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公开(公告)号：US07588604B2
公开(公告)日：2009-09-15
申请号：US10505699
申请日：2003-11-19
IPC分类号： A61F2/64
CPC分类号： A61F2/68 , A61F2/644 , A61F2002/6818 , A61F2002/6854 , A61F2002/744 , A61F2002/745 , A61F2002/747 , A61F2002/748 , A61F2002/7655
摘要： There is provided a prosthetic limb having a flexible knee brake function, which is designed such that it can be mechanically detected which part of the foot the load of the wearer is imposed on. In a thigh prosthetic limb (10), a joint upper member (12) including a knee plate (120) and a joint lower member (14) including a base bracket (22) integral with the frame (140) are operated to bend the knee. In the housing member (24), there are provided not only a knee axis but also a hydraulic brake circuit. There is a link mechanism (50) which allows a small relative motion between the housing member (24) and the base bracket (22) on the main body part side. The link mechanism (50) has an instantaneous center between the toe and the heel part of the prosthetic limb. This instantaneous center serves as a sensing point and detects which part of the foot the load of the wearer is imposed on by distinguishing a first case in which the wearer's load is imposed on the heel and a second case in which the wearer's load is imposed on the toe. Based on the detection result made by the link mechanism (50), the hydraulic brake circuit is controlled so that a flexible knee braking operation can be made.
摘要翻译： 提供了一种具有柔韧的膝盖制动功能的假肢，其被设计成使得能够机械地检测施加穿着者的负荷的脚的哪一部分。 在大腿假肢（10）中，操作包括膝盖板（120）和包括与框架（140）成一体的基座托架（22））的关节下部构件（14）的关节上部构件（12），以弯曲 膝盖。 在壳体部件24中，不仅设置膝部轴线，还设置有液压制动回路。 存在连接机构（50），其允许壳体构件（24）和主体部分侧的基座托架（22）之间的小的相对运动。 连杆机构（50）具有在脚趾与假肢之间的跟部之间的瞬时中心。 这个瞬时中心用作感测点，通过区分佩戴者的负荷施加在脚跟上的第一种情况和施加穿着者的负荷的第二种情况，来检测穿着者的哪一部分施加穿着者的负荷 脚趾。 根据连杆机构50的检测结果，控制液压制动回路，从而能够进行柔性的膝盖制动操作。
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2.发明申请Closed position maintainable selector valve, knee torque device using the valve, and artificial leg 有权闭合位置可维护的选择阀，使用阀的膝盖扭矩装置和人造腿公开(公告)号：US20070173953A1
公开(公告)日：2007-07-26
申请号：US10589295
申请日：2004-09-09
IPC分类号： A61F2/62
CPC分类号： A61F2/68 , A61F2002/6818 , A61F2002/744 , A61F2002/745 , A61F2002/747 , A61F2002/748 , Y10T74/20546
摘要： A selector valve capable of maintaining a closed position for a while even if an operating force to a valve element (80) is eliminated when the selector valve (10) is switched from a closed position (braking state) to an open position. The valve element (80) of the selector valve (10) receives an operating force from the outside and a returning force in the opposite direction of the operating force by a valve spring (90). Accordingly, the valve element (80) opens and closes the valve by making the first end (801) of the valve element (80) seat on/unseat from a valve seat (48) on the housing (20) side according to the presence or absence of the operating force. A first port (31) and a second port (32) on both sides of the valve seat (48) are connected or cut off from each other by the opening and closing. The valve element (80) is formed in a stepped structure, and receives a force based on a difference in pressure receiving area by the stepped structure which results from the pressure of hydraulic fluid. The force can maintain the closed position of the valve for a while.
摘要翻译： 即使当选择阀（10）从关闭位置（制动状态）切换到打开位置时，即使消除了对阀元件（80）的操作力，也能够保持关闭位置一段时间的选择阀。 选择阀（10）的阀元件（80）从外部接收操作力，并且通过阀弹簧（90）在与操作力相反的方向上接收返回力。 因此，阀元件（80）通过使阀元件（80）的第一端（801）从壳体（20）侧的阀座（48）位于/离开座部，根据存在 或没有操作力。 在阀座（48）的两侧上的第一端口（31）和第二端口（32）通过打开和关闭彼此连接或切断。 阀元件（80）形成为阶梯式结构，并且通过由液压流体的压力产生的阶梯式结构，接受基于压力接收面积的差的力。 力可以保持阀的关闭位置一段时间。
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公开(公告)号：USD617460S1
公开(公告)日：2010-06-08
申请号：US29331084
申请日：2009-01-20
申请人： Masahiko Okuda , Yoshiaki Nakaya
设计人： Masahiko Okuda , Yoshiaki Nakaya
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4.发明授权Closed position maintainable selector valve, knee torque device using the valve, and artificial leg 有权闭合位置可维护的选择阀，使用阀的膝盖扭矩装置和人造腿公开(公告)号：US07344569B2
公开(公告)日：2008-03-18
申请号：US10589295
申请日：2004-09-09
CPC分类号： A61F2/68 , A61F2002/6818 , A61F2002/744 , A61F2002/745 , A61F2002/747 , A61F2002/748 , Y10T74/20546
摘要： A selector valve capable of maintaining a closed position for a while even if an operating force to a valve element (80) is eliminated when the selector valve (10) is switched from a closed position (braking state) to an open position. The valve element (80) of the selector valve (10) receives an operating force from the outside and a returning force in the opposite direction of the operating force by a valve spring (90). Accordingly, the valve element (80) opens and closes the valve by making the first end (801) of the valve element (80) seat on/unseat from a valve seat (48) on the housing (20) side according to the presence or absence of the operating force. A first port (31) and a second port (32) on both sides of the valve seat (48) are connected or cut off from each other by the opening and closing. The valve element (80) is formed in a stepped structure, and receives a force based on a difference in pressure receiving area by the stepped structure which results from the pressure of hydraulic fluid. The force can maintain the closed position of the valve for a while.
摘要翻译： 即使当选择阀（10）从关闭位置（制动状态）切换到打开位置时，即使消除了对阀元件（80）的操作力，也能够保持关闭位置一段时间的选择阀。 选择阀（10）的阀元件（80）从外部接收操作力，并且通过阀弹簧（90）在与操作力相反的方向上接收返回力。 因此，阀元件（80）通过使阀元件（80）的第一端（801）从壳体（20）侧的阀座（48）位于/离开座部，根据存在 或没有操作力。 在阀座（48）的两侧上的第一端口（31）和第二端口（32）通过打开和关闭彼此连接或切断。 阀元件（80）形成为阶梯式结构，并且通过由液压流体的压力产生的阶梯式结构，接受基于压力接收面积的差的力。 力可以保持阀的关闭位置一段时间。
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5.发明授权Prosthetic limbs with means capable of reducing torque in the initial period of bend of knee joint 有权具有能够在膝关节弯曲初始期间减小扭矩的手段的假肢公开(公告)号：US08529634B2
公开(公告)日：2013-09-10
申请号：US12531542
申请日：2007-03-16
申请人： Masahiko Okuda , Yoshiaki Nakaya
发明人： Masahiko Okuda , Yoshiaki Nakaya
IPC分类号： A61F2/64
CPC分类号： A61F2/644 , A61F2/60 , A61F2/68 , A61F2002/30359 , A61F2002/5006 , A61F2002/745 , A61F2002/748 , A61F2220/0033
摘要： A technology for making the sensation at use of prosthetic limbs utilizing a hydraulic cylinder and a spring cylinder as comfortable as at use of those utilizing a pneumatic cylinder and further for improving walk following properties. In particular, the arrangement of a hydraulic cylinder or a spring cylinder, or the like, is specified. Accordingly, the resistance produced by the hydraulic cylinder or spring cylinder in accordance with an increase of knee angle is increased, The first torque T1 at the first stage of initial period of bend of the knee joint is made small, while the second torque T2 at the second stage of final period of the further advanced bend of knee joint is made large, thereby satisfying a relation of T1≧T2, as different from conventional ones.
摘要翻译： 使用利用液压缸和弹簧缸使用假肢的感觉的技术，其使用利用气缸的那些使用舒适，并且进一步改善步行跟随性能。 特别地，规定了液压缸或弹簧缸等的布置。 因此，根据膝盖角度的增加，由液压缸或弹簧缸产生的阻力增加。膝关节初始弯曲初始阶段的第一扭矩T1变小，而第二扭矩T2 进一步提高膝关节弯曲的最后阶段的第二阶段变大，从而满足T1> = T2的关系，与常规关系不同。
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公开(公告)号：US06558430B1
公开(公告)日：2003-05-06
申请号：US09707011
申请日：2000-11-06
IPC分类号： A61F264
CPC分类号： F16F9/48 , A61F2/64 , A61F2/644 , A61F2/68 , A61F2002/747 , A61F2002/748 , F15B15/223 , F16F9/486 , F16F2224/046
摘要： There is provided an air-cylinder apparatus for use in a prosthetic limb capable of effectively adjusting the pressure characteristics over a wide range of walking speed. A second chamber 82 defined by a piston 113 is increased in pressure by air confined therein in accordance with the bending motion of the knee. Air is restricted from flowing out of the second chamber 82 by a constant throttle valve 140. In addition, the second chamber 82 is divided into plural chambers 821, 822 in accordance with increase in bending angle of the knee and air is restricted from flowing out of the newly divided chambers 821, 822 by throttle valves corresponding thereto. The division of the second chamber 82 is achieved by mutual engagement between a projection 1140b on the piston side and a recess 1127 on the bottom part of a cylinder body.
摘要翻译： 提供了一种用于假肢的气缸装置，能够在宽的行走速度范围内有效地调节压力特性。 由活塞113限定的第二室82根据膝盖的弯曲运动而被限制在其中的空气的压力增加。 空气通过恒定的节流阀140被限制流出第二室82.另外，根据膝盖的弯曲角度的增加，第二室82被分成多个室821,822，并且空气被限制流出 通过与之对应的节流阀来分配新分隔室821,822。 第二室82的分割是通过活塞侧的突起1140b与缸体的底部上的凹部1127之间的相互接合实现的。
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公开(公告)号：US20150032228A1
公开(公告)日：2015-01-29
申请号：US14352843
申请日：2012-03-09
申请人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
发明人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
IPC分类号： A61F2/64
CPC分类号： A61F2/644 , A61F2/76 , A61F2002/5006 , A61F2002/5084 , A61F2002/6863 , A61F2002/704 , A61F2002/762 , A61F2002/7625 , A61F2002/7665
摘要： A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.
摘要翻译： 提供能够检测膝盖部分的弯曲角度而不引起传感器的安装空间和布线问题的多关节连杆膝关节。 四连杆膝关节包括四连杆机构的膝部，限制膝部动作的流体缸，位置检测装置，其检测活塞杆相对于气缸管的位置作为延伸部 和收缩量;以及计算机，其通过转换由位置检测装置检测到的位置来获取膝部的弯曲角度。
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8.发明申请公开(公告)号：US20100049334A1
公开(公告)日：2010-02-25
申请号：US12531542
申请日：2007-03-16
申请人： Masahiko Okuda , Yoshiaki Nakaya
发明人： Masahiko Okuda , Yoshiaki Nakaya
IPC分类号： A61F2/68
CPC分类号： A61F2/644 , A61F2/60 , A61F2/68 , A61F2002/30359 , A61F2002/5006 , A61F2002/745 , A61F2002/748 , A61F2220/0033
摘要： A technology for making the sensation at use of prosthetic limbs utilizing a hydraulic cylinder and a spring cylinder as comfortable as at use of those utilizing a pneumatic cylinder and further for improving walk following properties. In particular, the arrangement of drag generating means, such as a hydraulic cylinder and a spring cylinder, per se is specified. Accordingly, the resistance produced by the drag generating means in accordance with an increase of knee angle is increased. The first torque T1 at the first stage of initial period of bend of knee joint is made small, while the second torque T2 at the second stage of final period of the further advanced bend of knee joint is made large, thereby satisfying a relation of T1≦T2, as different from conventional ones.
摘要翻译： 使用利用液压缸和弹簧缸使用假肢的感觉的技术，其使用利用气缸的那些使用舒适，并且进一步改善步行跟随性能。 特别地，规定了诸如液压缸和弹簧缸之类的牵引发生装置的布置。 因此，由牵引发生装置根据膝盖角度的增加而产生的阻力增加。 膝关节弯曲初始阶段的第一阶段的第一扭矩T1变小，而膝关节进一步提前弯曲的最后阶段的第二阶段的第二扭矩T2变大，从而满足关系T1＆nlE ; T2，与传统的不同。
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公开(公告)号：US20050234562A1
公开(公告)日：2005-10-20
申请号：US10505699
申请日：2003-11-19
CPC分类号： A61F2/68 , A61F2/644 , A61F2002/6818 , A61F2002/6854 , A61F2002/744 , A61F2002/745 , A61F2002/747 , A61F2002/748 , A61F2002/7655
摘要： There is provided a prosthetic limb having a flexible knee brake function, which is designed such that it can be mechanically detected which part of the foot the load of the wearer is imposed on. In a thigh prosthetic limb (10), a joint upper member (12) including a knee plate (120) and a joint lower member (14) including a base bracket (22) integral with the frame (140) are operated to bend the knee. In the housing member (24), there are provided not only a knee axis but also a hydraulic brake circuit. There is a link mechanism (50) which allows a small relative motion between the housing member (24) and the base bracket (22) on the main body part side. The link mechanism (50) has an instantaneous center between the toe and the heel part of the prosthetic limb. This instantaneous center serves as a sensing point and detects which part of the foot the load of the wearer is imposed on by distinguishing a first case in which the wearer's load is imposed on the heel and a second case in which the wearer's load is imposed on the toe. Based on the detection result made by the link mechanism (50), the hydraulic brake circuit is controlled so that a flexible knee braking operation can be made.
摘要翻译： 提供了一种具有柔韧的膝盖制动功能的假肢，其被设计成使得能够机械地检测施加穿着者的负荷的脚的哪一部分。 在大腿假肢（10）中，操作包括膝盖板（120）和包括与框架（140）成一体的基座托架（22））的关节下部构件（14）的关节上部构件（12），以弯曲 膝盖。 在壳体部件24中，不仅设置膝部轴线，还设置有液压制动回路。 存在连接机构（50），其允许壳体构件（24）和主体部分侧的基座托架（22）之间的小的相对运动。 连杆机构（50）具有在脚趾与假肢之间的跟部之间的瞬时中心。 这个瞬时中心用作感测点，通过区分佩戴者的负荷施加在脚跟上的第一种情况和施加穿着者的负荷的第二种情况，来检测穿着者的哪一部分施加穿着者的负荷 脚趾。 根据连杆机构50的检测结果，控制液压制动回路，从而能够进行柔性的膝盖制动操作。
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公开(公告)号：US09089443B2
公开(公告)日：2015-07-28
申请号：US14352843
申请日：2012-03-09
申请人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
发明人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
CPC分类号： A61F2/644 , A61F2/76 , A61F2002/5006 , A61F2002/5084 , A61F2002/6863 , A61F2002/704 , A61F2002/762 , A61F2002/7625 , A61F2002/7665
摘要： A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.
摘要翻译： 提供能够检测膝盖部分的弯曲角度而不引起传感器的安装空间和布线问题的多关节连杆膝关节。 四连杆膝关节包括四连杆机构的膝部，限制膝部动作的流体缸，位置检测装置，其检测活塞杆相对于气缸管的位置作为延伸部 和收缩量;以及计算机，其通过转换由位置检测装置检测到的位置来获取膝部的弯曲角度。
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