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WO1996041599A1 - Procede de commande du frein d'un genou prothetique et prothese de cuisse - Google Patents

Procede de commande du frein d'un genou prothetique et prothese de cuisse Download PDF

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Publication number
WO1996041599A1
WO1996041599A1 PCT/DE1996/001041 DE9601041W WO9641599A1 WO 1996041599 A1 WO1996041599 A1 WO 1996041599A1 DE 9601041 W DE9601041 W DE 9601041W WO 9641599 A1 WO9641599 A1 WO 9641599A1
Authority
WO
WIPO (PCT)
Prior art keywords
knee
brake
prosthesis
emg
thigh
Prior art date
Application number
PCT/DE1996/001041
Other languages
German (de)
English (en)
Inventor
Georges Van Der Perre
Louis Peeraer
Jos Vander Sloten
Bruno Aeyels
Original Assignee
Otto Bock Orthopädische Industrie Besitz- Und Verwaltungskommanditgesellschaft
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Otto Bock Orthopädische Industrie Besitz- Und Verwaltungskommanditgesellschaft filed Critical Otto Bock Orthopädische Industrie Besitz- Und Verwaltungskommanditgesellschaft
Publication of WO1996041599A1 publication Critical patent/WO1996041599A1/fr

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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
    • A61F2/60—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
    • A61F2/68—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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • 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
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • 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
    • A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
    • A61F2/80—Sockets, e.g. of suction type
    • 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
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A61F2002/5073—Helical springs, e.g. having at least one helical spring
    • 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
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A61F2002/6635—Metatarsals
    • 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
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A61F2002/6642—Heels
    • 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
    • A61F2002/6818—Operating or control means for braking
    • 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
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

Definitions

  • the invention relates to a method for controlling the knee brake of a knee joint connecting a stump bed with a lower prosthesis part with a connected prosthetic foot, the computer-controlled braking torque being continuously variable between “free” and “blocked” depending on the walking movement of the prosthesis wearer, and the walking movement EMG values measured in the stump bed, pressure values measured in the foot area, are characterized by the respective knee angle and the respective angular velocity measured between the upper and lower leg of the prosthesis in the form of electrical signals (hereinafter “measurement data”).
  • the invention further relates to a thigh prosthesis with a stump bed which is designed for connection to a thigh stump of the prosthesis wearer; a lower leg of the prosthesis to which a prosthetic foot is connected; a knee joint, which connects an upper knee joint connection for the stump bed via a knee axis with a lower knee joint connection for the lower leg of the prosthesis; a computer-controlled brake which applies a braking torque which can be changed continuously between "free” and "blocked” on a brake shaft; a knee joint transmission for transmitting the braking torque from the brake shaft to the knee axis; - A control unit, which acts on the brake as a function of the walking movement of the prosthesis wearer via a control algorithm;
  • EMG sensors which are arranged in the stump bed for contact with certain thigh muscles and emit signals to the control unit;
  • Foot pressure sensors which are arranged in the tread of the prosthetic foot and transmit signals to the control unit. give; a coding device which measures the respective knee angle and the respective angular velocity between the upper and lower leg of the prosthesis and emits it to the control unit in the form of electrical signals.
  • EP 0 549 855 A2 discloses a knee brake control in which a hydraulic damper controls the angular velocity in the knee joint.
  • a microprocessor determines the usual gear pattern from a load measurement and a knee angle measurement and acts on a motor at various gear transition points, which in turn adjusts a valve device provided in the hydraulic damper. This embodiment enables the prosthesis wearer to use the prosthesis in different gaits including climbing stairs and sitting down.
  • DE 39 09 672 C2 discloses a swing phase-regulated thigh prosthesis with an upper shaft, which is articulated to a lower shaft via a knee joint shaft and is acted upon by a pressure cylinder.
  • the pressure cylinder is controlled via a valve, the degree of opening of which is set by a regulating device as a function of several walking speeds selected during walking tests.
  • An operating mode selector device is provided for selecting different degrees of opening for several different walking speeds in a teaching program input mode and for a playback mode.
  • a detection device which determines the degrees of opening
  • a device which stores the degrees of opening of the operating mode selector
  • a phase determination device which detects swing and stance phases
  • a walking speed determination device which determines the actual walking speed on the basis of the respective time periods the swing and stance phases ascertained by the phase determination device and one
  • Control device with the walking speed actually determined by the walking speed determination device compares the corresponding stored opening degrees of the operating mode selector and adjusts the opening degree of the valve. Only the oscillation phase is thus controlled.
  • a knee angle sensor and stretch limit switch are used as sensors.
  • the duration of the stance phase is used as a parameter for controlling the damping coefficient in the oscillation phase.
  • French patent application 89 194 844 also discloses a pneumatic knee actuation device. Either foot contact sensors or load measurements in combination with a stretch limit switch are used as sensors. The controller triggers an automatic knee lock during the stance phase and adjusts the damping coefficient of the gait cycle duration during the oscillation phase.
  • the object of the invention is to develop a knee brake control which is better adapted to the various natural gaits and a thigh prosthesis which is more suitable for this purpose.
  • a step period defined as a time period between two successive heel / floor contacts is divided into several phases, the end point of which is determined by measurement data transmitted for this phase; d) each phase is assigned certain braking values which may change during this phase and which are applied to the knee brake.
  • knee brake is applied at a constant frequency.
  • Different gaits can be defined or defined beforehand (e.g. walking on a level surface; climbing stairs; descending stairs; walking on a rising or sloping surface; movements when stationary, etc.).
  • step period which is defined as the time interval between two heel / floor contacts.
  • This step period is plotted on a time axis and then subdivided into a specific number of step phases, a transition, that is to say a change from one phase to the other, being provided between two phases.
  • a transition that is to say a change from one phase to the other, being provided between two phases.
  • Each phase thus represents a time segment of a step period, with a controlled knee movement taking place during the phase.
  • Each phase transition is based on measurement data.
  • the exercise carried out is determined Gait by comparing the transmitted actual measurement data with the reference measurement data specified for each gait. It is useful if the reference measurement data are determined from the EMG data measured for each individual gait.
  • a curve representing the muscle activity is created for each of the specified gaits for each scanned hip joint muscle over a step period.
  • this curve can e.g. B. created by thirty measurements.
  • the EMG measurement data defining this curve are then reduced by equidistant linear interpolation to a specific number of EMG reference values, which then define the EMG reference curve.
  • the first and the last EMG reference value correspond to the EMG measurement data for heel / ground contact.
  • the respective point in time within the step period is determined, namely by pre-calculating the Time of the end point of the respective phase.
  • the EMG reference values of the EMG reference curve that come closest to them in the course time are then selected for the actual measurement data. It has proven to be useful not to use all EMG data of the complete step period, but only EMG data from a certain section of the step period, depending on the gait.
  • the determination of the gait time is looking for an answer to the question!
  • heel / ground contact rising edge of the heel pressure, determined by means of a threshold value
  • Start of stance bending phase rising flank of the knee angle, determined by means of a threshold value
  • Diffraction swing phase rising flank of the knee angle, determined by means of a threshold value; maximum flexion swing phase: knee angle becomes maximum;
  • Extension swing phase falling flank of the knee angle, determined by means of a threshold value
  • the "on-line" gait time base determines the gait time of the current point in time before the current step period has ended. And this is done according to the invention by calculating in advance the time of the arrival of a future event with a known gear time.
  • the main advantage of the method according to the invention can be seen in the fact that when the gait is changed, the control of the knee brake is also changed, in each case by adapting a stored reference pattern.
  • At least two foot pressure sensors are arranged in downwardly open recesses in the sole of the foot, namely in the heel area and in the head area of an OS metatarsal;
  • the brake is a magnetic powder brake, which is controlled via pulsed control signals of a pulse width modulation circuit (PWM circuit), the pulse width determining the current flowing through the brake and thus the braking torque;
  • PWM circuit pulse width modulation circuit
  • At least two EMG sensors are preferably used.
  • sensors for measuring the knee moment and / or the hip moment can be provided.
  • the knee brake is preferably operated at a constant frequency, e.g. B. 100 Hz.
  • all measurement data can be completely processed at any time; in practice, however, only selected measurement data are used for the individual calculations. In any case, all measurement data are saved by a computer over a certain period of time (e.g. over 2.5 seconds), ie not immediately destroyed.
  • the EMG electrodes it is fundamentally possible to use the above-mentioned EMG electrodes to identify the gait, the gait phase within a step period and the transitions between gait and phases, even if only for checking the pressure values measured in the foot area and / or the knee angle Measurements.
  • a control method is preferred in which the EMG values measured in the stump in conjunction with the pressure values measured in the foot area and the respective knee angles are fed as information into the microprocessor in order to identify the gait and phases and the transitions between them.
  • the combination of the pressure values measured in the foot area with the measured knee angle is used as control parameters for the feedback control algorithm.
  • a closed knee impact device comprises a gear and a magnetic powder brake, which enable direct, continuous control of the knee braking torque both in the stance phase and in the swing phase.
  • the combination of these three feature complexes leads to a two-layer control system: the first layer includes the identification of the gait and phase as well as the selection of the gait-specific control algorithm, while the second layer is defined by the direct control of the knee braking torque using the appropriate algorithm .
  • the prosthesis automatically adapts to the gait and phase of the prosthesis wearer.
  • a major advantage of the thigh prosthesis designed in accordance with the invention is the fact that an adaptation to the respective prosthesis wearer must take place exclusively in the software, but not in the hardware. This considerably simplifies adaptation.
  • Figure 1 - a schematic representation of a thigh prosthesis
  • Figure 3 - a cross section along the line III-III in Figure 2;
  • Figure 4 - a prosthetic foot in side view
  • FIG. 7 - a side view of a knee joint in a first embodiment
  • Figure 8 the knee joint according to Figure 7 in a lateral front view
  • Figure 9 a vertical section in the front plane through the knee joint according to Figure 7;
  • Figure 10 - a vertical section in the sagittal plane through the joint according to Figure 7;
  • Figure 12 - a second embodiment of a knee joint in a representation according to Figure 9;
  • Figure 13 the knee joint according to Figure 12 in a presen- tation according to Figure 10;
  • FIG. 14 the knee joint according to FIG. 12 in a representation according to FIG. 11;
  • Figure 15 - a third embodiment in a diagram for a knee joint
  • Figure 17 - a schematic representation for the definition of the knee angle
  • Figure 18 - a schematic representation of a thigh prosthesis, the lower leg of the prosthesis is equipped with pairs of strain gauges;
  • FIG. 19 - a diagram in which the foot pressure and knee angle are plotted over a step period and a phase diagram illustrating these curves
  • Figure 20 a somewhat modified phase diagram in a representation according to Figure 19;
  • Figure 21 electronic hardware in a block diagram;
  • Figure 22 - a block diagram for a digital control unit
  • the thigh prosthesis shown in Figure 1 essentially consists of a stump bed 1, which is designed for connection to a thigh stump of the prosthesis wearer, a lower leg prosthesis 2, to which a prosthetic foot 3 is connected, and a knee joint 4, which has an upper one via a knee axis 5 Knee joint connection 6 for the stump bed 1 connects in an articulated manner to a lower knee joint connection 7 for the lower leg of the prosthesis 2.
  • EMG sensors 8 are indicated in the stump bed 1 and foot pressure sensors 9 are indicated in the underside of the prosthetic foot 3.
  • a knee angle sensor 10 and a brake 11 are shown schematically on the knee joint 4.
  • this brake 11 To control this brake 11 are also used a schematically shown microcomputer 12 and batteries 13 which the prosthesis wearer can wear on a belt, but which can also be integrated directly into the lower leg 2 of the prosthesis.
  • the knee brake 11 can be controlled by an external computer.
  • FIGS. 2 and 3 show that three EMG sensors 8 are provided, each of which is assigned to a muscle acting on the hip joint, namely the muscles rectus femoris, adductor longus and hamstrings.
  • the EMG sensors 8 are resiliently fixed in the inner wall of the stump bed 1 in order to ensure permanent, reliable contact with the assigned muscle.
  • the electrical connections of the EMG sensors 8 are laid on the outside of the stump bed 1.
  • the distance of the EMG sensors 8 from the edge la of the stump bed 1 is approximately 10 cm.
  • Figure 1 shows that four foot pressure sensors 9 are provided, of which Figure 4 shows only two.
  • the first foot pressure sensor lies in the heel area, the second in the area of an OS metatarsal area, the third in the head area of an OS metatarsal area and the fourth in the toe area.
  • Each foot pressure sensor 9 is supported against a metal insert 14 which is inserted into a recess 15 which is filled around the foot pressure sensor 9 with the material of the prosthetic foot tread.
  • FIGS. 7 to 11 show a first embodiment for a knee joint transmission 16.
  • the knee axis 5 sits together with a first transmission gear 17 firmly on the upper knee joint connection 6, while the lower knee joint connection 7 is designed as a transmission housing 18 which supports the knee axis 5 forms and includes the actual transmission, the brake 11 and a coding device which measures the respective knee angle and also the respective angular velocity between the upper and lower leg of the prosthesis via the knee angle sensor 10 and outputs it in the form of electrical signals to a control unit 19 (see Figure 21).
  • the brake 11 which is not shown in detail in the drawing, is a magnetic powder brake which is controlled via pulsed control signals of a pulse width modularization circuit (PWM circuit), the pulse width the current flowing through the brake and thus the braking torque certainly.
  • the first knee joint gear 16 is a two-stage reduction gear with a knee axis 5, intermediate shaft 20 and brake shaft 21 arranged parallel to one another, which are rotatably mounted in the gear housing 18 and are each equipped with a gear 17, 22, 23, the Intermediate shaft 20 also carries an intermediate gear 24 meshing with the gear 23 of the brake shaft 21.
  • FIGS. 7 and 8 show a stop 25 for the stretched position of the lower leg of the prosthesis 2.
  • FIG. 8 also shows a spring-elastic advancer 26, while in FIG. 9 one on the brake shaft 21 seated knee angle coding disk 27 is indicated, to which the above-mentioned coding device 28 indicated in FIG. 11 is assigned.
  • FIGS. 12 to 14 show a second embodiment for a knee joint transmission 29.
  • the knee axis 5 is at the same time designed as a brake shaft and rotatably mounted in both the upper and lower knee joint connections 6, 7.
  • a gearwheel 30 is seated in a rotationally fixed manner, which meshes with a gearwheel 31 of an intermediate shaft 32 which engages via a second gearwheel 33 with a gearwheel 34 fixedly connected to the upper knee joint connection 6.
  • FIGS. 15 and 16 show a third embodiment for a knee joint transmission 35.
  • This has a lever 36, which is firmly connected at one end to the upper knee joint connection 6 and which, with its free end, is guided on a spindle 37 and represents the rotary nut 38 representing its rotary drive supports.
  • the latter is displaceable against the action of a spring 39 on the spindle 37, which forms the brake shaft and is rotatably supported with its lower end on the lower knee joint connection 7.
  • FIG. 17 shows a relative pivoting between the stump bed 1 and the lower leg of the prosthesis 2 and the resulting knee angle ⁇ .
  • FIG. 18 shows in a schematic representation that the lower leg of the prosthesis 2 is equipped with two pairs of strain gauges 40, wherein - seen in the sagittal plane - one pair of strain gauges 40 in each case one strain gauge at the front and the other at the rear on the lower leg of the prosthesis 2 are arranged. It is a sensor for measuring the knee moment.
  • the same strain gauge pairs 40 or two additional strain gauge pairs also serve as a sensor for measuring the hip joint.
  • the lower arrow A symbolizes the ground reaction force;
  • the bending moment is plotted on axis B. Points B1 and B2 indicate the bending moments determined by the two pairs of strain gauges 40.
  • the respectively measured foot pressure in percent or the respectively measured knee angle in angular degrees are plotted on the vertical axis, while the horizontal axis indicates the time span of a complete step period.
  • the four foot pressure sensors 9 shown in FIG. 1 only one pressure curve D1 for the heel pressure sensor and one pressure curve D2 for a pressure sensor in the head region of the OS metatarsal I are shown.
  • the curve K ⁇ is also entered for the respective knee angle.
  • the step period shown in the diagram is the time period between two successive heel / floor contacts of the prosthetic foot 3.
  • This step period is divided according to the invention into several phases (eight phases in the example shown), the respective end point of which is determined by measurement data specified for this phase.
  • Each phase is assigned certain braking values, which may change during this phase and which are applied to the knee brake 11.
  • phase 1 to 3 to the right of the dashed line show the maintenance phase
  • phases 4 to 8 to the left of the dashed line the swing phase.
  • the possibilities are provided for transitioning directly from phase 1 to phase 4 and / or from phase 4 to phase 6.
  • FIG. 20 shows a somewhat simplified example of walking on flat ground for the phase diagram shown in FIG. 19.
  • the phases symbolized by a circle each mean a short period of a step period, with a controlled knee movement taking place during each phase.
  • the arrows between the phases indicate the respective phase transition.
  • These are predetermined threshold values or fixed points which define the end point of a phase and are each determined by measurement data transmitted by sensors.
  • FIG. 21 shows an example of the electronic hardware provided for controlling the knee brake 11.
  • This includes the control unit 19 already mentioned above, which has interfaces for the three EMG sensors 8, for two foot pressure sensors 9 and for the coding device 28.
  • the power supply for the control unit 19 is designated 42.
  • the control unit 19 is connected to an external computer 43 and has a control line 44 for controlling the brake 11.
  • the control unit 19 has a microcontroller structure, which comprises a microcontroller 45, at least one RAM and a serial interface for bidirectional data exchange with the external computer 43.
  • the microcontroller 45 comprises an internal 2 kB EEPROM for storing the operating and control software as well as the fixed data and is connected to an external 8 kB RAM for recording the volatile data during operation.
  • FIG. 23 shows an alternative embodiment with two controllers.
  • the control unit 19 has a microcontroller In a master-slave configuration, the master controller 46 is connected to the coding device 28 and the foot pressure sensors 9 and the slave controller 47 connected to the master controller 46 in direct data exchange with the EMG sensors 8. Both controllers 46, 47 each have their own peripheral circuit, RAM and a serial connection to the external computer 43.

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  • 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

Le procédé décrit sert à commander le frein de genou (11) d'une articulation de genou (4) qui relie un lit de moignon (1) à la partie inférieure (2) d'une prothèse avec pied (3). Le moment de freinage commandé par ordinateur est variable en continu entre 'libre' et 'bloqué' en fonction des mouvements effectués par le porteur de la prothèse pendant la marche. Les mouvements effectués pendant la marche sont caractérisés par des valeurs EMG mesurées au niveau du lit du moignon, par des valeurs de pression mesurées au niveau du pied, par l'angle momentané du genou et par la vitesse angulaire mesurée entre la cuisse et la jambe de la prothèse sous forme de signaux électriques (ci-dessous 'données de mesure'). L'invention concerne en outre une prothèse de cuisse. Afin de mieux adapter la commande du frein du genou à différents types naturels de marche, l'invention concerne en premier lieu les étapes suivantes: (a) on détermine le type momentané de marche parmi une pluralité de types de marche déterminés au préalable pour le porteur de prothèse en question en évaluant au moins certaines données de mesure; le programme de commande qui correspond au type de marche ainsi déterminé est sélectionné; (c) pour chaque programme de commande, la période d'un pas entre deux contacts successifs entre le talon et le sol est définie comme une durée et subdivisée en plusieurs phases dont la fin est déterminée sur la base de données de mesure prédéterminées et retransmises pendant chaque phase; (d) des valeurs déterminées et le cas échéant variables de freinage du frein du genou sont attribuées à chaque phase.
PCT/DE1996/001041 1995-06-13 1996-06-06 Procede de commande du frein d'un genou prothetique et prothese de cuisse WO1996041599A1 (fr)

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DE19521464.1 1995-06-13
DE19521464A DE19521464C2 (de) 1995-06-13 1995-06-13 Verfahren zur Steuerung der Kniebremse eines Prothesen-Kniegelenkes sowie Oberschenkelprothese

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WO1999044547A1 (fr) * 1998-03-04 1999-09-10 Chas. A. Blatchford & Sons Limited Prothese d'un membre inferieur et unite de commande
WO2001072245A3 (fr) * 2000-03-29 2002-03-14 Massachusetts Inst Technology Prothese de genou adaptable a la vitesse et adaptable au patient
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WO2004017871A2 (fr) 2002-08-22 2004-03-04 Victhom Human Bionics Inc. Positionnement de propriocepteurs artificiels des extremites inferieures
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US9707104B2 (en) 2013-03-14 2017-07-18 össur hf Prosthetic ankle and method of controlling same based on adaptation to speed
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
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US9913738B1 (en) * 2013-05-15 2018-03-13 Raymond Fikes Conditional braking knee
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US10575970B2 (en) 2011-11-11 2020-03-03 Össur Iceland Ehf Robotic device and method of using a parallel mechanism
CN111685918A (zh) * 2020-05-25 2020-09-22 上海工程技术大学 一种刚度可调节的足部假肢装置
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CN112754468A (zh) * 2021-01-07 2021-05-07 华南理工大学 一种基于多源信号的人体下肢运动检测及识别方法
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DE102016107743A1 (de) * 2016-04-26 2017-10-26 Össur Iceland Ehf Verfahren zur Steuerung einer Antriebs- und/oder Bremseinrichtung eines orthetischen oder prothetischen, künstlichen Gelenks
CN108994833B (zh) * 2018-07-26 2020-08-28 北京机械设备研究所 一种基于肌电活跃度反馈的关节助力控制方法
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WO1998025552A1 (fr) * 1996-12-10 1998-06-18 Novacare Orthotics And Prosthetics East, Inc. Systeme et procede utilises pour donner une sensibilite dans un membre protethique ou presentant une deficience sensorielle
WO1999029272A1 (fr) * 1997-12-10 1999-06-17 Biedermann Motech Gmbh Prothese de la jambe comportant une articulation du genou artificielle pourvue d'un dispositif de regulation
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US6423098B1 (en) 1997-12-10 2002-07-23 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint provided with an adjustment device
US6719806B1 (en) 1998-03-04 2004-04-13 Chas. A. Blatchford & Sons Limited Lower limb prosthesis and control unit
WO1999044547A1 (fr) * 1998-03-04 1999-09-10 Chas. A. Blatchford & Sons Limited Prothese d'un membre inferieur et unite de commande
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US7279009B2 (en) 2000-03-29 2007-10-09 Massachusetts Institute Of Technology Speed-adaptive and patient-adaptive prosthetic knee
US6610101B2 (en) 2000-03-29 2003-08-26 Massachusetts Institute Of Technology Speed-adaptive and patient-adaptive prosthetic knee
WO2001072245A3 (fr) * 2000-03-29 2002-03-14 Massachusetts Inst Technology Prothese de genou adaptable a la vitesse et adaptable au patient
RU2271779C2 (ru) * 2000-03-29 2006-03-20 Массачусеттс Инститьют Оф Текнолоджи Способ адаптивного управления амортизацией протезного колена в фазе стояния, способ адаптивного управления амортизацией момента протезного колена в фазе ходьбы, протезное колено, приспосабливающееся для управления моментом амортизации во время фазы стояния человека без ноги, и протезный узел
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WO2004017871A2 (fr) 2002-08-22 2004-03-04 Victhom Human Bionics Inc. Positionnement de propriocepteurs artificiels des extremites inferieures
US8231687B2 (en) 2002-08-22 2012-07-31 Victhom Human Bionics, Inc. Actuated leg prosthesis for above-knee amputees
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US7087090B2 (en) * 2003-11-19 2006-08-08 Bloorview Macmillan Centre Artificial knee joint
US9271851B2 (en) 2004-02-12 2016-03-01 össur hf. Systems and methods for actuating a prosthetic ankle
US10195057B2 (en) 2004-02-12 2019-02-05 össur hf. Transfemoral prosthetic systems and methods for operating the same
US9345591B2 (en) 2004-03-10 2016-05-24 össur hf Control system and method for a prosthetic knee
US7455696B2 (en) 2004-05-07 2008-11-25 össur hf Dynamic seals for a prosthetic knee
US7691154B2 (en) 2004-05-07 2010-04-06 össur hf Systems and methods of controlling pressure within a prosthetic knee
US8858648B2 (en) 2005-02-02 2014-10-14 össur hf Rehabilitation using a prosthetic device
US10290235B2 (en) 2005-02-02 2019-05-14 össur hf Rehabilitation using a prosthetic device
US10369025B2 (en) 2005-02-02 2019-08-06 Össur Iceland Ehf Sensing systems and methods for monitoring gait dynamics
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US9717606B2 (en) 2005-04-19 2017-08-01 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US8852292B2 (en) 2005-09-01 2014-10-07 Ossur Hf System and method for determining terrain transitions
US9351854B2 (en) 2005-09-01 2016-05-31 össur hf Actuator assembly for prosthetic or orthotic joint
WO2007027808A3 (fr) * 2005-09-01 2007-06-28 Oessur Hf Systeme et methode pour determiner des transitions de terrain
WO2007027808A2 (fr) 2005-09-01 2007-03-08 össur hf Systeme et methode pour determiner des transitions de terrain
US8403997B2 (en) 2006-03-24 2013-03-26 Blatchford Products Limited Lower limb prosthesis and control unit
EP2015713A4 (fr) * 2006-04-28 2012-02-01 College Park Ind Inc Systèmes et procédés de détection pour prothèse
US8298293B2 (en) 2006-04-28 2012-10-30 College Park Industries, Inc. Prosthetic sensing systems and methods
US11007072B2 (en) 2007-01-05 2021-05-18 Victhom Laboratory Inc. Leg orthotic device
US9066817B2 (en) 2007-01-05 2015-06-30 Victhom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US9730824B2 (en) 2007-01-05 2017-08-15 Victhom Laboratory Inc. High torque active mechanism for orthotic and/or prosthetic devices
US8211042B2 (en) 2007-01-05 2012-07-03 Victom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US9526635B2 (en) 2007-01-05 2016-12-27 Victhom Laboratory Inc. Actuated leg orthotics or prosthetics for amputees
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US10405996B2 (en) 2007-01-19 2019-09-10 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
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