JP2007524483A - 動作制御式足ユニットのためのシステム及び方法 - Google Patents
動作制御式足ユニットのためのシステム及び方法 Download PDFInfo
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Abstract
Description
一実施形態では、補装具100は、この補装具100が静止する位置の場合、下肢部材102の主縦軸が実質的に足ユニット104の底面に対し略直角となるように構成されている。別の実施形態では、下肢部材102は、足ユニット104が地面に静止している場合、平坦な地面に対し略直角である。このような構成により、使用者に対しての支持及び/又は安定性を好適に増強する。
[TS;AccX;AccY;AccZ;GyroX,GyroY、GyroZ、DegX、DegY,FS,M]の情報を含む。
ここで、TSは、時刻刻印; AccXは、X軸方向の足の直線加速度; AccYは、Y軸方向の足の直線加速度 ;AccXは、Z軸方向の足の直線加速度; GyroXは、X軸方向の足の角加速度; GyroYは、Y軸方向の足の角加速度; GyroZは、Z軸方向の足の角加速度; DegXは、冠状面内での足の傾斜角度; DegYは、矢状面内での足の傾斜角度; FSは、足首器具304のスイッチの論理状態; Mは、センサの方向である。本発明の他の実施形態では、さらに多いか少ない情報を含む他の長さのデータ列を用いてもよい。
Claims (43)
- 肢の動きに関連付けられたシステムであって、
足ユニットと、
上端部及び下端部を有し、該下端部が前記足ユニットの第一位置に旋回可能に取り付けられている取付部材と、
前記足ユニット及び取付部材に作動可能に取り付けられ、該取付部材と足ユニットとの間の角度を積極的に調節するように構成されているアクチュエータと、を備えることを特徴とするシステム。 - 前記アクチュエータは、リニアアクチュエータを含むことを特徴とする、請求項1に記載のシステム。
- 前記リニアアクチュエータは、スクリューモータを含むことを特徴とする、請求項2に記載のシステム。
- 前記アクチュエータは、ロータリーアクチュエータを含むことを特徴とする、請求項1に記載のシステム。
- 前記システムの動きを監視するように構成された少なくとも一つのセンサをさらに備えることを特徴とする、請求項1に記載のシステム。
- 前記少なくとも一つのセンサは、加速度計を備えることを特徴とする、請求項5に記載のシステム。
- 前記少なくとも一つのセンサは、ジャイロスコープを備えることを特徴とする、請求項5に記載のシステム。
- 前記アクチュエータへ動力を供給するように構成された動力源をさらに備えることを特徴とする、請求項1に記載のシステム。
- 前記取付部材と肢切断者の基部との連結を容易にするように構成された取付部を更に備えることを特徴とする、請求項1に記載のシステム。
- 前記取付部材と支柱部材との連結を容易にするように構成された取付部をさらに備えることを特徴とする、請求項1に記載のシステム。
- 前記足ユニットは、矯正具を含むことを特徴とする、請求項1に記載のシステム。
- 前記足ユニットは、補装具を含むことを特徴とする、請求項1に記載のシステム。
- 前記足ユニットにおける前記第一位置は、当該足ユニットの本来の足首の位置に位置することを特徴とする、請求項1に記載のシステム。
- 足首の自然な動きを模倣するための補装具システムであって、
義足と、
前記義足における該義足の本来の足首の位置の近傍にある第一位置に取り付けられた旋回軸アッセンブリと、
脛骨方向に延び、上端部及び下端部を有し、該下端部が前記旋回軸アッセンブリに作動可能に連結されている下肢部材と、
前記義足及び下肢部材に作動可能に連結され、前記旋回軸アッセンブリ周りに当該下肢部材と義足との間の角度を積極的に調節するように構成されているアクチュエータと、を備えることを特徴とする、補装具システム。 - 前記アクチュエータは、リニアアクチュエータを含むことを特徴とする、請求項14に記載の補装具システム
- 前記アクチュエータは、延在する前記下肢部材に関して後方の位置に配置されていることを特徴とする、請求項14に記載の補装具システム
- 前記アクチュエータは、前記下肢部材に関して前方の位置に配置されていることを特徴とする、請求項14に記載の補装具システム
- 前記補装具システムの動特性を測定するように構成された少なくとも一つのセンサをさらに備えることを特徴とする、請求項14に記載の補装具システム。
- 前記少なくとも一つのセンサは、加速度計を備えることを特徴とする、請求項18に記載の補装具システム。
- 前記アクチュエータへ動力を供給するように構成された充電式バッテリをさらに備えることを特徴とする、請求項14に記載の補装具システム。
- 前記アクチュエータは、前記下肢部材と義足との間の角度を中立位置における角度より少なくとも10度大きく調節するように構成されていることを特徴とする、請求項14に記載の補装具システム。
- 前記アクチュエータは、前記下肢部材と義足との間の角度を中立位置における角度より少なくとも20度小さく調節するように構成されていることを特徴とする、請求項14に記載の補装具システム。
- 前記アクチュエータが第一端部と第二端部とを備え、当該アクチュエータの第一端部が前記義足における第二位置と連結され、当該アクチュエータの第二端部が前記下肢部材と連結されていることを特徴とする、請求項14に記載の補装具システム。
- 肢の動きに関連付けられた装置を制御するための方法であって、
少なくとも一つのセンサによって肢に関連する作動装置の動きを監視するステップと、
前記動きを示すデータを作成するステップと、
前記作動装置の現在の動作状態を決定するために処理モジュールによってデータを処理するステップと、
前記決定された動作状態に基づいて前記作動装置を調節するステップと、を備え、
前記調節するステップは、健常な足首の動きを実質的に模倣するステップを有することを特徴とする方法。 - 前記作動装置は、矯正具を含むことを特徴とする、請求項24に記載の方法。
- 前記作動装置は、補装具を含むことを特徴とする、請求項24に記載の方法。
- 安全率を決定するステップをさらに備え、当該安全率が所定の閾値を超えた場合にのみ前記作動装置を調節することを特徴とする、請求項24に記載の方法。
- バッテリの動力レベルが所定の閾値以下に低下した場合、前記作動装置を固定位置に実質的に固定するステップをさらに備えることを特徴とする、請求項24に記載の方法。
- 前記少なくとも一つのセンサは、作動装置に配置されていることを特徴とする、請求項24に記載の方法。
- 前記作動装置を調節するステップは、アクチュエータを伸縮させるステップを備えることを特徴とする、請求項24に記載の方法。
- 前記作動装置の踵の高さを調節するステップをさらに備えることを特徴とする、請求項24に記載の方法。
- 前記少なくとも一つのセンサは、前記肢に配置されていることを特徴とする、請求項24に記載の方法。
- 足首補装具を制御するための方法であって、
少なくとも一つのセンサによって作動可能な足首補装具の動きを監視するステップであって、前記少なくとも一つのセンサが前記足首補装具の動きを示すデータを作成するステップと、
前記作動可能な足首補装具の現在の動作状態を決定するために制御モジュールによって前記データを受信及び処理するステップと、
前記決定された動作状態に基づいて前記制御モジュールによって少なくとも一つの制御信号を出力するステップと、
少なくとも前記制御信号に基づいて前記作動可能な足首補装具を調節するステップと、を備え、
前記調節するステップは、健常な足首の動きを実質的に模倣するステップを有することを特徴とする方法。 - 少なくとも一つの地形の変量を示すデータを受信及び処理するステップをさらに備えることを特徴とする、請求項33に記載の方法。
- 前記健常な足首の動きを実質的に模倣するステップは、前記作動可能な足首補装具を背屈で約10度から足底屈で約20度まで動かすステップを備えることを特徴とする、請求項33に記載の方法。
- 前記少なくとも一つのセンサは、前記足首補装具に配置されていることを特徴とする、請求項33に記載の方法。
- 前記少なくとも一つのセンサは、少なくとも一つの加速度計を備えることを特徴とする、請求項36に記載の方法。
- 前記作動可能な足首補装具の動きを監視するステップは、前記作動可能な足首補装具の動きを異なる3つの軸において監視するステップを備えることを特徴とする、請求項33に記載の方法。
- 前記作動可能な足首補装具の無用な動きを抑制する緩衝機能を提供するステップをさらに備えることを特徴とする、請求項33に記載の方法。
- 前記作動可能な足首補装具に関連する動力源が特定の閾値以下の動力レベルに低下した場合、前記作動可能な足首補装具を所定の角度に実質的に固定するステップをさらに備えることを特徴とする、請求項33に記載の方法。
- 踵の高さを調節することを示す第二信号を使用者から受信するステップをさらに備えることを特徴とする、請求項33に記載の方法。
- 前記作動可能な足首補装具を調節するステップは、前記足首補装具の旋回軸位置周りの回転を生じさせるステップを備えることを特徴とする、請求項33に記載の方法。
- 前記少なくとも一つの地形の変量は、地面の傾斜を示すデータを含むことを特徴とする、請求項34に記載の方法。
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- 2005-02-11 US US11/056,344 patent/US7811334B2/en active Active
- 2005-02-11 WO PCT/US2005/004878 patent/WO2005079712A2/en active Application Filing
- 2005-02-11 CA CA2556041A patent/CA2556041C/en active Active
- 2005-02-11 EP EP12183603.5A patent/EP2564817B1/en not_active Not-in-force
- 2005-02-11 EP EP05723136.7A patent/EP1718252B1/en not_active Not-in-force
- 2005-02-11 AU AU2005215769A patent/AU2005215769B2/en not_active Ceased
- 2005-02-11 JP JP2006553355A patent/JP5013881B2/ja not_active Expired - Fee Related
-
2008
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2010
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2012
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2014
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JP2011502593A (ja) * | 2007-11-07 | 2011-01-27 | オットー・ボック・ヘルスケア・ゲーエムベーハー | 整形外科用関節を制御する方法 |
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EP2564817A3 (en) | 2013-08-21 |
JP5013881B2 (ja) | 2012-08-29 |
AU2005215769B2 (en) | 2012-01-19 |
US20050192677A1 (en) | 2005-09-01 |
WO2005079712A3 (en) | 2005-12-08 |
US7811334B2 (en) | 2010-10-12 |
CN1929797B (zh) | 2010-05-26 |
US20150164661A1 (en) | 2015-06-18 |
US20110106274A1 (en) | 2011-05-05 |
CA2556041A1 (en) | 2005-09-01 |
US7637957B2 (en) | 2009-12-29 |
US7431737B2 (en) | 2008-10-07 |
CN1929797A (zh) | 2007-03-14 |
JP2012130711A (ja) | 2012-07-12 |
CA2556041C (en) | 2015-04-21 |
EP2564817A2 (en) | 2013-03-06 |
US20080215161A1 (en) | 2008-09-04 |
EP2564817B1 (en) | 2019-01-16 |
AU2005215769A1 (en) | 2005-09-01 |
EP1718252B1 (en) | 2018-01-10 |
EP1718252A2 (en) | 2006-11-08 |
AU2005215769A2 (en) | 2005-09-01 |
WO2005079712A2 (en) | 2005-09-01 |
US20050197717A1 (en) | 2005-09-08 |
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