JPS6152702B2 - - Google Patents
Info
- Publication number
- JPS6152702B2 JPS6152702B2 JP8732682A JP8732682A JPS6152702B2 JP S6152702 B2 JPS6152702 B2 JP S6152702B2 JP 8732682 A JP8732682 A JP 8732682A JP 8732682 A JP8732682 A JP 8732682A JP S6152702 B2 JPS6152702 B2 JP S6152702B2
- Authority
- JP
- Japan
- Prior art keywords
- prosthetic leg
- hydraulic drive
- drive device
- knee
- toe
- 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.)
- Expired
Links
- 210000002414 leg Anatomy 0.000 claims description 19
- 210000003127 knee Anatomy 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 4
- 210000002683 foot Anatomy 0.000 description 8
- 210000000629 knee joint Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000003183 myoelectrical effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
Landscapes
- Prostheses (AREA)
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
あつた。図において１は断端部を挿入するソケツ
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′は膝継手３はピポ
ツトである。この義足では膝継手３のピポツト
３′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
にかけることによつて歩行している。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の長さできまる振子の周期で決まるた
め歩行速度をかえることができなかつた。また、
膝継手３に加わる力が、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
おこして装置者は転倒するので、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。 Conventionally, there has been a device of this type as shown in FIG. In the figure, 1 is a socket into which the stump is inserted, 2 is a thigh pipe, 3 is a knee joint, 4 is a lower leg pipe, 5 is a foot, and 3' is a pivot of the knee joint 3. In this prosthetic leg, the patient walks by swinging out the crural pipe 4 with the foot 5 as a pendulum around the pivot 3' of the knee joint 3, and by applying his weight to the prosthetic leg after the foot 5 lands on the ground. 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. Also,
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 operator to fall, which has the drawback of not being able to go up or down stairs or slopes. was.
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。第２図において、７は膝用油圧駆動装
置、９は油圧ポンプ、１０は油圧用蓄圧器、１１
は足首用油圧駆動装置、８は油圧駆動装置７，１
１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出する電極、
６は油圧駆動装置７，１１、制御回路８等のため
のバツテリーの如き適当な電源である。 In order to eliminate these drawbacks of conventional prosthetic legs, a powered prosthetic leg in which the knee joint is hydraulically driven has been proposed, and such a powered prosthetic leg is shown in FIG. In FIG. 2, 7 is a knee hydraulic drive device, 9 is a hydraulic pump, 10 is a hydraulic pressure accumulator, and 11
8 is the hydraulic drive device for the ankle, 8 is the hydraulic drive device 7, 1
1 is a control circuit that controls each walking pattern; 12 is an electrode that detects myoelectric signals of the stump leg;
6 is a suitable power source such as a battery for the hydraulic drives 7, 11, control circuit 8, etc.;
電極１２によつて平地歩行、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置７，１１の動
作パターンを選択し、そのパターン信号に従つて
油圧駆動装置７，１１を駆動させ、歩行を行う。 Myoelectric signals corresponding to walking modes such as walking on flat ground and walking on stairs are detected by the electrodes 12, and this detection signal is sent to the control circuit 8. In response to the detection signal, the control circuit 8 selects an operation pattern for the hydraulic drive devices 7, 11 that has been stored in advance in correspondence with each walking mode, and operates the hydraulic drive devices 7, 11 according to the pattern signal. Drive and walk.
しかし、このような動力義足ではつま先が思わ
ぬ障害物に当つても膝用油圧駆動装置７は決めら
れたパターンに従つて駆動されるため、動力義足
の反力で装着者が転倒したり、他の人を傷つける
などの欠点を有していた。 However, in such a powered prosthetic leg, even if the toe hits an unexpected obstacle, the knee hydraulic drive device 7 is driven according to a predetermined pattern, so the wearer may fall due to the reaction force of the powered prosthetic leg. He had the disadvantage of hurting others.
この発明は上述の従来の動力義足を欠点を除去
するためになされたもので、つま先部に障害物に
当つたことを検出するスイツチ装置を設け、この
スイツチ装置のON−OFFによつて障害物との衝
突状態を検出し、膝用油圧駆動装置の駆動を安全
に停止させることを目的としている。 This invention was made in order to eliminate the drawbacks of the conventional powered prosthetic leg mentioned above, and includes a switch device in the toe section that detects when the toe hits an obstacle. The purpose of this system is to detect a collision situation with the knee hydraulic drive device and safely stop the drive of the knee hydraulic drive device.
以下この発明の一実施例を第３図について説明
する。第３図において、１３はつま先に取付けら
れて障害物と当つたことを検出するスイツチ装置
として作用するリミツトスイツチである。足部５
のつま先が障害物に衝突するとリミツトスイツチ
１３が作動して衝突検出信号を制御回路８に送
り、膝用油圧駆動装置７の駆動をすみやかに停止
させる。足首用油圧駆動装置１１は図示の如く設
けられている場合と、設けられていない場合とが
あるが、設けられている場合にはこれもリミツト
スイツチで駆動停止するのが好ましい。いずれに
せよ膝用油圧駆動装置７は、つま先が障害物に接
触または衝突した場合に駆動停止するものであ
り、これにより装着者の安全が確保される作用効
果が奏される。 An embodiment of the present invention will be described below with reference to FIG. In FIG. 3, numeral 13 is a limit switch attached to the toe and functioning as a switch device for detecting collision with an obstacle. Foot part 5
When the toe of the knee collides with an obstacle, the limit switch 13 is activated, sends a collision detection signal to the control circuit 8, and promptly stops the drive of the knee hydraulic drive device 7. The ankle hydraulic drive device 11 may or may not be provided as shown in the figure, but if it is provided, it is also preferable to stop the drive using a limit switch. In any case, the knee hydraulic drive device 7 stops driving when the toe contacts or collides with an obstacle, thereby ensuring the safety of the wearer.
膝用油圧駆動装置７の駆動を停止した後は例え
ばリセツトスイツチを設けておいて装着者がこの
リセツトスイツチを操作して両足が揃つた状態に
戻し、その後起動スイツチを操作して駆動を再開
する等の適当な処置を取りうるようにすることが
できる。 After stopping the drive of the knee hydraulic drive device 7, for example, a reset switch is provided, and the wearer operates the reset switch to return both feet to the same state, and then operates a start switch to restart the drive. It is possible to take appropriate measures such as:
第１図は従来の義足を示す図、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
義足の一実施例の足部を示す図であり、図中同一
符号は同一部または相当部を示す。
図中、７は膝用油圧駆動装置、８は制御回路、
５は足部、１３はスイツチ装置である。
FIG. 1 is a diagram showing a conventional prosthetic leg, FIG. 2 is a diagram showing a conventional powered prosthetic leg, and FIG. 3 is a diagram showing the foot of an embodiment of the powered prosthetic leg according to the present invention. Indicates the same or equivalent part. In the figure, 7 is a knee hydraulic drive device, 8 is a control circuit,
5 is a foot part, and 13 is a switch device.
Claims (1)
用油圧駆動装置を駆動するようにした動力義足に
おいて、足部のつま先にこれが障害物に当つたこ
とを検出するスイツチ装置を設け、このスイツチ
装置の検出信号により前記膝用油圧駆動装置の駆
動を停止させるようにしたことを特徴とする動力
義足。 ２ スイツチ装置がリミツトスイツチである特許
請求の範囲第１項記載の動力義足。[Scope of Claims] 1. In a powered prosthetic leg that drives a knee hydraulic drive device in accordance with a walking pattern signal from a control circuit, a switch device is provided on the toe of the foot to detect when the toe hits an obstacle. A powered prosthetic leg, characterized in that the knee hydraulic drive device is stopped in response to a detection signal from the switch device. 2. The powered prosthetic leg according to claim 1, wherein the switch device is a limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8732682A JPS58203750A (en) | 1982-05-25 | 1982-05-25 | Power artificial foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8732682A JPS58203750A (en) | 1982-05-25 | 1982-05-25 | Power artificial foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58203750A JPS58203750A (en) | 1983-11-28 |
| JPS6152702B2 true JPS6152702B2 (en) | 1986-11-14 |
Family
ID=13911735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8732682A Granted JPS58203750A (en) | 1982-05-25 | 1982-05-25 | Power artificial foot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58203750A (en) |
-
1982
- 1982-05-25 JP JP8732682A patent/JPS58203750A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58203750A (en) | 1983-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Culver et al. | A stair ascent and descent controller for a powered ankle prosthesis | |
| EP1843823B1 (en) | Prosthetic and orthotic systems usable for rehabilitation | |
| KR102250225B1 (en) | A motion assistance apparatus and a control method thereof | |
| US11679056B2 (en) | Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device | |
| JP2005000500A (en) | Ankle joint orthosis | |
| US11766348B2 (en) | System to assist walking | |
| JPS6219177B2 (en) | ||
| KR102105772B1 (en) | Ankle Assist Apparatus And Ankle Assist System Having The Same | |
| KR101141905B1 (en) | Walking aid apparatus for knee patient | |
| JPS6219176B2 (en) | ||
| WO2023173752A1 (en) | Exoskeleton for rehabilitation | |
| KR102162485B1 (en) | Controlling method of lower body assisting robot | |
| KR20190094792A (en) | Passive Elastic Ankle Exoskeleton Capable Biofeedback | |
| JPS58163364A (en) | Power accessory for lower limb disabled person | |
| JP5610294B2 (en) | Walking support device and walking support program | |
| JPS6152702B2 (en) | ||
| KR20220090288A (en) | Electric knee-ankle-foot orthosis | |
| KR101839901B1 (en) | Active ankle foot orthosis using pneumatic motor | |
| KR101968407B1 (en) | Ankle stimulation device and method using low frequency stimulation foot orthosis device | |
| Yuan et al. | Motion control of a robotic transtibial prosthesis during transitions between level ground and stairs | |
| JPS6213017B2 (en) | ||
| JPS5971746A (en) | Power artificial leg | |
| JPS633619B2 (en) | ||
| JPS6153065B2 (en) | ||
| KR102886051B1 (en) | Gait terrain detecting system |