JPS5971746A - Power artificial leg - Google Patents
Power artificial legInfo
- Publication number
- JPS5971746A JPS5971746A JP57182127A JP18212782A JPS5971746A JP S5971746 A JPS5971746 A JP S5971746A JP 57182127 A JP57182127 A JP 57182127A JP 18212782 A JP18212782 A JP 18212782A JP S5971746 A JPS5971746 A JP S5971746A
- Authority
- JP
- Japan
- Prior art keywords
- electrode
- control circuit
- walking
- hydraulic drive
- prosthetic leg
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
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】
この発明は片足または両足を大腿部から切断した障害者
が装着する義足の膝関節部を油圧駆動装置で駆動する動
力義足に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a powered prosthetic leg that uses a hydraulic drive device to drive the knee joint of a prosthetic leg worn by a disabled person who has had one or both legs amputated from the thigh.
従来、この種の装置として第１図に示すものがあった。Conventionally, there has been a device of this type as shown in FIG.
図において（１）は断端部を挿入するソケット、（２）
は大腿部パイプ、（３）は膝継手、（４）は下腿部パイ
プ、（５）は足部であり、（３りは膝継手（３）のピボ
ットである。この義足では膝継手（３）のピボット（３
つを中心にして足部（５）を振子として下腿部パイプ（
４）を振り出し、足部（５）の着地後に体重を義足にか
けることによって歩行している。In the figure, (1) is the socket into which the stump is inserted, (2)
is the thigh pipe, (3) is the knee joint, (4) is the lower leg pipe, (5) is the foot, and (3) is the pivot of the knee joint (3). (3) Pivot (3
The lower leg pipe (
4), and after landing with the foot (5), the patient walks by putting his weight on the prosthetic leg.
しかし、この従来の義足では歩行速度は足部（５）の質
量と下腿部パイプ（４）の長さできまる振り子の周期で
決まるため歩行速度をかえることかできなかった。また
、膝継手（３）に加わるカが、下腿部パイプ（４）と同
一線上にないと膝継手（３）はまわり、いわゆる中折れ
をおこして装着者は転倒するので、階段および坂道の昇
降ができないという欠点を有していた。However, with this conventional prosthetic leg, the walking speed cannot be changed because it is determined by the period of the pendulum determined by the mass of the foot (5) and the length of the crural pipe (4). In addition, if the force applied to the knee joint (3) is not on the same line as the lower leg pipe (4), the knee joint (3) will rotate, causing what is called a mid-fold and causing the wearer to fall. It had the disadvantage that it could not be moved up and down.
従来の義足のこのような欠点を除去するために膝継手を
油圧で駆動する動力義足が従来提案されており、このよ
うな動力義足が第２図に示されている。In order to eliminate these drawbacks of conventional prosthetic legs, a powered prosthetic leg in which a knee joint is hydraulically driven has been proposed, and such a powered prosthetic leg is shown in FIG.
第２図において、（７）は藤用油圧躯励装置、（９）は
油圧ポンプ、（１０）は油圧用蓄圧器、（工１）は尾錠
用油圧駆動装置、（８）は油圧駆動装置（７）。In Figure 2, (7) is the hydraulic excitation device for rattan, (9) is the hydraulic pump, (10) is the hydraulic pressure accumulator, (1) is the hydraulic drive device for the buckle, and (8) is the hydraulic drive device. (7).
（１１）をそれぞれの歩行パターンで制御する制御回路
、（１２）は断端足部の筋電信号を検。(11) is a control circuit that controls each walking pattern, and (12) detects myoelectric signals from the stump leg.
出する′電極、（６）は油圧駆動装置（７） 、 （１
１）、制御回路（８）等のためのバッテリーの如き適当
な電源である。' electrode, (6) is a hydraulic drive device (7), (1
1), a suitable power source such as a battery for the control circuit (8), etc.
電極（１２）によって平地歩行、階段歩行などの歩行モ
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（８）に送る。制御回路（８）では、検出信号に応
じて、あらかじめ各歩行モードに対応させて記憶させて
おいた油圧駆動装＊（７）、 （１１）の動作パターン
を選択し、そのパターン信号に従って油圧駆動装置（７
） 、 （１１）を駆動させ、歩行を行う。Electrodes (12) detect myoelectric signals corresponding to walking modes such as walking on flat ground and walking on stairs, and send this detection signal to a control circuit (8). In response to the detection signal, the control circuit (8) selects an operation pattern for the hydraulic drive system* (7), (11) that has been stored in advance for each walking mode, and performs hydraulic drive according to the pattern signal. Equipment (7
) and (11) to walk.
従来の動力義足は以上のように構成されているため、５
ＵＪＩＫ信号を切断端から検出しなけれはならず、切断
端の条件により正確に筋電信号を取り出すことが困難で
あった。また、ソケット（１）内部の電極（１２）は装
着者の発汗により影響を受けるなどの欠点があった。Since the conventional power prosthesis is configured as described above, 5
The UJIK signal must be detected from the cut end, and it is difficult to accurately extract the myoelectric signal due to the conditions of the cut end. Further, there was a drawback that the electrode (12) inside the socket (1) was affected by the sweat of the wearer.
この発明はこのような従来のものの欠点を除去するため
になされたもので、筋電信号検出用の電極を可動にして
切断端以外の装着者の部位に装着しつるようにすること
により、確実に筋電信号を検出しつるようにした動力義
足を提供することを目的とする。This invention was made in order to eliminate the drawbacks of the conventional ones, and by making the electrode for detecting myoelectric signals movable so that it can be attached to a part of the wearer other than the cut end, The purpose of this invention is to provide a powered prosthetic leg that detects myoelectric signals and provides suspension.
以下、この発明を第３図に示した実施例について説明す
る。第３図において、（１）および（４）乃至（１１）
は第２図のものと同じである。The embodiment of this invention shown in FIG. 3 will be described below. In Figure 3, (1) and (4) to (11)
is the same as that in Figure 2.
この発明によれはソケット（１）に固定された電極（１
２）に代えて可動？ｉ極（１３）が設けられると共にこ
の可動電極（１３）は適当な長さの信号線（１４）によ
り制御回路（８）に接続される。この実施例においては
、可動電極（１３）は装着者の肩部に取付けられている
。肩部の筋肉は大１１１１ｍ部の動きに応じた動きをす
るためここから大腿部の動きに対応する筋電信号を検出
することができる。According to this invention, an electrode (1) fixed to a socket (1) is provided.
Movable instead of 2)? An i-pole (13) is provided, and this movable electrode (13) is connected to a control circuit (8) by a signal line (14) of an appropriate length. In this embodiment, the movable electrode (13) is attached to the wearer's shoulder. Since the shoulder muscles move in accordance with the movement of the large 1111m region, it is possible to detect myoelectric signals corresponding to the movement of the thigh region from there.
次に動作について説明する。Next, the operation will be explained.
肩部に装着された可動電極（１３）によって平地歩行、
階段歩行などの歩行モードに対応した筋電信号を検出す
る。検出信号は信号線（１４）訃通して制＝ｊ回路（８
）に入力され、制御回路（８）はその歩行モードにｈ［
、くじた歩行パターンを選択して油圧駆動装ｆ？（７）
、 （１１）の関節角度をその歩行モードに対応して
変化させる。Walking on flat ground with movable electrodes (13) attached to the shoulders;
Detects myoelectric signals corresponding to walking modes such as stair walking. The detection signal is controlled through the signal line (14) = j circuit (8
), and the control circuit (8) changes the walking mode to h[
, select the unsuccessful walking pattern and use the hydraulic drive system f? (7)
, (11) The joint angles of (11) are changed in accordance with the walking mode.
なお、上記実施例では可動′電極（１３）を肩部に装着
した場合を示したが歩行に応じた筋電信号を取り出しう
る他の部位、例えは臀部、腹部等に’Ａ−Ｔ’Ｊするこ
ともできるし、あるいは自然にこのような）ｊ’６ Ｉ
ｉｉ信号を発生ずる部位でなくても、例えば前腕に可動
電極（１３）を装着し、歩行と同じタイミングで着用者
が手首を動かしたり手のひらを開閉したりすることによ
り歩行に応じた筋電信号を前腕に生じさせても良い。Although the above embodiment shows the case where the movable electrode (13) is attached to the shoulder, the movable electrode (13) may be attached to other parts where the myoelectric signals corresponding to walking can be extracted, such as the buttocks, abdomen, etc. (or naturally like this)j'6 I
ii Even if the part is not the part that generates the signal, for example, by attaching a movable electrode (13) to the forearm and moving the wrist or opening and closing the palm at the same time as the wearer walks, a myoelectric signal can be generated in response to walking. may be caused on the forearm.
また動力義足には足首用油圧駆動装置ハを有しないもの
もあるか、その点はこの発明には関係ない。Furthermore, some powered prosthetic legs do not have an ankle hydraulic drive device, but this is not relevant to the present invention.
以上のようにこの発明によれば、筋電信号検出用の電４
ｍを勇１助屯イ％にすると共にこの電極をｉｌｊ’ｌ
ｔｊ１１回路に接続する信号線を設けることにより前記
可動電極を装着者つ切断端以外の部位に装着することが
でき、従って筋電信号の検出が切断端の状態や発汗によ
って影響されることなく安定して確実に行なうことがで
き、ひいては動力義足の安全性が高まる作用効果が奏さ
れる。As described above, according to the present invention, the electric current 4 for detecting myoelectric signals
Set m to 1% and set this electrode to ilj'l.
By providing a signal line connected to the tj11 circuit, the movable electrode can be attached to a part of the wearer other than the cut end, and therefore the detection of myoelectric signals is stable without being affected by the state of the cut end or sweating. This can be done reliably and the safety of the powered prosthetic leg can be improved.
また、大腿部以外の部位は切断端にくらべて、筋肉を意
識的に動かすことが容易なため、可動電極から得られた
信号をより細かく制御に用いることができ、動力義足の
操作性が高まる作用効果も奏される。Additionally, since it is easier to consciously move muscles in areas other than the thigh compared to the amputated end, the signals obtained from the movable electrodes can be used for more precise control, improving the operability of the powered prosthesis. Increased action and effect are also achieved.
第１図は従来の普通の義足を示す図、第２図は従来の動
力義足を示す図、第３図はこの発明による動力義足を示
す図であり、図中（７）、（１１）は油圧駆動装置、（
８）は制御回路、（１３）はｉｊ動電極、（１４）は信
号線である。なお、図中同一符号は同一部または相当部
を示す。Fig. 1 shows a conventional ordinary prosthetic leg, Fig. 2 shows a conventional powered prosthetic leg, and Fig. 3 shows a powered prosthetic leg according to the present invention. Hydraulic drive, (
8) is a control circuit, (13) is an ij moving electrode, and (14) is a signal line. Note that the same reference numerals in the figures indicate the same or equivalent parts.
Claims (1)
装置を制御する制御回路および筋電信号を検出して前記
制御回路を制御する電極を備えた動力義足において、前
記電極を可動電極にすると共にこの電極を前記制御回路
に接続する信号線を設けることにより前記可動電極を装
着者の切断端以外の部位に取付けうるようにしたことを
特徴とする動力義足。1. A powered prosthetic leg equipped with a hydraulic drive device provided at a joint, a control circuit that controls the hydraulic drive device, and an electrode that detects a myoelectric signal and controls the control circuit, in which the electrode is made a movable electrode. A power prosthetic leg characterized in that the movable electrode can be attached to a part other than the cut end of the wearer by providing a signal line connecting the electrode to the control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57182127A JPS5971746A (en) | 1982-10-19 | 1982-10-19 | Power artificial leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57182127A JPS5971746A (en) | 1982-10-19 | 1982-10-19 | Power artificial leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5971746A true JPS5971746A (en) | 1984-04-23 |
Family
ID=16112794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57182127A Pending JPS5971746A (en) | 1982-10-19 | 1982-10-19 | Power artificial leg |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5971746A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04105495U (en) * | 1991-02-22 | 1992-09-10 | 三洋電機株式会社 | High frequency heating device |
| JP2015013172A (en) * | 2007-11-07 | 2015-01-22 | オットー・ボック・ヘルスケア・ゲーエムベーハーＯｔｔｏ Ｂｏｃｋ ＨｅａｌｔｈＣａｒｅ ＧｍｂＨ | Method for controlling orthopedic joint |
| US11571316B2 (en) | 2006-05-09 | 2023-02-07 | Ottobock Se & Co. Kgaa | Control of a passive prosthetic knee joint with adjustable damping |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5111880A (en) * | 1974-07-20 | 1976-01-30 | Showa Yuka Kk | MUTEIKEIHORIOREFUINNO SEISEIHOHO |
-
1982
- 1982-10-19 JP JP57182127A patent/JPS5971746A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5111880A (en) * | 1974-07-20 | 1976-01-30 | Showa Yuka Kk | MUTEIKEIHORIOREFUINNO SEISEIHOHO |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04105495U (en) * | 1991-02-22 | 1992-09-10 | 三洋電機株式会社 | High frequency heating device |
| US11571316B2 (en) | 2006-05-09 | 2023-02-07 | Ottobock Se & Co. Kgaa | Control of a passive prosthetic knee joint with adjustable damping |
| JP2015013172A (en) * | 2007-11-07 | 2015-01-22 | オットー・ボック・ヘルスケア・ゲーエムベーハーＯｔｔｏ Ｂｏｃｋ ＨｅａｌｔｈＣａｒｅ ＧｍｂＨ | Method for controlling orthopedic joint |
| US9877849B2 (en) | 2007-11-07 | 2018-01-30 | Otto Bock Healthcare Gmbh | Method for controlling an orthopedic joint |
| US10952875B2 (en) | 2007-11-07 | 2021-03-23 | Ottobock Se & Co. Kgaa | Method for controlling an orthopedic joint |
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