KR20200069033A - A pseudo knee prosthesis including refraction aids and method for controlling the pseudo knee prosthesis - Google Patents

Abstract

The present invention is a refraction assist device that allows the user to adjust the refraction angle of the prosthesis in a special environment, such as when going up and down the stairs, by installing a refraction assist device to automatically increase the refraction angle of the passive femoral prosthesis on the passive femoral limb. We propose a method for controlling a pseudo active thigh prosthesis and a pseudo active thigh prosthesis. The pseudo-active femoral prosthesis having the refractive assist device is provided with a passive femoral prosthesis and a refractive assist device, and the method for controlling the pseudo-active femoral prosthesis is a pseudo active femoral prosthesis having the refractive assist device according to claim 1. It relates to a method for controlling the operation of, and performs the step of walking flat, step of determining the stairs, step of determining the ascending and descending, step of walking and the step of ascending and descending the stairs.

Description

A pseudo knee prosthesis including refraction aids and method for controlling the pseudo knee prosthesis}

The present invention relates to a passive femoral prosthesis, and more particularly, to a method for controlling a similar active femoral prosthesis and a similar active femoral prosthesis equipped with a refractive assist device capable of increasing the articulation angle of the joint compared to walking on a flat surface.

The prosthesis is an assistive device used by people who have amputated legs for various reasons, and is divided into a femoral prosthesis and a lower prosthesis according to the amputation site. The femoral prosthesis is used when the lower knee is amputated, and the lower prosthesis is used when the lower ankle is amputated. The femoral prosthesis can be divided into passive and active, and the passive femoral prosthesis reproduces the knee joint flexion and 폄 (extension) by continuous movement of the device. It is controlled by using an actuator.

The passive thigh prosthesis can be said to have no major drawbacks when users walk using the prosthesis when walking on flat land, but when climbing or descending stairs, the angle of refraction of the prosthesis is different from when walking on flat land, giving greater power. You will experience the inconvenience of adjusting the refractive angle.

(Patent Document) Registered Patent Publication No. 10-1478868 (Registration date; December 26, 2014)

The technical problem to be solved by the present invention is to install the refraction assist device to automatically increase the refraction angle of the passive femoral prosthesis on the passive femoral prosthesis, as necessary to adjust the refraction angle of the prosthesis in a special environment, such as when climbing stairs. It is to provide a pseudo-active femoral prosthesis with a refractive aid that allows it to be adjusted.

Another technical problem to be solved by the present invention is to provide a control method of a similar active femoral limb having a refractive assist device that allows adaptation to a special environment using the similar active femoral limb having the refractive assist device. .

A similar active femoral prosthesis having a refractive assist device according to the present invention for achieving the above technical problem includes a passive femoral prosthesis and a refractive assist device.

The passive thigh prosthesis includes a socket that allows a wearer to insert and secure his thigh, a knee prosthesis that controls the angle of the socket and the prosthesis, and a fluid fixation insertion hole formed therein. The refractive assist device performs a function of auxiliaryly adjusting the angle at which the knee joint, which constitutes the passive femoral limb, is bent. Here, the refractive auxiliary device, one end is fixed to the socket, the first fixing unit is provided with a motor therein, the first-first rotating shaft formed on one end is fixed fixed shaft formed on the first fixing unit A first link bar rotating in an axis, a second linking axis formed in one end, and a second link bar rotating in an axis 1-2 rotational axis formed in the opposite end of the first link bar, and a third rotational axis in one end. A second fixing part including a rotating part formed, a base having one end coupled to the opposite end of the rotating part and a fixed part fixed to the base and an opposite end inserted into the flow fixing insertion hole.

A method for controlling a similar active femoral prosthesis having a refractive assist device according to the present invention for achieving the above other technical problem is an operation of a similar active femoral prosthesis (hereinafter referred to as a femoral prosthesis) having the refractive assist device according to claim 1. It relates to a method for controlling, and performs a step of walking flat, step of determining the step, step of determining the step of ascending and descending, step of walking the step of ascending and step of walking down the stairs.

In the flat walking step, the femoral prosthesis is controlled according to a normal prosthetic control process. In the step of determining the stairs, when the wearer of the femoral prosthesis (hereinafter referred to as a wearer) walking on the flat land faces the stairs while walking on the flat land, an instruction is given to the femoral prosthesis that the stair will be walked thereafter. In the ascending and descending determining step, it is performed when the wearer determines that the step walking instruction button is pressed in the stair determining step, and distinguishes whether the stairs are rising stairs or falling stairs. In the ascending step walking step, it is performed when it is determined that the ascending step is performed in the ascending and descending step, and the ascending step is moved by adjusting the refractive angle of the knee joint of the femoral prosthesis larger than the swing angle in flat walking. In the descending step walking step, it is performed when it is determined that the descending step is the descending step. In the descending step, the descending step is moved by adjusting a refractive angle of the knee joint of the femoral limb to a swing angle in flat walking.

As described above, the control method of the pseudo-active femoral prosthesis and the pseudo-active femoral prosthesis provided with the refractive assist device according to the present invention is equipped with a refractive assist device to increase the articulation angle of the joint compared to walking on a flat surface. For example, when moving the stairs up and down, as if to act like an active thigh prosthesis, the wearer has the advantage of being able to climb or descend the stairs without effort by simple manipulation.

1 is an embodiment of a pseudo-active femoral prosthesis having a refractive aid according to the present invention.
FIG. 2 shows a refractive aid device illustrated in FIG. 1.
FIG. 3 illustrates an operation example of a pseudo-active femoral prosthesis having the refractive assist device shown in FIG. 1.
4 is a photograph of a person wearing a similar active femoral prosthesis having a refractive assist device according to the present invention ascending the stairs.
5 is a signal flow diagram showing a method of controlling a similar active femoral limb having a refractive assist device according to the present invention.
FIG. 6 illustrates an embodiment of executing the rising stair walking step and the falling stair walking step shown in FIG. 5.

In order to fully understand the present invention and the operational advantages of the present invention and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the contents described in the accompanying drawings, which illustrate exemplary embodiments of the present invention.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. The same reference numerals in each drawing denote the same members.

1 is an embodiment of a pseudo-active femoral prosthesis having a refractive aid according to the present invention.

Referring to Figure 1, it can be seen that the similar active femoral prosthesis 100 having a refractive assist device according to the present invention includes a passive femoral prosthesis 110 and a refractive assist device 150.

The passive thigh prosthesis 110 adjusts the angle of the socket 111, the prosthesis 113 in contact with the ground, and the socket 111 and the prosthesis 113 so that the wearer inserts and secures his thigh, and the fluid fixation therein It is composed of a knee joint 112 in which the insertion hole 112-1 is formed. It is not suggested in the present invention of the passive femoral prosthesis 110, but the existing ones may be employed as such, and thus will not be described in detail here. However, if the flow fixing portion 157-3 of the second fixing portion 157 constituting the refractive aid device 150 described below is inserted and fixed to form a flow fixing insertion hole 112-1, Will be.

FIG. 2 shows a refractive aid device illustrated in FIG. 1.

FIG. 2A shows the configuration of the refractive auxiliary device shown in FIG. 1, and FIG. 2B is an embodiment of a second fixing part constituting the refractive auxiliary device.

1 and 2, the refractive assist device 150 performs a function of auxiliaryly adjusting the angle at which the knee joint 112 constituting the passive thigh prosthesis 110 is refracted, and to perform this function It may be implemented as a first fixing portion 151, a first link bar 153, a second link bar 154, and a second fixing portion 157.

One end of the first fixing unit 151 is fixed to the socket 111, and although not shown in detail, it is preferable that a motor 151-1 is installed inside.

The first link bar 153 rotates the fixed rotating shaft 151-2 formed on the first fixing portion 151 with the first-first rotating shaft 153-1 formed on one end as an axis. The rotation of the first link bar 153 can be achieved by adjusting the rotational direction and rotational force of the motor 151-1 installed on the first fixing part 151.

In the second link bar 154, the 2-1 rotation axis 155-1 formed at one end rotates about the 1-2 rotation axis 153-2 formed at the opposite end of the first link bar 153 as an axis. .

The second fixing part 157 includes a rotating part 157-1 having a third rotating shaft 157-2 at one end, a base 157-3 having one end coupled with the opposite end of the rotating part 157-1, and one The end is fixed to the base (157-3) and the opposite end includes a flow fixing (157-4) inserted into the flow fixing insertion hole (112-1).

Referring to FIG. 2B, it can be seen that the two bars (or plates) constituting the flow fixing unit 157-4 are opened as they move away from the base 157-3. This is to prevent easy separation when the flow fixing portion 157-4 is inserted into the flow fixing insertion hole 112-1, and this portion will be described in detail in the following description.

FIG. 3 illustrates an operation example of a pseudo-active femoral prosthesis having the refractive assist device shown in FIG. 1.

FIG. 3A simply shows a situation in which an angle formed by an extension line of one end of the first fixing unit and the first link bar changes, and FIG. 3B actually shows an angle change in the example of FIG. 3A.

Referring to FIG. 3, as the distance from left to right decreases, the virtual surface formed by the connection surface of the first fixing part 151 and the socket 111 and the refractive angle formed by the first link bar 153 decrease, the knee joint decreases ( It can be seen that the refractive angle of 112) becomes larger.

In particular, referring to the arrow of FIG. 3A, when the refractive angle of the knee joint 112 increases, that is, when proceeding from left to right in FIG. 3A, the flow fixing portion 157-4 is the flow fixing insertion hole 112-1. It can be seen that it is designed to not be completely separated, although it is slightly opened with the inserted state.

4 is a photograph of a person wearing a similar active femoral prosthesis having a refractive assist device according to the present invention ascending the stairs.

1 to 3 of FIG. 4 moves the right foot wearing a similar active femoral prosthesis (hereinafter referred to as a femoral prosthesis) equipped with a refractive aid 150 according to the invention while supporting a healthy left foot on the stairway to move to the next staircase At this time, it indicates that the refractive angle of the knee joint 112 increases.

4 to 6 of FIG. 4 shows that when the right foot wearing the femoral prosthesis according to the present invention is moved to the next step following the healthy left foot while supporting the step, the refractive angle of the knee joint 112 decreases.

With reference to the picture shown in FIG. 4, a description will be given of a control method of a femoral prosthesis according to the present invention.

5 is a signal flow diagram showing a method of controlling a similar active femoral limb having a refractive assist device according to the present invention.

Referring to FIG. 5, the method 500 for controlling a similar active femoral prosthesis having a refractive assist device according to the present invention includes a flat walking step 510, a step determining step 520, and a rising/falling determining step 530, The rising step walking step 540 and the falling step walking step 550 are performed.

In the flat walking step 510, the femoral prosthesis 100 according to the present invention is operated according to a normal prosthetic control process. Here, the conventional prosthetic control processor moves the femoral prosthesis according to the present invention in accordance with the movement of a healthy foot when walking on a flat surface, and is not described in detail here as it is a process understood by anyone skilled in the art.

In the step of determining the stairs 520, when the wearer of the femoral prosthesis 100 according to the present invention walking on the flat land (hereinafter referred to as a wearer) walks on the flat and encounters the stairs, the femoral prosthesis according to the present invention instructs that the stairs will be walked in the future. (100). For example, if the wearer presses a step walking instruction button (not shown) installed on the femoral prosthesis 110, these instructions will be transmitted to the femoral prosthesis 110. When the step walking instruction button is not activated (No), the step of walking flat land 510 will be continuously performed.

Depending on the embodiment, it is also possible to use an algorithm that determines whether the following terrain is a rising stairs or a descending stairs by analyzing the walking pattern of the wearer of the femoral prosthesis 110.

The ascending and descending determining step 530 is performed when the wearer judges that the stair walking instruction button is pressed in the stair determining step 520 (Yes), and is a step of distinguishing whether the stair is a rising stair or a falling stair, Various embodiments are possible, such as the instruction button being divided into rising and falling, or allowing the femur prosthesis 110 to be distinguished according to the number of times the button is pressed.

The step of climbing stairs 540 is performed when the result of the determination in step of determining the steps of rising and falling is YES (Yes), and the step of starting the step of walking stairs 541, the step of widening the swing angle 542, and the step of climbing stairs By performing the joint angle control step 543 and the flat walking reduction judgment step 544, the angle of refraction of the knee joint 112 of the femoral prosthesis 110 is adjusted on the ascending stairs, so that the wearer can easily climb the stairs even when walking like flat. Let it rise.

In the step 541 of ascending stairs, the step of determining which foot to step on at the beginning of the ascending stairs is determined, and for example, it is assumed and assumed to step at the entrance of the ascending stairs with healthy feet without wearing the femoral limb 110.

The swing angle widening step 542 is a process of placing the femoral prosthesis 100 on the first ascending step after fixing the healthy feet at the beginning of the staircase, and walking the swing angle of the femoral prosthesis 110, that is, the knee joint 112, on a flat walk Make the refraction at the maximum refraction angle of the city. By doing this, you are ready to climb the rising stairs.

In the rising step joint angle control step 543, the healthy feet and the foot wearing the femoral prosthesis 110 alternately move to the rising stairs in order to move to the upper portion of the rising stairs, and the knee joint using the refractive assist device 150 The process of refracting or extending the refractive angle of (112) in addition to the maximum refraction angle when moving the flat land is performed.

In the step of determining flat walking reduction 544, the direction of the wearer or the pedestrian's (wearer's) walking pattern as described above is analyzed to perform the step of walking flat 510 when it is determined that the following progress is flat (Yes). Then, when it is determined that it is the rising stairs (No), the rising stairs joint angle control step 543 is continuously performed.

In the descending step walking step 550, the determination result in the descending step determining step 530 is performed when it is determined that it is the descending step (No), the descending step walking start step 551, the swing angle widening step 552, the descending step By performing the joint angle control step 553 and the flat walking reduction judgment step 554, by adjusting the refractive angle of the knee joint 112 of the femoral prosthesis 110 in the descending stairs, the wearer can easily climb the stairs even if walking as flat. Allow it to descend.

In the descending step walking start step 551, it is determined that a foot is set at the beginning of the stairs, and for example, it is assumed and assumed to step at the entrance of the descending stairs with healthy feet without wearing the femoral prosthesis 110.

In the swing angle narrowing step 552, a healthy foot is fixed at the beginning of the descending stairs and then the femoral prosthesis 100 is placed on the first descending stairs, and the swing angle of the femoral prosthesis 110, that is, the knee joint 112 is flat. It should be refracted at the minimum angle of refraction when walking. By doing this, you are ready to go down the descending stairs.

In the descending step joint angle control step 553, the healthy foot and the foot wearing the femoral prosthesis 110 alternately move to the descending stairs to move to the lower portion of the descending stairs, and at this time, the knee joint using the refractive assist device 150 The process of refracting or extending the refractive angle of (112) in addition to the maximum refraction angle when moving the flat land is performed.

In the step of determining flat walking reduction 554, the walking pattern of the pedestrian (wearer) as described above or the wearer's instruction is analyzed to perform the step of walking flat 510 when it is determined that the following road is flat (Yes). Then, when it is determined that it is a descending staircase (No), the descending stair joint angle control step 553 is continuously performed.

FIG. 6 illustrates an embodiment of executing the rising stair walking step and the falling stair walking step shown in FIG. 5.

Since the control of the joint angle is the same in the ascending step walking step 540 and the descending step walking step 550, the description will be given of the rising step walking step 540, and the falling step walking step 550 is the rising step walking step. (540).

Referring to FIG. 6, in the step of climbing stairs 540, the step of increasing the angle of refraction of the knee joint 610 and the step of reducing the angle of refraction of the knee joint 620 are performed.

The step of increasing the angle of refraction of the knee joint 610 is, for example, a process of placing the femoral prosthesis 100 on the rising stairs following the fixing of a healthy foot on the stairs, and the femoral prosthesis 100 bends to the maximum angle when walking flat At the same time, while adjusting the maximum refraction angle of the auxiliary refraction device 150 in accordance with the movement speed of the femoral prosthesis 110 (hence, it is more refracted than when the prosthesis walks on the flat land. Let the prosthetic step on the ascending stairs to bend at an angle.

The step of reducing the angle of refraction of the knee joint 620 is, for example, a process in which the femoral prosthesis 110 is fixed to the staircase and then moves to the upward staircase leading to healthy feet, and the femoral prosthesis 110 refracts at the minimum angle when walking flat At the same time, while adjusting the refraction angle of the auxiliary refractive device 150 to the minimum according to the movement speed of the femoral prosthesis 110, the socket 111 and the prosthesis 113 are erected while moving to the upward stairs leading to healthy feet. Make it possible.

In FIG. 6, the variable θ indicating an angle is a virtual surface and a first link bar 153 formed by a connection surface between the first fixing part 151 and the socket 111 as shown in FIG. 3. Represents the refractive angle formed by. θ _Δ means the minimum unit of increase or decrease in angle, and θ _MIN means the minimum angle of refraction of θ, which means the angle at which the knee joint 112 is refracted to the maximum. θ _S means the maximum angle of refraction of θ, which means the knee joint 112 is in an extended state.

The smaller the angle of θ, the greater the angle of refraction of the knee joint 112 (610), and the greater the angle of θ, the greater the angle of the knee (112).

As shown in FIG. 6, when the stairs are raised or descended while alternating between the healthy feet and the worn feet of the femoral prosthesis 110, ascending steps of the ascending stairs 540 and descending stairs of walking 550 are performed. If you do, you can easily go up and down the stairs.

In the above description, the angle of refraction of the knee joint 112 has been simply described. However, according to an embodiment, a torque sensor is attached to the knee joint 112 to increase the angle of the thigh and when torque is applied to the thigh. It is also possible to change the value and adjust the value of θ according to the changing torque.

In the above, the technical idea of the present invention has been described with reference to the accompanying drawings, but this is a preferred embodiment of the present invention and is not intended to limit the present invention. In addition, it is obvious that any person skilled in the art to which the present invention pertains can make various modifications and imitation without departing from the scope of the technical spirit of the present invention.

110: passive thigh prosthesis
111: socket 112: knee joint
113: prosthesis
150: refractive aid
151: 1st Government 153: 1st Link Bar
155: 2nd link bar 157: 2nd government

Claims (7)

A passive thigh prosthesis comprising a socket that allows a wearer to insert and fix his thigh, a prosthetic in contact with the ground, and a knee joint in which an angle of the socket and the prosthesis is formed and a fluid fixation insertion hole is formed therein; And
Refractive aid device for auxiliaryly adjusting the angle at which the knee joint bends constituting the passive femoral prosthesis; It characterized in that it comprises a similar active femoral prosthesis having a refractive aid. According to claim 1, wherein the refractive aid,
A first fixing part having one end fixed to the socket and having a motor installed therein;
A first link bar in which the first-first rotational shaft formed at one end rotates around the fixed rotational shaft formed in the first fixing unit;
A second link bar in which the 2-1 rotation axis formed at one end rotates the 1-2 rotation axis formed at the opposite end of the first link bar as an axis; And
A second part including a rotating part having a third rotational shaft formed at one end, a base having one end coupled with the opposite end of the rotating part, and a flow fixing part having one end fixed to the base and an opposite end inserted into the flow fixing insertion hole. Fixing part; It characterized in that it comprises a similar active femoral prosthesis having a refractive aid. The method of claim 2, wherein the rotation of the first link bar is a similar ridge thigh prosthesis having a refraction aid, characterized in that to adjust the rotational direction and the rotational force of the motor installed in the first fixing portion. In claim 2, wherein the flow fixing,
A similar active femoral prosthesis having a refractive assist device, characterized in that it consists of two plates or bars that are spaced apart as they move away from the base. A method for controlling the operation of a pseudo-active femoral prosthesis (hereinafter referred to as a femoral prosthesis) having the refractive assist device according to claim 1 or 2,
A flat walking step of controlling the femoral prosthesis according to a normal prosthetic control process;
When the wearer of the femoral prosthetic walking on the flat land (hereinafter referred to as a wearer) walks on the flat land and encounters a staircase, the step of determining a staircase that instructs the femoral prosthesis to walk on the stairs thereafter;
It is performed when it is determined that the wearer pressed the stairs walking instruction button in the step determining step, and the step of ascending and descending to distinguish whether the step is a rising step or a falling step;
An ascending step walking step performed when the ascending step is determined in the ascending and descending determining step, and adjusting the refractive angle of the knee joint of the femoral prosthesis larger than the swing angle in flat walking in the ascending step; And
A descending step walking step performed when the descending step is determined to be a descending step, and the descending step moves the descending step by adjusting a refractive angle of the knee joint of the femoral limb to a swing angle in flat walking; To
A method of controlling a pseudo active thigh prosthesis, characterized in that it is performed. In claim 5, in the step of walking the rising stairs,
Step to start walking the rising stairs stepping healthy feet at the beginning of the rising stairs;
A step of widening the swing angle of the femoral prosthesis, ie, swinging the knee joint to a maximum refraction angle when walking on a flat surface after fixing a healthy foot at the entrance of the step;
Using the refractive assist device, while performing a process of additionally refracting or stretching the refractive angle of the knee joint to the maximum refraction angle when moving the flat surface, the healthy foot and the foot wearing the femoral prosthesis are alternately moved to the upward stairs. A rising step joint angle control step of moving upwards of the rising stairs; And
By analyzing the wearer's instruction or the wearer's walking pattern of the thigh prosthesis, it is determined that the following progress is flat, and when it is determined to be flat, the flat walking step is performed. Step to determine the reduction of walking flat walking to continue the step; Method for controlling a similar active femoral prosthesis, characterized in that to perform. In claim 5, in the step of walking down the stairs,
A step of starting walking the descending staircase, stepping with healthy feet without wearing the thigh prosthesis at the beginning of the descending staircase;
A step of narrowing the swing angle of the femoral prosthesis on the descending staircase after fixing the healthy foot to the descending staircase while allowing the knee joint to be refracted to the minimum refraction angle when walking the flat foot;
Using the refractive assist device, while performing a process of additionally refracting or stretching the refractive angle of the knee joint to the maximum refraction angle when moving the flat surface, the healthy foot and the foot wearing the femoral prosthesis are alternately moved to the descending stairs. A descending step joint angle control step of moving the lower part of the descending step; And
By analyzing the wearer's instruction or the wearer's walking pattern of the femoral prosthesis, when the following progress is determined to be flat, the flat walking step is performed, and when it is determined to be a descending step, the descending step joint angle control step is performed. Steps for reducing flat walks; To
A method of controlling a pseudo active thigh prosthesis, characterized in that it is performed.

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