JPS58177647A - Power artificial leg - Google Patents

Power artificial leg

Info

Publication number
JPS58177647A
JPS58177647A JP57060404A JP6040482A JPS58177647A JP S58177647 A JPS58177647 A JP S58177647A JP 57060404 A JP57060404 A JP 57060404A JP 6040482 A JP6040482 A JP 6040482A JP S58177647 A JPS58177647 A JP S58177647A
Authority
JP
Japan
Prior art keywords
knee
prosthetic leg
leg
knee joint
walking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP57060404A
Other languages
Japanese (ja)
Other versions
JPS6213017B2 (en
Inventor
寛 前田
斉田　洋一
貞夫 秋下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP57060404A priority Critical patent/JPS58177647A/en
Publication of JPS58177647A publication Critical patent/JPS58177647A/en
Publication of JPS6213017B2 publication Critical patent/JPS6213017B2/ja
Granted legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 本発明は、病気、労働災害、交通事故等で片足を大腿部
から切断した障害者が使用装着する義足で、特に膝関節
部を油圧駆動装置で駆動する動力義足に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention is a prosthetic leg that is used by a disabled person who has had one leg amputated at the thigh due to illness, work accident, traffic accident, etc., and in particular a powered prosthetic leg that drives the knee joint with a hydraulic drive device. It is related to.

を膝継手部材−を介して連結した義足がある。There is a prosthetic leg in which the two are connected via a knee joint member.

この義足では、膝継手部材−を中心にして足部Ｃを振子
として下腿部ｄを振り出し、足部Ｃが着地後に体重を義
足にかけることで歩行している。In this prosthetic leg, the person walks by swinging the lower leg d around the knee joint member with the foot C as a pendulum, and after the foot C lands on the ground, the patient puts his weight on the prosthetic leg.

しかし、この歩行の場合、歩行速度は足部の質量と、下
腿部の長さによる振り子の周期で決まるため、歩行速度
を変えることができなかった。また膝継手部材に加わる
力が下腿部と同一線上にないと膝継手部材はまわり、謂
る中折れをおこし、義足装着者は転倒する。そこで階段
および坂道の昇降ができない欠点がある。However, in this case, walking speed was determined by the mass of the foot and the period of the pendulum depending on the length of the lower leg, so it was not possible to change the walking speed. Furthermore, if the force applied to the knee joint member is not on the same line as the lower leg, the knee joint member will rotate, causing what is called a mid-fold, and the person wearing the prosthesis may fall. Therefore, there is a drawback that it is not possible to go up and down stairs and slopes.

また、この義足の欠点を解決するために、膝継手部材の
関節を油圧駆動する第２図に示す動力義足が開発された
。In order to solve the drawbacks of this prosthetic leg, a power prosthetic leg as shown in FIG. 2 was developed in which the joint of the knee joint member is hydraulically driven.

この義足は、切断端部を挿込む筋電々極Ａをもつソケツ
）Ｂと動力源の電池Ｃを設けた大腿させ、更に下腿部Ｇ
と足部、ｒＨ足首用油圧駆動装置Ｋを介して連結しであ
る。This prosthetic leg consists of a socket (B) with a myoelectrode (A) into which the cut end is inserted, a thigh (B) with a battery (C) as a power source, and a lower leg (G).
The foot section is connected to the rH ankle hydraulic drive device K.

従って電極ＡＫよって平地歩行、階段歩行等の歩行モー
ドに対応した筋電信号を検出し、この検出信号を制御回
路Ｈに送り、制御回路■では信号に応じてあらかじめの
各歩行モードに対応させて記憶させておいた膝用油圧駆
動装置工き階段の段差が小さいときでも、膝関節を大き
く開いてつまずかないようにパターンを発生させるため
階段歩行の歩容が不自然となり、歩速も遅くなるという
欠点がある。Therefore, the electrode AK detects a myoelectric signal corresponding to a walking mode such as walking on flat ground or walking on stairs, and sends this detection signal to the control circuit H, and the control circuit ■ corresponds to each walking mode in advance according to the signal. Memorized hydraulic drive device for knees Even when the steps on the stairs are small, the knee joints are opened wide to generate a pattern to prevent tripping, making the gait unnatural when walking on stairs and slowing down the walking speed. There is a drawback.

本発明は、前記従来の欠点を除去するためのもので、階
段昇降時では、義足の一歩前の着地ｌは切断端部な挿入
するソケットで、動力源の電池コを設けた大腿部３と一
体になっている。The present invention is intended to eliminate the above-mentioned drawbacks of the conventional method, and when going up and down stairs, the landing point of the prosthetic leg before the first step is the cut end. It is integrated with.

大腿部３は、油圧ボンプダ、油圧用蓄圧器５をもつ下腿
部６と、制御回路７、膝角センサｔを備えた膝用油圧駆
動装置９を介して連結し、膝用油圧駆動装置９の駆動で
膝を開き、この膝角を膝角センサｔで検出し制御回路７
により制御している。また下腿部６は足裏センサ１０を
設けた足部／／を足首駆動装置１２を介して連結する。The thigh 3 is connected to a lower leg 6 having a hydraulic bomber and a hydraulic pressure accumulator 5 via a knee hydraulic drive device 9 having a control circuit 7 and a knee angle sensor t. 9 opens the knee, the knee angle is detected by the knee angle sensor t, and the control circuit 7
It is controlled by Further, the lower leg section 6 is connected to a foot section provided with a sole sensor 10 via an ankle drive device 12.

ンケツ）／には筋電信号を検出する電極１３　。electrode 13 for detecting myoelectric signals.

／３’を設けである。/3' is provided.

本発明は前記構成で明らかなように、電極１３、　／３
’によって平地歩行、階段歩行等の歩行モードに対応し
た筋電信号を検出して、この信号を制御回路７に送るの
であるが、動力義足の制御回路７の動作は第ψ図の図表
に示す通りで、制御回路７は、電極／Ｊ　、　／３’の
信号忙よって歩行モードが階段歩行に切換わった時点を
検出すると共に、義足の第ｉ３）は膝関節角を大きく動
かすよ５に膝用油圧駆動装置９を駆動し、この駆動で足
裏センサ１０で着地時の膝関節角を膝角センサｔで読取
る。義足歩行の第２歩以降は前回の着地時の膝関節角を
参照にして膝関節角を決めて歩行パターンを発生させる
ものである。As is clear from the above configuration, the present invention has electrodes 13, /3
' detects myoelectric signals corresponding to walking modes such as walking on flat ground and walking on stairs, and sends this signal to the control circuit 7. The operation of the control circuit 7 of the powered prosthetic leg is shown in the diagram of Fig. ψ. On the street, the control circuit 7 detects the point in time when the walking mode switches to stair walking based on the signals of the electrodes /J and /3', and at the same time, the i3) of the prosthetic leg moves the knee joint angle greatly. The hydraulic drive device 9 is driven, and by this drive, the knee joint angle at the time of landing is read by the sole sensor 10 and the knee angle sensor t. For the second and subsequent steps of walking with a prosthetic leg, the knee joint angle is determined with reference to the knee joint angle at the previous landing, and a walking pattern is generated.

岡上記実施例では歩行モードの信号は筋電々極からとっ
たが、装着者が手動スイッチを入れても同じ効果が得ら
れる。Oka: In the above embodiment, the walking mode signal was taken from the myoelectrode, but the same effect can be obtained even if the wearer manually turns on the switch.

上述のように、本発明は、階段の昇降時で、第２歩以降
の膝関節角Ｈ／歩前の膝関節角を参照して決めるように
したので、歩容が自然となって歩速も早くなる効果が得
られる。As described above, in the present invention, when going up and down stairs, the knee joint angle H after the second step is determined by referring to the knee joint angle H before the step, so the gait becomes natural and the walking speed is adjusted. You can also get the effect of speeding up the process.

【図面の簡単な説明】[Brief explanation of drawings]

図面は本発明に係る動力義足を示すもので、第１図は従
来の義足の側面図、第２図は従来の動力義足の斜視図、
第３図は本件発明の動力義足の斜視図、第４図は制御回
路の動作を表わすブロック図である。 ｌ〜ソケット　２〜電池　３〜大腿部　ｑ〜油圧ポンプ
　Ｓ〜油圧用蓄圧器　６〜下腿部７〜制御回路　ｔ〜膝
角セ／サ　９〜膝用油圧駆動装置　１０〜足裏センサ　
１１〜足部　／２〜駆動装置　／Ｊ　、　／３’〜電極 特許出願人 工業技術院長 石板誠−The drawings show a powered prosthetic leg according to the present invention; FIG. 1 is a side view of a conventional powered prosthetic leg, FIG. 2 is a perspective view of a conventional powered prosthetic leg,
FIG. 3 is a perspective view of the powered prosthetic leg of the present invention, and FIG. 4 is a block diagram showing the operation of the control circuit. l~socket 2~battery 3~thigh q~hydraulic pump S~hydraulic pressure accumulator 6~lower leg 7~control circuit t~knee angle sensor/sample 9~knee hydraulic drive device 10~sole sensor
11 ~ Foot /2 ~ Drive device /J, /3' ~ Electrode patent applicant Makoto Ishiita, Director of the Agency of Industrial Science and Technology

Claims (1)

【特許請求の範囲】[Claims] 切断端部を挿入するソケットと一体の大腿部に電圧を設
け、この大腿部を油圧ポンプと油圧用蓄圧器を設けた下
腿部と、制御回路を設けた膝用油圧駆動装置を介して連
結し、また下腿部は足部と足首駆動装置を介して連結し
た動力義足において、膝用油圧駆動装置には、膝関節角
の検出センサを有し、更に足部には足裏に着地点センサ
を設けて、階段昇降時の義足歩行で１歩前の歩行で義足
が着地した時点での膝関節角を参照して次の１歩の歩行
パターンの膝関節角を決めるパターンに制御できること
を特徴とした動力義足。A voltage is applied to the thigh part that is integrated with the socket into which the cut end is inserted, and this thigh part is connected to the lower leg part equipped with a hydraulic pump and hydraulic pressure accumulator, and through a knee hydraulic drive device equipped with a control circuit. In a power prosthetic leg, the lower leg is connected to the foot via an ankle drive device, the hydraulic drive device for the knee has a knee joint angle detection sensor, and the foot has a sensor on the sole of the foot. A landing point sensor is installed to control the knee joint angle of the next step's walking pattern by referring to the knee joint angle at the time the prosthetic leg landed in the previous step when walking with a prosthetic leg when going up and down stairs. A powered prosthetic leg with features that it can do.
JP57060404A 1982-04-13 1982-04-13 Power artificial leg Granted JPS58177647A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57060404A JPS58177647A (en) 1982-04-13 1982-04-13 Power artificial leg

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57060404A JPS58177647A (en) 1982-04-13 1982-04-13 Power artificial leg

Publications (2)

Publication Number Publication Date
JPS58177647A true JPS58177647A (en) 1983-10-18
JPS6213017B2 JPS6213017B2 (en) 1987-03-23

Family

ID=13141196

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57060404A Granted JPS58177647A (en) 1982-04-13 1982-04-13 Power artificial leg

Country Status (1)

Country Link
JP (1) JPS58177647A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58203751A (en) * 1982-05-25 1983-11-28 工業技術院長 Power artificial food

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58203751A (en) * 1982-05-25 1983-11-28 工業技術院長 Power artificial food
JPS6241024B2 (en) * 1982-05-25 1987-09-01 Kogyo Gijutsuin

Also Published As

Publication number Publication date
JPS6213017B2 (en) 1987-03-23

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