing stairs or overcoming an obstacle under overcoming a height difference AH is detected, the maximum extension of the lower part 20 relative to the upper part 10 is limited so that the maximum knee angle KAmax that can be reached is reduced. The lower part 20 is stopped at a specific angle of the lower part 20. In FIG. 2, such a control is illustrated using three states of an orthopedic device.
- the foot part 30 would touch down very far forward and with a large sole angle and the patient would have to touch the hip Turn around the touchdown point over the entire length of the leg tendon, which would lead to an unphysiological sequence of movements.
- the extension of the lower part 20 at a specific maximum knee angle or with a specific orientation of the lower part which can be detected by the inertial angle sensor 52, for example, is stopped before the maximum extension is reached, so that the foot part 30 “At the end of the extension movement above the ledge or step or at the end of the movement the determined or estimated height difference AH is located.
- the thigh or the upper part 10 is lowered in the further course of movement, the orientation of the lower part 20 preferably being kept constant, so the spatial position of the lower part 20 does not change until the foot part 30 ′ ′′ has touched the floor.
- This can for example be detected by the axial force sensor 54 on the basis of the occurrence of an axial force.
- both the hip angle HA is increased and the knee angle KA is increased, at least not decreased, so that due to the variable knee angle setting and a forefleel tion the effective leg tendon length is shortened when stepping and less energy is required to overcome the height difference AH.
- the extension of the extension stop can be moved forward by a motorized adjustment of a mechanical stop or by suitable opening and closing of valves in a hydraulic or pneumatic control within the actuator 40.
- the vertical path of the knee axis ie the difference in height against the gravitational direction G, can be calculated from the absolute angle of the upper part 10 if the vertical path of the hip is known or is determined as an estimate.
- the vertical path of the foot part can be calculated or estimated from a combination of the spatial orientation of the upper part 10 in conjunction with the relative angle or knee angle KA, which can be determined via the knee angle sensor 25.
- the knee angle sensor 25 enables the determined knee angle KAD to be determined and, if sensor data is available on the hip angle in conjunction with the segment lengths, is used to calculate the height difference AH.
- the achievable knee angle KAmax is set in the swing phase of the ipsilateral leg and maintained until a predetermined spatial position of the lower part and / or upper part is reached.
- the setting with regard to the achievable knee angle KAmax can be maintained when monitoring the ankle joint angle AA until a predetermined ankle joint angle AA is reached, which is defined, for example, as the angle that occurs after the foot part 30 is lifted off at the end of the stance phase when the foot part 30 is in a neutral position. If the foot part 30 is then put on, the ankle joint angle AA changes, which is a sign that a change in the maximum achievable knee angle KAmax is now possible.
- the position of the force introduction point can be determined and, depending on this position, the actuator 40 can be controlled accordingly in order to block further extension up to a certain point in time and only then to allow the knee joint 1 to be extended .
- a time element can be used to set a specific period that limits a maximum extension.
- a minimum hip angle HA can be recognized by monitoring the orientation of the upper part 10 in space. Is the thigh or the upper part 10 is maximally flexed, the longitudinal extension of the upper part 10 is at a maximum inclination relative to the direction of gravity G. If the upper part 10 is then pivoted down about the hip joint and the longitudinal extension of the upper part 10 approaches the direction of gravity G, is a minimum hip angle HA is reached and a movement reversal has taken place. After the detection of the reversal of movement, the maximum knee angle or, for example, the orientation of the lower part 20 in space can be kept constant until the foot part 30 touches the floor, for example by detecting an axial force FA or by changing the ankle joint angle KA.
- the maximum achievable knee angle KAmax is set by changing the extension resistance in order to place the foot part 30 in the correct orientation with an angled leg, it is advantageous for further movement if the flexion resistance in the swing phase of the ipsilateral side after a movement reversal of the Under partly 20 in the vertical direction, i.e. when the lower part is lowered, is kept at a high level, at a level that is higher than the flexion resistance when walking in the plane, in order to lift the body of the user of the orthopedic device when walking uphill To facilitate climbing stairs or the like and to avoid unwanted flexion and bending of the knee joint 1.
- FIG. 3 the respective angles and orientations in space and the respective reference values are shown to clarify the respective relationships among one another.
- the direction of gravity or the direction of gravity is denoted by the arrow g
- the gravity orientation essentially corresponds to a vertical orientation.
- the orientation of the upper part 10 in space is defined by the angle ft
- the orientation of the lower part 20 in space is represented by the angle cps, in each case measured from the direction of gravity g.
- the hip angle HA is measured between the longitudinal orientation of the torso and the longitudinal orientation of the upper part 10 on the front side in the g direction
- the knee angle KA is measured between the longitudinal extension of the upper part 10 and the longitudinal extension of the lower part 20 around the knee axis 15.
- FIG. 4 is an illustration of a sequence of movements when going uphill.
- the sequence of movements begins at to for the supplied leg with the upper part 10, the lower part 20 and the prosthetic foot 30, in which the prosthetic foot 30 just touches the floor and is at the end of the stance phase.
- the uncontrolled contralateral leg is fully placed on the floor and slightly flexed.
- the leg that has been treated is raised and is in a maximally flexed position with a minimal knee angle KA.
- the foot part 30 is moved towards the ground and lowered, the lower part 20 is at the end of a swing phase extension movement and is braked, for example by activating a brake, increasing a damping rate or by adjusting an extension stop, with which the achievable knee angle is changed.
- the foot part 30 of the supplied leg with a flexed knee joint 1 is put on, the contralateral, un supplied leg is relieved and moved forward.
- a standing phase extension is carried out for the leg that has been treated, which is completed in the phase at time t4.
- the body's center of gravity is then moved forward in the walking direction via the knee pivot axis 15.
- the lower part 20 performs a forward rotation about a support point or pivot point on the floor side and is arranged in the illustrated embodiment in the area of the tip of the prosthetic foot 30. The movement cycle then begins again.
- FIG. 5 shows a corresponding movement sequence when overcoming a step, with a further movement step being drawn in when overcoming a step, which is designated as t4 in FIG. 5 and lies between the time segments t3 and t4 in the sequence of FIG.
- t4 a further movement step
- the uncertain, contralateral leg is raised and in the fleas just above the step to be overcome and the knee on the contralateral side has not yet been moved in front of the knee axis 15 of the prosthetic knee joint 1.
- the knee joint K is brought forward and raised slightly, creating a whip effect, in which the ankle joint A is raised, the tro chanter major remains at an almost unchanged level.
- the knee joint K is raised further and moved forward, the ankle joint A overtakes the knee joint after about 40% of the gait cycle until the knee joint K is in a maximally extended position, which is the case with heel contact or heel strike is.
- This gait phase is marked with the solid line and the reference symbol IC for initial contact. Due to the elasticity of the foot, the ankle joint axis sinks in slightly and the leg rolls forward around the foot 30 or the ankle joint axis 35 in the walking direction, the knee joint being slightly bent because it is a stance phase flexion. In about 70% of the gait cycle, the trocha nter major overtakes the knee joint axis and the hip is brought in front of the knee joint and a forward movement is initiated. Each individual dashed line marks one tenth of a gait cycle.
- FIG. 7 shows the trajectories of ankle A, knee K and greater trochanter Tr when walking uphill, for example on a ramp.
- the ankle joint A has the same trajectory shape, but that it is inclined upwards.
- the lower leg orientation during initial contact is different to that when walking on the plane, as is the orientation from lower part to upper part, namely bent in contrast to a maximally extended position when walking on the plane. All trajectories end at a higher level than they started, which is due to the nature of the matter of going uphill.
- the step height between the contralateral leg that is not taken care of and the ipsilateral foot part 30 of the leg that has been taken care of can be defined.
- the distance Hi from the floor to a prominent point on the hip, for example the greater trochanter, is determined on the fleas of the supporting leg
- the distance H2 is the distance between the floor and the hip or the greater trochanter on the leading side, in the example shown on the prepared page.
- the flea difference AFI then results from the difference between H 1 and H2. Accordingly, a definition of the flea difference AFI applies for walking on a ramp.
- Figure 8b shows the definition of a flea difference AFI * in which the overcome fleas is measured from ipsilateral to ipsilateral, i.e. the flea difference between the lifting of the treated leg and the rest, which corresponds to the flea difference between the toe-off of the treated leg and the initial contact .
- the difference is made clear that the appearance of the treated leg with a flexed knee joint compared to the appearance of a leg with an extended knee joint means for a patient when a flea difference is to be overcome.
- a vorflektier th occurrence is shown
- the right representation a stretched occurrence in which the knee angle KA2 is greater than in the pre-flexed occurrence with a knee angle KAi. Due to the pre-flexion, the step forward Li is less than when stepping with a straight leg.
- the body's center of gravity COM must be moved forward in order to achieve a gait progress.
- the lever L * i must be used as the distance between the center of mass COM and the vertical from the contact point in order to move the body's center of gravity.
- the lower the Flebel L * i the lower the effort that the patient has to expend on the thigh muscles and the hip extensor.
- the lever l_ * 2 is also much larger, even with a user leaning forward, so that a considerably greater amount of force is required to overcome the height difference.
- the height difference AH must be achieved using a larger step template L2 compared to a forward-flexed appearance.
- the usual compensation is done by tilting forward of the upper body, which tries to reduce the lever L * between the point of occurrence and the center of mass COM.
- there is an increased plantar flexion of the rushing leg which cannot be seen in the illustration.
- FIG. 10 the dependence of the knee angle KA on the height difference DH or the step height is shown.
- FIG. 11 this relationship is shown for overcoming a step, in FIG. 10 when walking uphill on a ramp.
- FIG. 12 shows the knee angle profile for different height differences DH.
- DH 0, the toe-off TOi results in a reduction in knee angle KA down to a minimum knee angle.
- the foot is then brought forward, the knee angle KA increases until it is almost completely extended during the heel strike or initial contact IC.
- a forward flexion is set so that stance phase flexion can be performed.
- a pre-flexion is carried out to initiate the swing phase.
- the knee angle KA is plotted over the dimensionless time by the proportion of the gait cycle, the subdivisions each correspond to 10% of a gait cycle.
- FIG. 13 shows the course of a thigh orientation ft in ° over a step cycle with the subdivision into the respective portion of the gait cycle, applied from a first initial contact or heel strike IC to a second initial contact IC2 or heel strike.
- the dashed line shows the course of the thigh orientation cpi for level walking, the solid line for a Climbing uphill or uphill with a DH> 0.
- FIG. 14 shows the ratio of the thigh orientation ft in relation to the horizontal path of the hip or of the trochanter major XH for different height differences of the DH.
- Walking on the plane with DH1 results in a comparatively small range of motion, with increasing height difference DH there is an increasing increase in the thigh orientation cpT with a shortening step length or a shortening horizontal path of the hip. From such a relationship it can be deduced whether there is climbing over or uphill and whether and to what extent an adjustment of the extension stop or damping devices should be undertaken. The adjustment of the extension stop or the damper device can then take place in the swing phase, for example when a threshold value stored in the control unit for this ratio is reached.
- FIG. 15 illustrates a possible auxiliary variable for estimating the step height or the height difference DH to be overcome, namely the ratio of the thigh orientation ft to the horizontal path of the hip XH.
- a rising incline K indicates an increasing step height DH, the greater the step height DH, the greater the inclination of the ratio of thigh orientation ft to a horizontal path XH of the hip, for example the greater trochanter.
- FIG. 16 shows the knee angle profile KA in ° over a step cycle, starting with toe-off TO, with a heel strike HS or initial contact IC at 1 and a second toe-off TO at 1, 6. In the different gait phases, different goals are pursued with the control of the resistances or the attacks.
- the swing phase extension is braked in a controlled manner or the knee joint is actively stretched up to the respectively desired angle of forward flexion.
- the stance phase flexion is checked, for example bending under high flexion resistance in order to limit or prevent excessive stance phase flexion.
- the stance phase extension is influenced, for example via the extension rate, so that the rollover behavior and extension behavior can be influenced.
- the stance phase extension is slowed down in order to avoid a hard stop in the extension stop when the rollover has taken place and the maximum knee angle is reached.
- An application example for an energy store which can be integrated in an active or semi-active actuator, provides for the use of the energy store in selected gear phases.
- the kinetic energy can be stored in particular during the stance phase extension, that is to say during phases C and D, within these phases in particular during braking in the stance phase extension, which corresponds to phase D.
- the stored energy is released again.
- the kinetic energy is stored during the stance phase extension in phase D in order to release it again during the swing phase extension in phase A, there in particular in the second half of the stance phase extension. This supports the correct positioning of the foot.
- the entire stored kinetic energy does not have to be released again immediately; stored amounts of energy can also be added up, for example over several movement phases of a step or over several steps in different or in the same movement phases.
- FIG. 17 shows different control curves of a stance phase extension over the lower leg angle cps.
- the knee extension can be controlled in such a way that with a course according to A, the lower leg or the lower part 10 maintains an approximately constant orientation during the knee extension movement.
- a certain amount of forward rotation of the lower part 20 and the lower leg can be allowed and a forward rotation speed can be set to a defined level.
- the course C provides a certain amount of backward rotation or a backward rotation speed. All three control variants may depend on the walking speed, the step height, the step length and the degree of knee flexion.
- the lower leg angle cps is again plotted over the phases of a gait cycle from the initial contact IC to the beginning of the swing phase at toe-off TO.
- FIG. 18 shows two different knee angle profiles KA, likewise over phases of the gait cycle, the phase following the initial contact IC taking place here with a relatively rigid pre-flexion of 20 degrees. Stance phase flexion is prevented via the course according to the solid curve A, the course with the dashed line B allows further stance phase flexion to 30 degrees, but the extent of stance phase flexion is controlled and the maximum knee flexion is limited. Both variants can be used depending on the walking speed, the step height, the step length and the course of the force application point in the foot section.
- FIG. 19 shows the possible resistance profile with passive control and with the prevention of stance phase flexion using three diagrams.
- the upper diagram shows the knee angle profile KA, the middle diagram the flexion resistance Rfiex and the lower diagram the extension resistance Rext over a gait cycle from toe-off 1 to toe-off 2 with the initial contact IC or heel strike at 1.0. All three curves are plotted over the dimensionless time through the proportion of the gait cycle.
- the flexion resistance Rfiex is increased to a maximum The value is increased so that a maximum flexion resistance is applied in the event of an initial contact IC of the foot part.
- the increase in phase A takes place during the swing phase extension, the knee joint is locked at initial contact IC.
- the flexion resistance Rfiex to the stance phase extension is reduced again in phase B, for example when a stance phase extension takes place, in order to enable a rapid drop in the extension resistance to initiate the swing phase at the end of the stance phase.
- the extension resistance is increased in phase C before the initial contact IC during the swing phase extension in order to stop the knee joint at a defined knee angle KA. A complete blocking of the extension movement does not have to be. By increasing the resistance, the extension movement can be reduced sufficiently to adequately stop the joint. Then the extension resistance is reduced, if necessary depending on the walking speed, step height, step length, existing knee flexion and the course of the ground reaction force vector.
- the extension resistance Rext is then increased in a controlled manner during the stance phase extension movement, for example by regulating it to a target extension rate of the knee joint or as a function of the lower leg angle cps.
- the stance phase extension is made to fold by a further increase in phase F in order to avoid a hard attack in the extension or when the desired knee angle KA is reached.
- FIG. 20 essentially corresponds to FIG. 19, but shows different curves for both the knee angle KA and the respective resistances over the course of a gait cycle.
- the flexion resistance Rfiex is not increased to a maximum value before the initial contact IC, but instead is reduced to a lower value after a maximum to slow down the swing phase until after the initial contact IC the flexion resistance Rfiex is increased in phase B to enable controlled stance phase flexion.
- the increase in phase B is used to control the flexion rate or the extent of stance phase flexion.
- the extent to which the flexion resistance Rfiex is increased depends on the desired maximum flexion angle.
- the flexion resistance reduced again in phase C analogous to phase B in FIG. 19.
- the expansion resistance Rext is adjusted as explained in the course of FIG. 19.
- FIG. 21 shows the course of the lower leg angle cps in relation to the thigh angle ft for walking in the plane in the interrupted line with a height difference DH equal to 0.
- the solid line shows the ratio of the lower leg angle cps to the upper leg angle ft for walking uphill or climbing over an obstacle with a height difference DH greater than 0.
- the subdivisions each correspond to 10 percent of a gait cycle.
- FIG. 22 shows the ratio of the knee angle KA to the thigh angle ft for walking in the plane with DH equal to 0 with the dashed line and for climbing over an obstacle or going uphill with DH greater than 0 with the solid line.
- FIG. 23 a definition of the leg tendons of an ipsi-lateral, supplied leg and a contralateral, non-supplied leg is made.
- the leg tendon goes through the hip pivot point and forms a line with the ankle joint.
- the length of the leg tendon and the orientation fi_ of the leg tendons change during movement, in particular also with different inclines.
- the height differences DH to be overcome can be estimated and predicted or determined via the course of the change in length and / or orientation of the leg tendon.
- the respective control commands are then derived from this.
- the respective orientation of the ipsilateral leg tendon cpu relative to the gravitational direction G and the contralateral leg tendon cpu ⁇ is entered in each case.
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Prostheses (AREA)
Abstract
Description
Claims
Priority Applications (5)
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CN202080040623.5A CN113905690A (zh) | 2019-06-05 | 2020-06-04 | 用于控制人造膝关节的方法 |
CA3139710A CA3139710A1 (en) | 2019-06-05 | 2020-06-04 | Method for controlling an artificial knee joint |
US17/616,301 US20220304831A1 (en) | 2019-06-05 | 2020-06-04 | Method for controlling an artificial knee joint |
JP2021568622A JP2022534686A (ja) | 2019-06-05 | 2020-06-04 | 人工膝関節を制御する方法 |
EP20731042.6A EP3979952A1 (de) | 2019-06-05 | 2020-06-04 | Verfahren zum steuern eines künstlichen kniegelenkes |
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DE102019115098.1 | 2019-06-05 | ||
DE102019115098.1A DE102019115098A1 (de) | 2019-06-05 | 2019-06-05 | Verfahren zum Steuern eines künstlichen Kniegelenks |
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US (1) | US20220304831A1 (de) |
EP (1) | EP3979952A1 (de) |
JP (1) | JP2022534686A (de) |
CN (1) | CN113905690A (de) |
CA (1) | CA3139710A1 (de) |
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US10900850B2 (en) * | 2017-07-28 | 2021-01-26 | Corning Incorporated | Methods of improving the measurement of knee stress in ion-exchanged chemically strengthened glasses containing lithium |
DE102022126222A1 (de) * | 2022-10-10 | 2024-04-11 | Otto Bock Healthcare Products Gmbh | Verfahren zum Steuern einer Unterschenkelprothese und Unterschenkelprothese |
DE102022213182A1 (de) | 2022-12-07 | 2023-12-28 | Zf Friedrichshafen Ag | Orthopädietechnisches System |
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US7485152B2 (en) * | 2005-08-26 | 2009-02-03 | The Ohio Willow Wood Company | Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature |
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2019
- 2019-06-05 DE DE102019115098.1A patent/DE102019115098A1/de active Pending
-
2020
- 2020-06-04 US US17/616,301 patent/US20220304831A1/en active Pending
- 2020-06-04 EP EP20731042.6A patent/EP3979952A1/de active Pending
- 2020-06-04 WO PCT/EP2020/065465 patent/WO2020245261A1/de unknown
- 2020-06-04 CA CA3139710A patent/CA3139710A1/en active Pending
- 2020-06-04 JP JP2021568622A patent/JP2022534686A/ja active Pending
- 2020-06-04 CN CN202080040623.5A patent/CN113905690A/zh active Pending
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US20140156025A1 (en) * | 2004-03-10 | 2014-06-05 | Ossur Hf | Control system and method for a prosthetic knee |
DE102006021802A1 (de) * | 2006-05-09 | 2007-11-15 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung |
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Also Published As
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CN113905690A (zh) | 2022-01-07 |
DE102019115098A1 (de) | 2020-12-10 |
JP2022534686A (ja) | 2022-08-03 |
CA3139710A1 (en) | 2020-12-10 |
EP3979952A1 (de) | 2022-04-13 |
US20220304831A1 (en) | 2022-09-29 |
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