JPS6153065B2 - - Google Patents
Info
- Publication number
- JPS6153065B2 JPS6153065B2 JP57139731A JP13973182A JPS6153065B2 JP S6153065 B2 JPS6153065 B2 JP S6153065B2 JP 57139731 A JP57139731 A JP 57139731A JP 13973182 A JP13973182 A JP 13973182A JP S6153065 B2 JPS6153065 B2 JP S6153065B2
- Authority
- JP
- Japan
- Prior art keywords
- prosthetic leg
- drive
- actuator
- generator
- circuit
- 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
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 description 27
- 210000000629 knee joint Anatomy 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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)
Description
【発明の詳細な説明】
この発明は片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ものである。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 leg amputated from the thigh.
従来、この種の装置としては第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は足部である。 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, and 5 is a foot.
この義足では膝継手３を中心にして足部５を振
子として下腿部を振り出し、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。 With this prosthetic leg, the patient walks by swinging out the lower leg around the knee joint 3 with the foot 5 as a pendulum, and after the foot 5 lands on the ground, the user puts 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。このため、従来の義足のこのような欠点を除
去するための動力義足として、膝継手を油圧で駆
動するものがある。以下、これを第２図で説明す
る。図において６は動力源の電池、７は膝用油圧
駆動装置、８は膝用油圧駆動装置を制御する制御
回路、９は油圧ポンプ、１０は油圧用蓄圧器、１
は足首用油圧駆動装置、１２は断端足部の節電信
号を検出する電極である。 However, with this conventional prosthetic leg, the walking speed is
The walking speed could not be changed because it was determined by the period of the pendulum determined by the mass of the foot and the length of the lower leg 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 and cause what is called a mid-fold, causing the wearer to fall, making it impossible to go up and down stairs and slopes. Ta. Therefore, as a power prosthesis to eliminate such drawbacks of conventional prosthetics, there is one in which the knee joint is hydraulically driven. This will be explained below with reference to FIG. In the figure, 6 is a battery as a power source, 7 is a hydraulic drive device for knees, 8 is a control circuit for controlling the hydraulic drive device for knees, 9 is a hydraulic pump, 10 is a hydraulic pressure accumulator, 1
12 is an ankle hydraulic drive device, and 12 is an electrode for detecting a power saving signal of the residual limb.
このように構成されたものにおいては、電極１
２によつて平地歩行、階段歩行などの歩行モード
に対応した節電信号を検出し、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
せておいた膝用油圧駆動装置の動作パターンを選
択し、そのパターン信号に従つて膝用油圧駆動装
置７を駆動させ、歩行を行う。 In such a configuration, the electrode 1
2 detects a power saving signal corresponding to a walking mode such as walking on flat ground or walking on stairs, and sends this detection signal to a control circuit 8. In response to the detection signal, the control circuit 8 selects an operation pattern for the knee hydraulic drive device that has been stored in advance in correspondence with each walking mode, and drives the knee hydraulic drive device 7 in accordance with the pattern signal. , walking.
ところが、この動力義足では、装着者が歩行
中、動力源の電池が低下すると動力義足としての
機能が達成できなくなり、振り子動作で歩行しな
ければならなくなる等の欠点があつた。 However, this powered prosthetic leg has drawbacks such as when the power source battery becomes low while the wearer is walking, the function of the powered prosthetic leg cannot be achieved and the wearer has to walk in a pendulum motion.
この発明は、上記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、振り子動作によ
つて発電機を稼働し電池に電力を供給し、動力義
足の機能を復元する動力義足を提供することを目
的としている。 This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and provides a power prosthesis that operates a generator through pendulum motion to supply power to a battery, restoring the function of the power prosthesis. It is intended to.
以下、この発明の一実施例について説明する。
第３図において、１３は義足、１４は発電機とア
クチユエータを切り換えるための指令をする入力
端子、１５は発電機と義足、又はアクチユエータ
と義足を連結するクラツチ、１６は義足の振り子
動作によつて電力を発生する発電機、１７は電力
の供給を一方向のみにするダイオード、１８は各
回路の動力源となる電池、１９は動力義足として
の動作パターンを駆動回路に与えて制御する制御
回路、２０はアクチユエータを動作させる駆動回
路、２１はクラツチを通して義足に動作を伝える
アクチユエータである。 An embodiment of the present invention will be described below.
In Fig. 3, 13 is a prosthetic leg, 14 is an input terminal that issues a command to switch between the generator and the actuator, 15 is a clutch that connects the generator and the prosthetic leg, or the actuator and the prosthetic leg, and 16 is a pendulum motion of the prosthetic leg. A generator that generates electric power, 17 a diode that supplies power only in one direction, 18 a battery that serves as a power source for each circuit, 19 a control circuit that controls the drive circuit by giving it an operating pattern as a powered prosthetic leg, 20 is a drive circuit that operates the actuator, and 21 is an actuator that transmits the operation to the prosthetic leg through the clutch.
上記のように構成されたものにおいては、装着
者が歩行中、動力源が低下して動力義足としての
機能が停止した際、装着者が入力端子１４に指令
を与え、発電機１３がクラツチ１５によつて連結
する。 In the device configured as described above, when the power source decreases and the function as a powered prosthetic leg stops while the wearer is walking, the wearer issues a command to the input terminal 14, and the generator 13 activates the clutch 15. Connect by.
次に、義足１３を装着者が前後に振り子動作を
くり返し行なう。この動作によつて義足１３から
クラツチ１５を通して発電電機１６に伝達され、
発電機１６に電力が発生する。発生した電力はダ
イオード１７を通して一方向に送られ電池１８に
供給する。この動作をくり返し行うことにより電
池１８に電力が蓄積され、制御回路１９と駆動回
路２０共に機能が復元し、制御回路１９は義足の
動作パターンを駆動回路２０に与える。 Next, the wearer of the prosthetic leg 13 repeatedly swings back and forth. Due to this movement, the information is transmitted from the prosthetic leg 13 to the generator 16 through the clutch 15.
Electric power is generated in the generator 16. The generated power is sent in one direction through the diode 17 and supplied to the battery 18. By repeating this operation, power is accumulated in the battery 18, the functions of both the control circuit 19 and the drive circuit 20 are restored, and the control circuit 19 provides the operation pattern of the prosthetic leg to the drive circuit 20.
次に、装着者が入力端子１４に指令を与えると
アクチユエータ２１と義足１３がクラツチ１５に
よつて連結し、駆動回路２０からの動作パターン
をアクチユエータ２０とクラツチ１５を通して義
足１３に伝達し動力義足の機能が復元する。 Next, when the wearer gives a command to the input terminal 14, the actuator 21 and the prosthesis 13 are connected by the clutch 15, and the operation pattern from the drive circuit 20 is transmitted to the prosthesis 13 through the actuator 20 and the clutch 15, and the power prosthesis is activated. Functionality is restored.
なお、上記実施例では義足１３の歩行動作にア
クチユエータ２１を設けたものを示したが、アク
チユエータ２１にモータを設けてもよい。 In the above embodiment, an actuator 21 is provided for the walking motion of the prosthetic leg 13, but the actuator 21 may be provided with a motor.
以上のように、この発明によれば義足の振り子
動作によつて、発電機を動かし電力を電池に供給
するため、歩行中での動力源の低下による動力義
足の機能停止が防せげるので、常時、動力義足と
して機能し信頼性の高い動力義足が得られる効果
がある。 As described above, according to the present invention, the pendulum motion of the prosthetic leg drives the generator and supplies electricity to the battery, which prevents the power prosthetic leg from stopping due to a drop in the power source while walking. This has the effect of providing a highly reliable powered prosthetic leg that always functions as a powered prosthetic leg.
第１図は、従来の義足を示す構成図、第２図は
この発明に関する先行例の動力義足を示す構成
図、第３図は、この発明の一実施例による動力義
足のブロツク図である。
１……ソケツト、２……大腿部パイプ、３……
膝継手、４……下腿部パイプ、５……足部、６…
…電池、７……膝用油圧駆動装置、８……制御回
路、９……油圧ポンプ、１０……油圧用蓄圧器、
１１……足首用油圧駆動装置、１２……電極、１
３……義足、１４……入力端子、１５……クラツ
チ、１６……発電機、１７……ダイオード、１８
……電池、１９……制御回路、２０……駆動回
路、２１……アクチユエータ。各図中同一符号は
同一又は相当部分を示す。
FIG. 1 is a block diagram showing a conventional prosthetic leg, FIG. 2 is a block diagram showing a power prosthetic leg according to a prior example of the present invention, and FIG. 3 is a block diagram of a power prosthetic leg according to an embodiment of the present invention. 1...Socket, 2...Thigh pipe, 3...
Knee joint, 4... lower leg pipe, 5... foot, 6...
... Battery, 7 ... Hydraulic drive device for knee, 8 ... Control circuit, 9 ... Hydraulic pump, 10 ... Hydraulic pressure accumulator,
11... Hydraulic drive device for ankle, 12... Electrode, 1
3... Prosthetic leg, 14... Input terminal, 15... Clutch, 16... Generator, 17... Diode, 18
... battery, 19 ... control circuit, 20 ... drive circuit, 21 ... actuator. The same reference numerals in each figure indicate the same or corresponding parts.
Claims (1)
作をおこなう義足、この義足の駆動部を駆動し得
るアクチユエータ、このアクチユエータを駆動さ
せる駆動回路、この駆動回路に歩行パターンに応
じた駆動信号を出力する制御回路、この制御回路
並びに上記駆動回路に電力を供給する電池、上記
義足の振り子動作により発電する発電機、この発
電機の出力を整流し、上記電池の充電回路を形成
するダイオード、及び外部からの指令にもとづき
上記発電機と、上記アクチユエータのうちいずれ
か一方と上記義足の駆動部とを連結させるクラツ
チを備えた動力義足。1 A prosthetic leg that has a drive section and is driven by this drive section to perform walking motions, an actuator that can drive the drive section of this prosthetic leg, a drive circuit that drives this actuator, and a drive signal that transmits a drive signal according to a walking pattern to this drive circuit. A control circuit for outputting power, a battery that supplies power to the control circuit and the drive circuit, a generator that generates electricity by the pendulum motion of the prosthetic leg, a diode that rectifies the output of the generator and forms a charging circuit for the battery, and A powered prosthetic leg comprising a clutch that connects either one of the generator and the actuator to a drive section of the prosthetic leg based on an external command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57139731A JPS5932452A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57139731A JPS5932452A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5932452A JPS5932452A (en) | 1984-02-21 |
| JPS6153065B2 true JPS6153065B2 (en) | 1986-11-15 |
Family
ID=15252069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57139731A Granted JPS5932452A (en) | 1982-08-13 | 1982-08-13 | Power artificial leg |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5932452A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6950687B2 (en) * | 2016-06-07 | 2021-10-13 | ソニーグループ株式会社 | Prosthesis |
-
1982
- 1982-08-13 JP JP57139731A patent/JPS5932452A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5932452A (en) | 1984-02-21 |
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