JP2005000500A - Foot joint electric device - Google Patents

Foot joint electric device Download PDF

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Publication number
JP2005000500A
JP2005000500A JP2003169158A JP2003169158A JP2005000500A JP 2005000500 A JP2005000500 A JP 2005000500A JP 2003169158 A JP2003169158 A JP 2003169158A JP 2003169158 A JP2003169158 A JP 2003169158A JP 2005000500 A JP2005000500 A JP 2005000500A
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Japan
Prior art keywords
ankle joint
joint
user
lower limb
actuator
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JP2003169158A
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JP2005000500A5 (en
Inventor
Ryokichi Hirata
亮吉 平田
Taisuke Sakaki
泰輔 榊
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Priority to JP2003169158A priority Critical patent/JP2005000500A/en
Publication of JP2005000500A publication Critical patent/JP2005000500A/en
Publication of JP2005000500A5 publication Critical patent/JP2005000500A5/ja
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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
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees

Abstract

<P>PROBLEM TO BE SOLVED: To provide a foot joint electric device which enables the automatic plantar dorsiflexion of the foot joints according to the phase of the pacing cycle by judging whether the sole of the user contacts the ground surface or not. <P>SOLUTION: The foot joint electric device is constituted of a lower limb application part for application on a lower limb of the user, a joint angle measuring part for measuring the angle of the foot joints of the user, a pressure sensor provided on the sole of the lower limb application part, an actuator provided on the foot joint part of the lower limb application part and a control part for operating the actuator. The control part implements the measurement of the angle of the foot joints of the user with the joint angle measuring part and the measurement with the pressure sensor to determine whether the sole of the user contacts the ground surface or not to judge the phase of the pacing cycle. Thus, the plantar dorsiflexion of the lower limb application part is carried out with the actuator according to the phase, thereby enabling the plantar dorsiflexion of the foot joints of the user. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、運動神経麻痺等により通常の歩行ができない歩行障害者および健常高齢者に対し、歩行周期の位相を判断して、歩行周期の位相に応じ足関節を自動的に底背屈させることで、足先のつまずきを防止する足関節電動装具に関するものである。
【０００２】
【従来の技術】
第１の従来例である特許文献１では、使用者の大腿部および下腿部に装着し、膝関節角度の調節機構を設けることで棒足歩行を改善することを目的とした次のような膝関節角度調節機構付き長下肢装具が記載されている。
以下、簡単に図を用いて説明する。図７は、従来の長下肢装具の構成を示す図である。（ａ）は正面図、（ｂ）は側面図である。図８は、従来の長下肢装具を用いたときの歩行補助を概念的に示す図である。歩行周期は立脚相（踵接地〜つま先離床前）、遊脚相（つま先離床〜踵接地直前）から構成される。１０１は大腿支持部材、１０２は膝関節部材、１０３は下腿支持部材、１０４は足支持部材、１０５は屈曲角度検知センサ、１０６ａは離床検知センサ、１０６ｂは着地検知センサ、１０７は足関節角度検知センサ、１０８は屈曲角度固定・解除機構、１０９は制御部、１１０は大腿包接部材、１１１、１１４は締付部材、１１２は下腿抱接部材である。
この長下肢装具は、膝関節障害者の大腿・下腿の少なくとも外側部から足の少なくとも外側部にかけて添装される歩行補助用の膝関節角度調節機構を備えている。また、大腿支持部材１０１と、１８０度よりも小さい角度の範囲で屈曲角度変更可能な膝関節部材１０２と、下腿支持部材１０３と、足支持部材１０４とが連結され、
（１）膝関節部の屈曲角度を検知する角度検知処理、
（２）足底爪先側に設けた着地検知センサ１０６ｂおよび／または足首関節の屈曲角度によって足底部が床から離れたことを検知する離床検知処理、
（３）前記角度検知処理からの信号によって膝関節部材１０２の屈曲角度を固定し、また前記離床検知処理からの信号によって該膝関節部材１０２の屈曲角度固定を解除する、屈曲角度固定・解除機構１０８、
（４）上記処理（１）〜（３）による検知と作動を集中制御する制御機構を備えている。
【０００３】
以上の構成において、制御部１０９に使用者の歩行補助に最も適した膝関節屈曲角度を予め設定しておき、制御部１０９が、膝角度検知センサ１０５で膝関節角度を検知して屈曲角度固定・解除機構１０８を作動させる。具体的には、制御部１０９が以下の処理を実施する。
・立脚相の踵離床・遊脚相には、膝関節部材１０２の屈曲角度固定・解除機構１０８を解除し下腿を前方に振り出す。
・立脚相の踵接地には、膝関節部材の屈曲角度固定・解除機構１０８を固定し体重を支持する。
上記のような膝関節角度調節機構付き長下肢装具において、制御部が歩行周期に応じ膝関節部材の固定・解除を実施し、使用者の肉体的負担を可及的に軽減しつつ自然な歩行を実現できるようになっている。
【０００４】
【特許文献１】実登３００２３２０号公報
【０００５】
第２の従来例である特許文献２では、運動神経麻痺等により通常の歩行が出来ない歩行障害者に対し、膝関節部分を回動自在として左右ぶれのない健常者に近い歩行を実施させることを目的とした次のような歩行補助装具が記載されている。
以下、簡単に図を用いて説明する。図９（ａ）は、従来の歩行補助装具の構成を示す図（側面図）である。図９（ｂ）は、従来の歩行補助装具の膝部分を折り曲げた状態を示す側面図である。２０１は歩行補助装具で、該歩行補助装具２０１は、膝関節部の上部、即ち上腿部に装着する上腿取付部材２０２と、膝関節の下部、即ち下腿部に装着する下腿取付部材２０３と、上腿取付部材２０２と下腿取付部材２０３とを回動自在に連結する継手２０５とから構成される。伸縮機構（アクチュエータ）２０４は上腿取付部材２０２と下腿取付部材２０３との回動を規制制御するものであり、一方の部材（図では上腿取付部材２０２）に遊びをもって取付けられたモータ２０６と、他方の部材（図では下腿取付部材２０３）に取付けられたソケット２０８の螺旋孔に螺合するボールネジ２０７とからなり、該ボールネジ２０７と前記モータ２０６の軸とはフレキシブル継手２０９で連結されている。なお、図中２１４は下腿取付部部材２０３に設けた靴である。
また、上下の両取付部２０２、２０３をボールネジ２０７で連結している。ボールネジ２０７は立位時（膝を伸ばしたとき）に歩行者の全体重が負荷されても折れ曲がることのない丈夫な部材、例えば鋼材等の棒材の表面にネジを該設してなり、上下の取付部材２０２、２０３を繋ぐ継手２０５の回動自在の動きを規制するもので、障害者が該上下の取付部材２０２、２０３に全体重を掛けても上下の取付部材２０２、２０３が折れ曲がることがない。
図９（ｃ）は、従来の歩行補助装具における杖に設けたコントローラとモータの制御との関係を示す図である。杖２２０にはリモートコントローラ２２２が設けられ、リモートコントローラ２２２の操作スイッチ２２３は杖２２０を握る把持部２２１に取付けられている。リモートコントローラ２２２は前記伸縮機構２０４のモータ２０６の駆動装置（センサ）２２５に赤外線を照射しモータ２０６の回転を遠隔操作し得るよう構成されており、杖２２０に設けた操作スイッチ２２３を、歩行者が杖２２０を操作するのに合わせて指で操作できるように構成されている。
【０００６】
以上の構成において、右足を一歩先に進める場合について説明する。杖２２０を前について上体を傾斜させる。次に杖２２０の把持部２２１に設けたリモートコントローラ２２２の操作スイッチ２２３を操作（例えば押し込む）し、モータ２０６を駆動させる。モータ２０６を駆動させると、モータ２０６にフレキシブル継手２０９を介して連結されているボールネジ２０７が回転し、ボールネジ２０７と螺合するソケット２０８をモータ２０６方向に引き寄せる。ソケット２０８は図では下腿取付部材２０２方向に引き寄せられることとなり、下腿取付部材２０３は回動自在の継手２０５で上腿取付部材２０２に連結されているため、膝を突き出す形で膝部分を回動し、「く」の字状に折り曲げられ、靴２１４が歩行面２２７からかなりの高さまで浮き上がる。
このように靴２１４を高く浮き上がらせた状態になるにしたがって脚（歩行補助装具２０１）は自然に振り子のように前に向かって振られることになる。そして、右足が最大に前に振れた時点でリモートコントローラ２２２の操作スイッチ２２３を再度制御する（上記例では操作スイッチ２２３を放す）と、モータ２０６は逆回転し、ボールネジ２０７はソケット２０８がモータ２０６から離れる方向に回転し、それに伴って下腿取付部材２０３と上腿取付部材２０２とは直線状態になるように回動し、直線状態になったところでモータ２０６は停止し、下腿取付部材２０３と上腿取付部材２０２とは直線状態に戻る。下腿取付部材２０３と上腿取付部材２０２とが直線上腿に戻った状態で歩行面２２７に靴２１４を着地させ一歩進んだことになる。
上記のような歩行補助装具において、膝部に設けた継手２０５を伸縮機構２０４により回動し上腿取付部材２０２と下腿取付部材２０３とを折り曲げ可能として靴２１４と歩行面２２７との距離を可変にすることができ、歩行時に確実な立脚相と遊脚相の形成ができ、安定した歩容が得られるとともに、従来のごとく上体の傾斜や転倒などを生ずることが回避できる。
【０００７】
【特許文献２】特開２００２−１９１６５４号公報
【０００８】
【発明が解決しようとする課題】
しかしながら、上記第１の従来例の膝関節角度調節機構付き長下肢装具においては、制御部が、膝角度検知センサで膝関節角度を検知して屈曲角度固定・解除機構を作動させることで膝関節を固定・解除するが、歩行周期の位相に応じ膝関節を屈曲・伸展させることができなかった。また上記第２の従来例の歩行補助装具においては、モータによりフレキシブル継手を介して連結されているボールネジを回転させることで、膝関節を「く」の字状に屈曲させるが、歩行周期の位相に応じ膝関節を屈曲・伸展させることができなかった。また、歩行者が歩行周期に応じ操作スイッチを操作することで膝関節を屈曲させるが、足底が地面に接地しているかどうかを判断し自動的に膝関節を屈曲させることができなかった。
したがって、本発明の目的は、使用者の足底が地面に接地しているかどうかを判断し、歩行周期の位相に応じ自動的に足関節を底背屈させる足関節電動装具を提供することである。
【０００９】
【課題を解決するための手段】
上記問題を解決するため、請求項１に記載の発明は、使用者の下肢に装着する下肢装着部と、前記使用者の足関節角度を計測する関節角度計測部と、前記下肢装着部の足底に設けられた圧センサと、前記下肢装着部の足関節部に設けられたアクチュエータと、前記アクチュエータを作動させる制御部とからなる足関節電動装具であって、
前記制御部は、前記関節角度計測部により使用者の足関節角度の計測と、前記圧センサにより足底が地面に接地しているかどうかの計測を実施して前記使用者の歩行周期の位相を判断し、位相に応じて前記アクチュエータにより前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。
また、請求項２に記載の発明は、請求項１に記載の足関節電動装具において、前記アクチュエータは回転機構であり、前記回転機構により前記下肢装着部の足関節を正転・逆転させることで、使用者の足関節を底背屈させることを特徴とするものである。
また、請求項３に記載の発明は、請求項１に記載の足関節電動装具において、前記アクチュエータはスライダー機構であり、前記スライダー機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。
また、請求項４に記載の発明は、請求項１に記載の足関節電動装具において、前記アクチュエータはワイヤ駆動機構であり、前記ワイヤ駆動機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とするものである。
請求項１乃至４記載の足関節電動装具によれば、歩行周期の位相に応じ足関節を自動的に底背屈させることができ、足先のつまずきを防止することができる。
【００１０】
【発明の実施の形態】
以下、本発明の具体的実施例を図に基づいて説明する。
（第１実施例）
本発明の第１の実施の形態の足関節電動装具について図１乃至図３に基づいて説明する。図１は、本発明の第１の実施の形態の足関節電動装具のシステム構成を示す図である。１は足関節電動装具、２は使用者７の下肢に装着する下肢装着部、３は足関節の角度を計測する関節角度計測部、４は踵と爪先が地面に接地しているかどうかを計測する圧センサ、５は足関節電動装具の足関節を駆動するアクチュエータ、６は前記関節角度計測部３により計測された使用者７の関節角度情報と、前記圧センサ４により計測された足底の地面への接地情報とを基に、歩行周期の位相を判断し、使用者７の歩行周期の位相に応じアクチュエータ５に駆動指令を出力する制御部、７は使用者である。
【００１１】
図２は、本発明の第１の実施の形態の足関節の背屈方法（方法１）を示す図である。歩行周期の位相における代表的な関節角度変化も示している。
まず、歩行周期の位相について説明する。歩行周期の位相は、▲１▼踵接地、▲２▼足底接地、▲３▼立脚中期、▲４▼踵離地、▲５▼足尖離地、▲６▼遊脚初期、および▲７▼遊脚後期から構成され、各位相に応じて股関節、膝関節、足関節の屈曲・伸展運動が繰り返される。
▲１▼踵接地
・股関節 最大屈曲位となり以後伸展していく
・膝関節 ほぼ完全に伸展し以後屈曲していく
・足関節 背屈位から底屈していく
▲２▼足底接地
・股関節 伸展していく
・膝関節 屈曲していく
・足関節 底屈位（約１０°）となる
▲３▼立脚中期
・股関節 伸展していく
・膝関節 立脚期での最大屈曲位（約２０°）となる
・足関節 背屈していく
▲４▼踵離地
・股関節 最大伸展位（約１０°）となる
・膝関節 伸展から屈曲していく
・足関節 最大底屈位（約１０°）となり以後は底屈していく
▲５▼足尖離地
・股関節 屈曲していく
・膝関節 屈曲していく
・足関節 最大底屈位（約２０°）となる
▲６▼遊脚初期
・股関節 加速しながら屈曲していく
・膝関節 最大約６０°まで屈曲していく
・足関節 背屈していく
▲７▼遊脚後期
・股関節 減速しながら屈曲していく
・膝関節 伸展していく
・足関節 背屈位を保つ
【００１２】
次に、足関節の背屈方法（方法１）について説明する。
以下の手順で制御部６が足関節を背屈させる。
（１）関節角度計測部３により足関節角度を計測する。
（２）圧センサ４により踵と爪先が地面に接地しているかどうかを計測する。
（３）踵と爪先が地面から離れている期間（足尖離地、遊脚初期、および遊脚後期）において、アクチュエータ５を駆動することで、使用者７の足関節を歩行周期に応じ背屈させる。
（４）（１）〜（３）を繰り返す。
ここで、足尖離地、遊脚初期、および遊脚後期の時間は、以下のいずれかを採用する。
・前回の歩行周期における踵と爪先が地面から離れている時間とする。
・関節角度計測部により、股・膝関節角度も計測することで、歩行周期の位相を判断する。
【００１３】
図３は、本発明の第１の実施の形態の足関節の底背屈方法（方法２）を示す図である。以下の手順で制御部６が足関節を底背屈させる。
（１）関節角度計測部３により股・膝・足関節角度を計測する。
（２）圧センサ４により踵と爪先が地面に接地しているかどうかを計測する。
（３）アクチュエータ５を駆動することで、踵接地、足底接地、および踵離地において、使用者の足関節を歩行周期に応じ底屈、立脚中期、足尖離地、遊脚初期、および遊脚後期において、使用者７の足関節を歩行周期に応じ背屈させる。
（４）（１）〜（３）を繰り返す。
【００１４】
なお、足関節電動装具に足関節トルク計測部を備え、前記足関節トルク計測部により使用者７の足関節トルクを計測し、制御部６が前記トルクに応じ足関節を底背屈させてもよい。具体的には、足関節トルクのしきい値を予め設定しておき、足関節トルクがしきい値以上になるとそれ以上背屈させない方法をとってもよい。
また、足関節電動装具に提示部（視覚・聴覚・振動等）を備え、制御部６が歩行周期に応じ歩行のリズムを提示部により使用者に通知してもよい。
さらに、足関節電動装具に生体情報計測部を備え、前記生体情報計測部により使用者の生体情報（心拍数等）を計測し、心拍数が予め設定したしきい値以上になると歩行を止めるようにしてもよい。
【００１５】
（第２実施例）
本発明の第２の実施の形態の足関節電動装具について図４に基づいて説明する。
図４は、本発明の第２の実施の形態の足関節電動装具のシステム構成を示す図である。図４において図１と同じ符号のものは同一のものを示しているので説明は省略する。８は足関節電動装具の足関節を駆動する回転機構である。
第１の実施の形態と同様にして、制御部６が回転機構を駆動し足関節電動装具の足関節を正転・逆転させることで、前記方法１、方法２において足関節を底背屈させる。
【００１６】
（第３実施例）
本発明の第３の実施の形態の足関節電動装具について図５に基づいて説明する。
図５は、本発明の第３の実施の形態の足関節電動装具のシステム構成を示す図である。図５において図１と同じ符号のものは同一のものを示しているので説明は省略する。９は足関節電動装具の足関節を駆動するスライダー機構である。
第１の実施の形態と同様にして、制御部６がスライダー機構を駆動し足関節電動装具の足底を底背屈させることで、前記方法１、方法２において足関節を底背屈させる。
【００１７】
（第４実施例）
本発明の第４の実施の形態の足関節電動装具について図６に基づいて説明する。
図６は、本発明の第４の実施の形態の足関節電動装具のシステム構成を示す図である。図６において図１と同じ符号のものは同一のものを示しているので説明は省略する。１０は足関節電動装具の足関節を駆動するワイヤ駆動機構である。
第１の実施の形態と同様にして、制御部６がワイヤ駆動機構を駆動し足関節電動装具の足底を底背屈させることで、前記方法１、方法２において足関節を底背屈させる。
【００１８】
【発明の効果】
以上説明したように、請求項１乃至４記載の足関節電動装具によれば、歩行周期の位相を判断して、位相に応じ足関節を自動的に底背屈させることができ、足先のつまずきを防止することができる。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態の歩行訓練装置のシステム構成を示す図である。
【図２】本発明の第１の実施の形態の足関節の背屈方法（方法１）を示す図である。
【図３】本発明の第１の実施の形態の足関節の底背屈方法（方法２）を示す図である。
【図４】本発明の第２の実施の形態の足関節電動装具のシステム構成を示す図である。
【図５】本発明の第３の実施の形態の足関節電動装具のシステム構成を示す図である。
【図６】本発明の第４の実施の形態の足関節電動装具のシステム構成を示す図である。
【図７】従来の第１の実施の形態の長下肢装具の構成を示す図である。
【図８】従来の第１の実施の形態の長下肢装具を用いたときの歩行補助を概念的に示す図である。
【図９】従来の第２の実施の形態の歩行補助装具の構成を示す図である。
【符号の説明】
１ 足関節電動装具
２ 下肢装着部
３ 関節角度計測部
４ 圧センサ
５ アクチュエータ
６ 制御部
７ 使用者
８ 回転機構
９ スライダー機構
１０ ワイヤ駆動機構
１０１ 大腿支持部材
１０２ 膝関節部材
１０３ 下腿支持部材
１０４ 足支持部材
１０５ 屈曲角度検知センサ
１０６ａ 離床検知センサ
１０６ｂ 着地検知センサ
１０７ 足関節角度検知センサ
１０８ 屈曲角度固定・解除機構
１０９ 制御部
１１０ 大腿抱接部材
１１１ 締付部材
１１２ 下腿抱接部材
１１３ 締付部材
１１４ 締付部材
１１５ 正・逆回転モータ
１１６ スクリューナット
１１７ ブレーキレバー
１１９ ブレーキ部材
２０１ 歩行補助装具
２０２ 上腿取付部材
２０３ 下腿取付部材
２０４ 伸縮機構
２０５ 継手
２０６ モータ
２０７ ボールネジ
２０８ ソケット
２０９ フレキシブル継手
２１０ 金具
２１１ テープ
２１３ リミットスイッチ
２１４ 靴
２１５ 結合部材
２２０ 杖
２２１ 把持部
２２２ リモートコントローラ
２２３ 操作スイッチ
２２５ 駆動装置
２２７ 歩行面[0001]
BACKGROUND OF THE INVENTION
The present invention judges the phase of the gait cycle for a disabled person and a healthy elderly person who cannot normally walk due to motor nerve palsy, etc., and automatically deforms the ankle joint in the dorsiflexion according to the phase of the gait cycle Thus, the present invention relates to an ankle-joint electric brace that prevents a toe from tripping.
[0002]
[Prior art]
In Patent Document 1, which is a first conventional example, the following is intended to improve walking on a stick foot by mounting on a user's thigh and crus and providing a knee joint angle adjustment mechanism. A long leg brace with a knee joint angle adjustment mechanism is described.
Hereinafter, it will be briefly described with reference to the drawings. FIG. 7 is a diagram illustrating a configuration of a conventional long leg brace. (A) is a front view, (b) is a side view. FIG. 8 is a diagram conceptually illustrating walking assistance when a conventional long leg brace is used. The walking cycle is composed of a stance phase (踵 grounding to before toe flooring) and a free leg phase (toe floor to just before heel grounding). 101 is a thigh support member, 102 is a knee joint member, 103 is a crus support member, 104 is a foot support member, 105 is a bending angle detection sensor, 106a is a bed leaving detection sensor, 106b is a landing detection sensor, 107 is an ankle joint angle detection sensor 108 is a bending angle fixing / releasing mechanism, 109 is a control unit, 110 is a thigh wrapping member, 111 and 114 are tightening members, and 112 is a crus holding member.
This long leg brace includes a knee joint angle adjustment mechanism for walking assistance that is attached from at least the outer side of the thigh and lower leg of the person with a knee joint disorder to at least the outer side of the foot. Further, the thigh support member 101, the knee joint member 102 capable of changing the bending angle within a range of angles smaller than 180 degrees, the crus support member 103, and the foot support member 104 are coupled,
(1) An angle detection process for detecting the bending angle of the knee joint,
(2) A landing detection sensor 106b provided on the toe toe side and / or a bed leaving detection process for detecting that the bottom of the foot is separated from the floor by the bending angle of the ankle joint,
(3) A bending angle fixing / releasing mechanism that fixes the bending angle of the knee joint member 102 by a signal from the angle detection process and releases the bending angle fixation of the knee joint member 102 by a signal from the bed leaving detection process. 108,
(4) A control mechanism for centrally controlling the detection and operation by the processes (1) to (3) is provided.
[0003]
In the above configuration, the knee joint flexion angle most suitable for the user's walking assistance is preset in the control unit 109, and the control unit 109 detects the knee joint angle by the knee angle detection sensor 105 and fixes the flexion angle. -The release mechanism 108 is operated. Specifically, the control unit 109 performs the following processing.
In the standing phase, in the heel phase / free swing phase, the bending angle fixing / releasing mechanism 108 of the knee joint member 102 is released and the lower leg is swung forward.
-For heel contact during the stance phase, the bending angle fixing / releasing mechanism 108 of the knee joint member is fixed to support the weight.
In the long leg brace with knee joint angle adjustment mechanism as described above, the control unit fixes and releases the knee joint member according to the walking cycle, and natural walking while reducing the physical burden of the user as much as possible. Can be realized.
[0004]
[Patent Document 1] Japanese Utility Model Publication No. 3002320
In Patent Document 2, which is a second conventional example, for a walking handicapped person who cannot normally walk due to motor nerve palsy or the like, the knee joint part can be turned freely to perform walking close to a healthy person without left-right shaking. The following walking assistive devices for the purpose are described.
Hereinafter, it will be briefly described with reference to the drawings. Fig.9 (a) is a figure (side view) which shows the structure of the conventional walking assistance device. FIG.9 (b) is a side view which shows the state which bent the knee part of the conventional walking assistance device. Reference numeral 201 denotes a walking assistance device. The walking assistance device 201 includes an upper thigh attachment member 202 attached to the upper part of the knee joint, that is, the upper thigh, and a lower thigh attachment member 203 attached to the lower part of the knee joint, that is, the lower thigh. And a joint 205 that rotatably connects the upper leg attachment member 202 and the lower leg attachment member 203. The telescopic mechanism (actuator) 204 controls the rotation of the upper thigh attachment member 202 and the lower thigh attachment member 203, and includes a motor 206 attached to one member (upper thigh attachment member 202 in the figure) with play. And a ball screw 207 screwed into a spiral hole of a socket 208 attached to the other member (lower leg attachment member 203 in the figure), and the ball screw 207 and the shaft of the motor 206 are connected by a flexible joint 209. . In the figure, reference numeral 214 denotes a shoe provided on the crus attachment member 203.
Further, the upper and lower mounting portions 202 and 203 are connected by a ball screw 207. The ball screw 207 is formed by placing a screw on the surface of a strong member that does not bend even when the pedestrian's overall weight is applied when standing (when the knee is extended), such as a steel bar. The upper and lower mounting members 202 and 203 are bent even if a handicapped person puts the entire weight on the upper and lower mounting members 202 and 203. There is no.
FIG.9 (c) is a figure which shows the relationship between the controller provided in the cane in the conventional walking assistance device, and control of a motor. The cane 220 is provided with a remote controller 222, and an operation switch 223 of the remote controller 222 is attached to a grip portion 221 that holds the cane 220. The remote controller 222 is configured to irradiate infrared rays to the driving device (sensor) 225 of the motor 206 of the expansion / contraction mechanism 204 so that the rotation of the motor 206 can be remotely operated. Can be operated with a finger in accordance with the operation of the cane 220.
[0006]
In the above configuration, a case where the right foot is advanced one step will be described. The upper body is tilted with respect to the cane 220 in front. Next, the operation switch 223 of the remote controller 222 provided on the grip portion 221 of the cane 220 is operated (for example, pushed) to drive the motor 206. When the motor 206 is driven, the ball screw 207 connected to the motor 206 via the flexible joint 209 rotates, and the socket 208 screwed with the ball screw 207 is pulled toward the motor 206. In the figure, the socket 208 is pulled toward the crus attachment member 202, and the crus attachment member 203 is connected to the crus attachment member 202 by a rotatable joint 205. Then, the shoe 214 is bent into a “<” shape and the shoe 214 is lifted from the walking surface 227 to a considerable height.
In this way, as the shoe 214 is lifted high, the leg (walking assisting device 201) naturally swings forward like a pendulum. When the operation switch 223 of the remote controller 222 is controlled again when the right foot swings forward to the maximum (in the above example, the operation switch 223 is released), the motor 206 rotates in the reverse direction, and the ball screw 207 has the socket 208 connected to the motor 206. The crus attachment member 203 and the crus attachment member 202 are rotated so as to be in a linear state, and when the linear state is reached, the motor 206 is stopped and the crus attachment member 203 and the upper The thigh attachment member 202 returns to a straight state. The shoe 214 is landed on the walking surface 227 with the lower leg attaching member 203 and the upper leg attaching member 202 returned to the straight upper leg, and one step has been taken.
In the walking assistive device as described above, the joint 205 provided on the knee is rotated by the expansion / contraction mechanism 204 so that the upper thigh attachment member 202 and the lower thigh attachment member 203 can be bent, and the distance between the shoe 214 and the walking surface 227 is variable. Thus, the standing stance phase and the swinging limb phase can be reliably formed during walking, and a stable gait can be obtained, and the occurrence of tilting or falling of the upper body as in the past can be avoided.
[0007]
[Patent Document 2] Japanese Patent Application Laid-Open No. 2002-191654
[Problems to be solved by the invention]
However, in the long leg brace with the knee joint angle adjustment mechanism of the first conventional example, the control unit detects the knee joint angle by the knee angle detection sensor and operates the bending angle fixing / releasing mechanism to operate the knee joint. The knee joint could not be flexed or extended according to the phase of the walking cycle. In the walking assistance device of the second conventional example, the ball joint connected by the motor through the flexible joint is rotated to bend the knee joint into a “<” shape. The knee joint could not be flexed or extended in response. In addition, although the pedestrian flexes the knee joint by operating the operation switch according to the walking cycle, the knee joint cannot be flexed automatically by determining whether the sole is in contact with the ground.
Accordingly, an object of the present invention is to provide an ankle joint electric device that determines whether or not a user's sole is in contact with the ground and automatically buckles the ankle joint in the back according to the phase of the walking cycle. is there.
[0009]
[Means for Solving the Problems]
In order to solve the above problem, the invention according to claim 1 is directed to a lower limb mounting unit to be mounted on a user's lower limb, a joint angle measuring unit for measuring an ankle joint angle of the user, and a foot of the lower limb mounting unit. An ankle joint electric appliance comprising a pressure sensor provided at the bottom, an actuator provided at an ankle joint portion of the lower limb wearing portion, and a control unit for operating the actuator,
The control unit performs measurement of a user's ankle joint angle by the joint angle measurement unit and measurement of whether or not a sole is in contact with the ground by the pressure sensor, and determines a phase of the user's walking cycle. The user's ankle joint is bent back dorsiflexed by judging and making the ankle joint of the lower limb wearing portion dorsiflexed by the actuator according to the phase.
According to a second aspect of the present invention, in the electric ankle joint orthosis according to the first aspect, the actuator is a rotation mechanism, and the ankle joint of the lower limb mounting portion is rotated forward and reverse by the rotation mechanism. The ankle joint of the user is bent back and bent.
Further, the invention according to claim 3 is the ankle joint electric appliance according to claim 1, wherein the actuator is a slider mechanism, and the ankle joint of the lower limb wearing portion is bent back and bent by the slider mechanism. It is characterized in that the user's ankle joint is bent to the sole.
According to a fourth aspect of the present invention, in the ankle joint electric brace according to the first aspect, the actuator is a wire drive mechanism, and the ankle joint of the lower limb wearing portion is bent to the back with the wire drive mechanism. Thus, the user's ankle joint is bent dorsiflexively.
According to the ankle joint electric appliances of the first to fourth aspects, the ankle joint can be automatically bent to the dorsum of the foot according to the phase of the walking cycle, and the toe can be prevented from being tripped.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
An ankle joint electric appliance according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing a system configuration of an ankle joint electric appliance according to a first embodiment of the present invention. 1 is an ankle joint electric appliance, 2 is a lower limb wearing part to be worn on the lower limb of the user 7, 3 is a joint angle measuring part for measuring the angle of the ankle joint, and 4 is measuring whether the heel and toes are in contact with the ground The pressure sensor 5 is an actuator for driving the ankle joint of the ankle joint electric appliance, 6 is the joint angle information of the user 7 measured by the joint angle measurement unit 3, and the sole of the sole measured by the pressure sensor 4. The control unit 7 determines the phase of the walking cycle based on the ground contact information to the ground and outputs a drive command to the actuator 5 according to the phase of the walking cycle of the user 7.
[0011]
FIG. 2 is a diagram illustrating an ankle joint dorsiflexion method (method 1) according to the first embodiment of this invention. A typical joint angle change in the phase of the walking cycle is also shown.
First, the phase of the walking cycle will be described. The phases of the walking cycle are as follows: (1) 踵 ground contact, (2) plantar ground contact, (3) mid-stance phase, (4) 踵 out of ground, (5) foot tip off, (6) free leg initial, and ▲ 7 ▼ It consists of the latter part of the swing leg, and flexion and extension movements of the hip joint, knee joint and ankle joint are repeated according to each phase.
▲ 1 踵 Ground contact / hip joint Bend to the maximum bending position and extend after that ・ Knee joint almost fully extend and then bend ・ Ankle joint bent from the dorsiflexion position ▲ 2 ▼ Ground contact and hip joint extension -Knee joint Bending-Ankle joint Bending in the bottom (approx. 10 °) ▲ 3 ▼ Mid-Standing / Hip joint extending-Knee joint Maximum bending in the stance (approx. 20 °)・ Ankle joint dorsiflexion (4) 踵 Remote area ・ Hip joint is in maximum extension position (about 10 °) ・ Knee joint is bent from extension ・ Ankle joint is in maximum bottom flexion position (about 10 °) and then the bottom Flexing ▲ 5 ▼ Tap point separation ・ Hip joint Flexing ・ Knee joint Flexing ・ Ankle joint Maximum bottom flexion (about 20 °) ▲ 6 ▼ Free leg initial stage ・ Hip joint Bending while accelerating・ Knee joint Bending up to approx. 60 ° ・ Ankle joint dorsiflexion ▲ 7 ▼ Long swing leg ・ Hip joint slowing down While flexing, knee joint, extending, ankle, keeping dorsiflexion [0012]
Next, an ankle joint dorsiflexion method (method 1) will be described.
The control unit 6 causes the ankle joint to dorsiflex in the following procedure.
(1) The ankle joint angle is measured by the joint angle measurement unit 3.
(2) The pressure sensor 4 measures whether the heel and toes are in contact with the ground.
(3) During the period in which the heel and toes are separated from the ground (toe separation, early swing leg and late swing leg), the actuator 5 is driven so that the ankle joint of the user 7 is backed according to the walking cycle. Bend.
(4) Repeat (1) to (3).
Here, any of the following is adopted for the time of the toe off, the free leg early stage, and the late leg late stage.
・ The time when the heel and toes are away from the ground in the previous walking cycle.
-The joint angle measuring unit also measures the hip and knee joint angles to determine the phase of the walking cycle.
[0013]
FIG. 3 is a diagram showing a sole dorsiflexion method (method 2) of the ankle joint according to the first embodiment of this invention. The control unit 6 bends the ankle joint in the following procedure.
(1) The joint angle measurement unit 3 measures the hip, knee, and foot joint angles.
(2) The pressure sensor 4 measures whether the heel and toes are in contact with the ground.
(3) By driving the actuator 5, in the heel contact, the plantar contact, and the heel-off ground, the user's ankle joint is bent according to the walking cycle, mid-stance stance, foot-point detachment, swing leg initial stage, and In the late stage of the swing leg, the user's 7 ankle joint is bent back according to the walking cycle.
(4) Repeat (1) to (3).
[0014]
In addition, even if an ankle joint electric appliance is provided with an ankle joint torque measurement part, the ankle joint torque of the user 7 is measured by the ankle joint torque measurement part, and the control part 6 causes the ankle joint to dorsiflexively bend in response to the torque. Good. Specifically, a threshold value of the ankle torque may be set in advance, and a method in which the dorsiflexion is not further caused when the ankle torque exceeds the threshold value may be used.
Further, the ankle joint electric appliance may be provided with a presentation unit (vision, hearing, vibration, etc.), and the control unit 6 may notify the user of the walking rhythm by the presentation unit according to the walking cycle.
Furthermore, the ankle joint orthosis is equipped with a biological information measuring unit, and the biological information measuring unit measures the user's biological information (heart rate, etc.), and stops walking when the heart rate exceeds a preset threshold value. It may be.
[0015]
(Second embodiment)
An ankle-joint electric appliance according to a second embodiment of the present invention will be described with reference to FIG.
FIG. 4 is a diagram showing a system configuration of the electric ankle joint orthosis according to the second embodiment of the present invention. In FIG. 4, the same reference numerals as those in FIG. Reference numeral 8 denotes a rotation mechanism that drives the ankle joint of the ankle joint electric brace.
In the same manner as in the first embodiment, the control unit 6 drives the rotation mechanism to cause the ankle joint of the ankle joint electric orthosis to rotate forward and backward, thereby causing the ankle joint to dorsiflexion in the method 1 and method 2. .
[0016]
(Third embodiment)
An ankle joint electric appliance according to a third embodiment of the present invention will be described with reference to FIG.
FIG. 5 is a diagram showing a system configuration of the ankle joint electric appliance according to the third embodiment of the present invention. In FIG. 5, the same reference numerals as those in FIG. A slider mechanism 9 drives the ankle joint of the ankle joint electric appliance.
In the same manner as in the first embodiment, the control unit 6 drives the slider mechanism to cause the plantar dorsiflexion of the sole of the ankle joint electric brace, so that the ankle joint is dorsiflexed in the method 1 and the method 2.
[0017]
(Fourth embodiment)
An ankle joint electric appliance according to a fourth embodiment of the present invention will be described with reference to FIG.
FIG. 6 is a diagram showing a system configuration of the ankle joint electric device according to the fourth embodiment of the present invention. In FIG. 6, the same reference numerals as those in FIG. Reference numeral 10 denotes a wire drive mechanism that drives the ankle joint of the ankle joint electric brace.
In the same manner as in the first embodiment, the control unit 6 drives the wire drive mechanism to cause the plantar dorsiflexion of the sole of the electric ankle joint orthosis so that the ankle joint is dorsiflexed in the method 1 and the method 2. .
[0018]
【The invention's effect】
As described above, according to the ankle joint electric appliances of the first to fourth aspects, the phase of the walking cycle can be determined, and the ankle joint can be automatically bent to the dorsum of the foot according to the phase. Stumbling can be prevented.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a system configuration of a walking training apparatus according to a first embodiment of this invention.
FIG. 2 is a diagram illustrating an ankle joint dorsiflexion method (method 1) according to the first embodiment of this invention;
FIG. 3 is a diagram showing an ankle plantar dorsiflexion method (method 2) according to the first embodiment of the present invention;
FIG. 4 is a diagram showing a system configuration of an electric ankle joint orthosis according to a second embodiment of the present invention.
FIG. 5 is a diagram showing a system configuration of an electric ankle joint orthosis according to a third embodiment of the present invention.
FIG. 6 is a diagram showing a system configuration of an ankle joint electric device according to a fourth embodiment of the present invention.
FIG. 7 is a diagram showing a configuration of a long leg brace according to the first embodiment of the prior art.
FIG. 8 is a diagram conceptually illustrating walking assistance when using the long leg brace of the first conventional embodiment.
FIG. 9 is a diagram showing a configuration of a walking assistance device according to a conventional second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Ankle joint electric equipment 2 Lower leg mounting part 3 Joint angle measurement part 4 Pressure sensor 5 Actuator 6 Control part 7 User 8 Rotation mechanism 9 Slider mechanism 10 Wire drive mechanism 101 Thigh support member 102 Knee joint member 103 Lower leg support member 104 Foot support Member 105 Bending angle detection sensor 106a Landing detection sensor 106b Landing detection sensor 107 Ankle joint angle detection sensor 108 Bending angle fixing / releasing mechanism 109 Control unit 110 Thigh hugging member 111 Tightening member 112 Lower thigh hugging member 113 Tightening member 114 Tightening Attached member 115 Forward / reverse rotation motor 116 Screw nut 117 Brake lever 119 Brake member 201 Walking assistance device 202 Upper leg attachment member 203 Lower leg attachment member 204 Telescopic mechanism 205 Joint 206 Motor 207 Ball screw 208 Socket 209 Flexible joint 210 Ingredients 211 tape 213 limit switch 214 shoes 215 binding member 220 Cane 221 gripper 222 walking surface remote controller 223 the operation switch 225 drives 227

Claims (4)

使用者の下肢に装着する下肢装着部と、前記使用者の足関節角度を計測する関節角度計測部と、前記下肢装着部の足底に設けられた圧センサと、前記下肢装着部の足関節部に設けられたアクチュエータと、前記アクチュエータを作動させる制御部とからなる足関節電動装具であって、
前記制御部は、前記関節角度計測部により使用者の足関節角度の計測と、前記圧センサにより足底が地面に接地しているかどうかの計測を実施して前記使用者の歩行周期の位相を判断し、位相に応じて前記アクチュエータにより前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする足関節電動装具。A lower limb mounting unit to be mounted on a user's lower limb, a joint angle measuring unit for measuring an ankle joint angle of the user, a pressure sensor provided on a sole of the lower limb mounting unit, and an ankle joint of the lower limb mounting unit An ankle joint electric device comprising an actuator provided in a part and a control part for operating the actuator,
The control unit performs measurement of a user's ankle joint angle by the joint angle measurement unit and measurement of whether or not a sole is in contact with the ground by the pressure sensor, and determines a phase of the user's walking cycle. An ankle-joint electric appliance characterized in that the user's ankle joint is bent dorsiflexed by determining and bending the ankle joint of the lower limb wearing portion by the actuator according to the phase. 前記アクチュエータは回転機構であり、前記回転機構により前記下肢装着部の足関節を正転・逆転させることで、使用者の足関節を底背屈させることを特徴とする請求項１記載の足関節電動装具。2. The ankle joint according to claim 1, wherein the actuator is a rotation mechanism, and the ankle joint of the lower limb wearing part is rotated forward and reverse by the rotation mechanism to cause the user's ankle joint to bend back. 3. Electric brace. 前記アクチュエータはスライダー機構であり、前記スライダー機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする請求項１記載の足関節電動装具。2. The ankle joint electric motor according to claim 1, wherein the actuator is a slider mechanism, and the ankle joint of the lower limb wearing portion is bent dorsiflexed by the slider mechanism, and the ankle joint of the user is bent dorsiflexively. Brace. 前記アクチュエータはワイヤ駆動機構であり、前記ワイヤ駆動機構により前記下肢装着部の足関節を底背屈させることで、使用者の足関節を底背屈させることを特徴とする請求項１記載の足関節電動装具。The foot according to claim 1, wherein the actuator is a wire drive mechanism, and the ankle joint of the lower limb wearing portion is bent dorsiflexed by the wire drive mechanism, thereby causing the user's ankle joint to bend dorsiflexively. Joint electric orthosis.
JP2003169158A 2003-06-13 2003-06-13 Foot joint electric device Pending JP2005000500A (en)

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