CN1901858B - 用于截肢者的促动假肢 - Google Patents

用于截肢者的促动假肢 Download PDF

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CN1901858B
CN1901858B CN2004800391438A CN200480039143A CN1901858B CN 1901858 B CN1901858 B CN 1901858B CN 2004800391438 A CN2004800391438 A CN 2004800391438A CN 200480039143 A CN200480039143 A CN 200480039143A CN 1901858 B CN1901858 B CN 1901858B
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artificial limb
trans
tibial member
knee
linear actuators
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CN1901858A (zh
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斯特凡·贝达尔
皮埃尔-奥利维尔·罗伊
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Victhom Human Bionics Inc
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Abstract

促动腿假肢包括：膝盖元件；设在膝盖元件之上的承窝连接器；具有下端的细长贯胫元件，假足连接在所述下端的下面；以及线性致动器。第一枢轴组件允许将贯胫元件操作上连接到膝盖元件。第二枢轴组件允许将致动器的上端操作上连接到膝盖元件。第三枢轴组件允许将致动器的下端操作上连接到贯胫元件的下端。这种假肢能提供为前致动器结构或后致动器结构。

Description

用于截肢者的促动假肢
技术领域
本发明涉及用于截肢者的促动假肢，具体地但并不专门的用于膝上截肢者的假腿。 
背景技术
多年来，已经设计出了很多种假肢来替代截肢者所失去的肢体。尤其，考虑到主肢损失对于截肢者的巨大冲击，已经进行了很多努力来开发将要代替比如腿和手臂的主肢损失的假肢。所有这些假肢都具有尽可能地给这些截肢者带来正常生活的艰难任务。这个任务对于腿部截肢者来说尤其困难，部分原因是人类运动的复杂性。普通的假腿直到现在也只是在最复杂的可用设备中使用被动机构。与真正的人腿相比，普通假腿的能力非常有限，因而这仍然没有彻底地满足一些需求。 
根据截肢者，普通假腿的具体使用情况，比如重复性运动和持续负荷，通常带来一些问题，比如代谢能量消耗的增加、承窝压力的增大、运动速度的限制、运动中的差异、姿势平衡的扰乱、骨盆-脊柱对齐的扰乱以及姿势临床复原程序的使用的增加。 
另一个问题在于，在截肢者运动期间，用来移动假肢的能源主要来自于截肢者自身，因为普通的假腿不具有自推进能力。这具有显著的短期和长期负面影响。节能假肢部件领域的最近发展部分地有助于提高截肢者和其假肢之间的能量传递。尽管如此，能量消耗的问题仍然没有完全解决并且仍然是个主要困扰。 
又一问题在于，截肢者运动期间残肢所起的动力作用致使普通假腿难以长期使用。尤其，这可能会导致皮肤问题，比如毛囊炎、接触性皮炎、水肿、囊肿、皮肤划伤(skin shearing)、疤痕和溃疡。尽管利用硅胶鞘膜(silicone sheath)、完全抽吸槽或粉末可以部分地减轻这些皮肤问题，但是最小化这些皮肤问题仍然是个困扰。 
如同应用于假肢上的具体情况所规定的，类似的问题程度不同地适用于其它假肢。 
因此本发明的目标是避免或减轻上述缺点。 
发明内容
根据本发明的第一个方面，提供了一种用来代替被截肢的促动假肢，该假肢包括： 
主关节元件； 
用来将承窝连接到主关节元件的承窝连接器组件； 
细长结构元件，其具有沿着纵向主轴线间隔开的相对端部； 
用来将末端部连接到结构元件一端的连接器组件； 
枢轴组件，其用来操作上将结构元件连接到主关节元件以允许主关节元件和结构元件之间绕着由枢轴组件所限定的第一轴线的相对转动； 
位于与枢轴组件间隔开的位置处的线性致动器，其一端连接到结构元件并且相对端连接到主关节元件，从而致动器的延伸或回缩导致了主关节元件相对于结构元件绕着枢轴线的相应转动。 
优选地，假肢是假腿并且致动器是电动的。 
根据本发明的另一方面，提供了改进的促动腿假肢，其包括：膝盖元件；连接到膝盖元件的承窝；细长的贯胫元件；连接在贯胫元件下端下面的假足；以及线性致动器。第一枢轴组件允许将贯胫元件操作上连接到膝盖元件。第一枢轴组件限定了垂直于贯胫元件的纵向主轴线的第一枢轴线。第二枢轴组件允许将致动器的上端操作上连接到膝盖元件。第二枢轴组件限定了基本上平行于第一枢轴线的第二枢轴线。第二枢轴线还与第一枢轴线和纵向主轴线间隔开。第三枢轴组件允许将致动器的下端操作上连接到贯胫元件的下端。第三枢轴组件限定了基本上平行于第一枢轴线并与之间隔开的第三枢轴线。 
附图说明
现在将结合附图仅以举例的方式描述本发明的实施例，在附图中： 
图1是具有前致动器结构的促动假肢的透视图。 
图2是图1所示假肢的局部分解透视图。 
图3是图1所示膝盖元件和第一枢轴组件的分解透视图。 
图4是图1所示贯胫元件(trans-tibial member)和第三枢轴组件的分解透视图。 
图5是图1所示线性致动器和第二枢轴组件的局部分解图。 
图6是示出具有前致动器结构的几何模型的图形。 
图7是图4所示光学开关支架的分解视图。 
图8是根据本发明另一可能实施例的具有后致动器结构的促动假肢的透视图。 
图9是图8所示假肢的局部分解透视图。 
图10是图8所示假肢的侧视图。 
图11是图8所示膝盖元件、第一枢轴组件和第二枢轴组件的分解透视图。 
图12是图8所示贯胫元件和第三枢轴组件的局部分解图。 
图13是示出具有后致动器结构的几何模型的图形。 
图14是示出用于假肢致动器的控制系统的例子的框图。 
图15是假肢又一实施例的分解透视图。 
图16是类似于图15的视图，其以放大的比例示出了图15所示假肢的结构部件。 
图17是类似于图15的视图，其以放大的比例示出了图15所示假肢的运动部件。 
图18是图15所示假肢的纵向侧截面。 
图19是图18中线XIX-XIX上的视图。 
图20是图18中线XX-XX上的视图。 
图21是图18中线XXI-XXI上的视图。 
具体实施方式
附图示出了用作膝上截肢者的假腿的促动假肢(10)的三个可选实施例。应当理解的是，本发明并不限于所示的实施，因为在不偏离所附权利要求范围的前提下，可以作出各种变化和变型并且所述原理和概念可以应用于替代比如手臂之类的其它肢体的假肢。为了清楚起见和易于描述，利用了与用作腿相关的术语，但是应当理解的是，也可以使用在其它肢体中可应用作等同作用的术语。例如，关于“膝盖”的描述可以同样相对于“肘”进行描述，如果假肢是手臂的话。 
如所示，假肢(10)具有三个可选结构，一个是前致动器结构，另一个是后致动器结构，还有一个是倒置致动器结构。前致动器结构是优选的。图1至7示出了具有前致动器结构的假肢(10)，图8至13示出了具有后致动器结构的假肢(10)。图15至21示出了倒置致动器结构。 
前致动器结构 
图1和2示出了假肢(10)的基本部件，其包括称之为膝盖元件(12)的主关节、称之为细长贯胫元件(14)的细长结构元件、以及作用在膝盖元件(12)和贯胫元件(14)之间以使其间产生相对运动的线性致动器(16)。假肢(10)还包括：承窝连接器组件(17)，其用来连接膝盖元件(12)上的承窝(18)；以及连接器组件(19)，其用来连接到肢体的末端，比如位于贯胫元件(14)底端下面的假足(20)。 
承窝(18)必须在假肢(10)和截肢者的残肢之间实现足够作用 力的传递。承窝(18)的设计通常是定制的操作以实现任意的负荷传递、稳定性以及对于残肢灵活性的有效控制。承窝(18)一般借助于由适合的系统，比如由Otto Bock Inc.制造的“Thermolyn”型柔性抽吸衬垫，所形成的吸引力被保持在使用者残肢上适合的位置。假肢(10)也能使用市场上可用的任何适合承窝。 
用来连接承窝(18)的承窝连接器组件(17)可包括设在膝盖元件(12)之上的底部承窝连接器(22)。底部承窝连接器(22)优选地借助于比如螺钉或螺栓的紧固件可移除地连接。底部承窝连接器(22)的确切类型是可以变化的。一个例子是具有标准凸棱锥结构的连接器，比如由Otto Bock Inc.制造的4R54型凸棱锥。另一个例子是具有由Ossur Inc.制造的2054-2型凸棱锥的滑动连接器。承窝(18)然后将装备上安装在底部阳连接器(22)上的相应上连接器。也可以使用其它类型的连接器。 
膝盖元件(12)给承窝(18)和贯胫元件(14)之间的关节提供了至少一度的转动自由度。膝盖元件(12)的运动范围优选地约为105度，其中零度是完全伸展而105度是最大膝盖弯曲度。 
图3示出了膝盖元件(12)的放大视图。膝盖元件(12)优选地为叉形，并具有两个从上板(26)突出的凸缘(24)。上板(26)包括四个螺纹孔(28)，用于底部承窝连接器(22)的可移除紧固件。 
膝盖元件(12)借助于第一枢轴组件(30)连接到贯胫元件(14)。第一枢轴组件(30)将贯胫元件(14)操作上连接到膝盖元件(12)，从而使得这两个部件之间可以相对转动。应当说明的是，第一枢轴组件(30)也能是多中心的。这意味着膝盖元件(12)和贯胫元件(14)之间的运动不仅仅是转动而是可以遵循复杂得多的模式。这些部件的左右两侧还可以稍微不同，从而引起绕着垂直轴线的稍微扭转运动。尽管如此，总体上的运动仍然基本上为绕着枢轴线转动。 
第一枢轴组件(30)限定了第一枢轴线(31)，其基本上垂直于在额面中沿着贯胫元件(14)的长度延伸的纵向主轴线(15)，如图1所示。这个第一枢轴组件(30)包括由两个轴承(34)支撑的轴(32)，每个轴承(34)安装在膝盖元件(12)的凸缘(24)中的相应壳体(36)中。轴承(34)的一个例子是由NSK Inc.制造的6300-ZZ型单槽轴承。当然，也可以使用其它类型的轴承(34)。一个10mm的有肩螺母(37)和一组外垫圈(35)将轴承(34)保持在轴(32)的螺纹端部上。如图2、4和7所示的光学开关支架(38)在膝盖元件(12)的两个凸缘(24)之间安装在轴(32)周围。支架(38)在后面进行描述。 
优选地，如图3最佳地示出，一组吸能缓冲器(44)设在膝盖元件(12)的背面以防止超出范围的运动。这些缓冲器(44)例如可以是由Tescpak Inc.制造的GBA-1型缓冲器。当然，也可以使用其它类型的缓冲器(44)。它们安装在位于膝盖元件(12)的上板(26)的侧面和正面上的相应托架(42)上。托架(42)也用来支撑后面将要描述的连接器(78)。 
从图4中能最佳地看出，贯胫元件(14)包括三个主要区段，也就是上段(14A)、中间段(14B)和下段(14C)。 
贯胫元件(14)的上段(14A)优选地为叉形，并具有两个从安装基部(52)突出的凸缘(50)。安装基部(52)刚性地连接到一对贯胫支柱(54)。背板(56)设在背面。这对支柱(54)和背板(56)是中间段(14B)的部件。它们都连接到本身由两个部件(60，62)形成的下段(14C)。第一部件(60)是一个有点U形的部件，第二部件(62)附接到其下面。第二部件(62)是一个延伸部分，假足(20)设在其下面。用来连接假足(20)的足连接器组件(19)包括一组供螺钉插入其中的螺纹孔。也可以使用其它类型的连接器。 
假足(20)例如可以是College Park Industries Inc.制造的标准的26cm Trustep假足或Ossur Inc.制造的Allurion ALX5260型假足。也可以使用其它类型的铰接或非铰接的假足(20)，如果所选择的假足提供了至少与上述大致相同的动力响应的话。假肢(10)的设计是模块化的并且因此其能被调节到任何形态。假足(20)可具有暴露的金属或复合结构。其也可具有使其具有人类踝部和足部外观的装饰覆层。 
该对支柱(54)和背板(56)提供了可供致动器(16)的大部分定位在其中的空间(58)。各种电子和电气部件也附接在背板(56)的任一侧上。这种紧凑的布置将总体尺寸保持在正常的人腿尺寸范围内。 
线性致动器(16)在图5中示出。致动器(16)的上端(16A)由枢轴组件(80)连接到膝盖元件(12)，下端(16B)连接到贯胫元件(14)的下段(14C)。致动器(16)的作用是给假肢(10)提供在矢状面中执行与截肢者运动同步的角位移所必须的机械能。致动器(16)的线性运动被用来控制膝盖元件(12)相对于贯胫元件(14)的角度。致动器(16)包括电动马达(70)，其结合到将转动运动转化为线性运动的机构(72，74)。马达(70)的一个例子是Poly-Scientific制造的BN2328EU型马达。马达(70)操纵螺杆(72)，该螺杆(72)啮合到位于致动器(16)的底部处的固定从动件(74)。从动件(74)由从动件支架(76)所保持。从动件(74)和从动件支架(76)构成了致动器(16)的下端(16B)。在使用中，当马达(70)转动时，螺杆(72)被转动进出从动件(74)。这就推动或拉动膝盖元件(12)，从而引起了膝盖元件(12)和贯胫元件(14)之间的相对转动。 
线性致动器(16)的选择主要基于可得到的马达技术的重量扭矩比以及速度。优选地其位于直接结合到膝盖元件(12)的直接传动系统之上，因为其对于人类运动中的扭矩要求而言占用更少的空间。已经发现，理想地，致动器必须能供应约515N的持续力和约2250N的峰 值力。 
第二枢轴组件(80)将致动器(16)的上端(16A)操作上连接到膝盖元件(12)。第二枢轴组件(80)限定了基本上平行于第一枢轴线(31)的第二枢轴线(81)。其还与由其第一枢轴线(31)和纵向主轴线(15)所限定的平面间隔开。这种结构的一个例子在图6中示意性的示出。该图表示了各个枢轴线。第一枢轴线(31)标识为“O”。第二枢轴线(81)标识为字母“C”。两个轴线(C，O)间隔开距离“r”。这个距离形成了允许致动器(16)相对于膝盖元件(12)移动贯胫元件(14)的杠杆臂。 
图5示出了，第二枢轴组件(80)包括插入在形成致动器(16)上端(16A)的机械连接器(84)中的轴承(82)。轴承(82)可以是滚针轴承，例如INA Inc.制造的NK14/16型滚针轴承。其由有肩螺钉(86)和铝垫圈(88)保持在适合的位置。已经发现，理想地，轴承(82)必须承受高达约11500N(2600Ibf)的静载荷并且允许1至3的典型不对准。滚针轴承(82)是优选的，因为与衬套或杆端相比，其几乎没有机械游隙并且具有低的摩擦系数。当然，也可以使用其它类型的轴承。轴(90)将机械连接器(84)联接到膝盖元件(12)的凸缘(24)中的相应孔中。机械连接器(84)利用后面将要描述的载荷传感器(82)紧固在马达(70)之上。 
致动器(16)的底端(16B)利用第三枢轴组件(100)操作上连接到贯胫元件(14)，如图4和5所示。第三枢轴组件(100)限定了第三枢轴线(101)并且优选地还包括一个或多个滚针轴承(102)，每个滚针轴承(102)安装于设在贯胫元件(14)的下段(14C)的第一部件(60)中的相应壳体(64)中。两个标准的滚针轴承(102)可用于该目的，例如INA Inc.制造的NK14/16型滚针轴承。当然，其它类型的轴承也可以用于第二枢轴组件(80)和第三枢轴组件(100)中。一组螺杆(106)和垫圈(108)完成第三枢轴组件(100)。 
假肢(10)的各个结构部件优选地由轻质材料制成，例如铝或比如碳纤维、玻璃纤维之类的复合材料。特别适合的材料是热处理6061T6铝。各个部件优选地螺纹连接起来，尽管它们也可以焊接或以其它方式紧固起来。螺纹连接这些部件是优选的，因为这增加了可制造性能，便于部件的维修和更换，并且一般来说就整体而言还改进了假肢。 
图7示出了图2和4中出现的专门机械支架(38)。这个专门机械支架(38)首先用来固定如后所述的光学开关。其次，专门机械支架(38)用来便于假肢(10)的相对固定段与其相对可动段之间的电缆部件(未示出)之间的转变。附接到膝盖元件(12)的托架(42)上的连接器(78)提供了所需的连接。类似的连接器(78)设在马达(70)上。部件(254)上的两件式线夹(39A，39B)允许将导线保持在支架(38)上。 
控制系统 
图1至7的假肢中示出的致动器(16)由图14所示的控制系统(200)进行控制。该图首先示出了一组人造本体感受器(210)，它们是用来实时地捕获有关截肢者运动动力学的信号的传感器。该组人造本体感受器(210)将探测的信号提供给控制器(220)。控制器(220)确定关节轨迹以及必须由致动器(16)所施加的所需力。然后将设定点(关节轨迹和所需力)经由本身连接到动力源(24)的动力驱动装置(230)发送到致动器(16)。 
动力源(240)例如可以是柔性电池组带，比如Cine PowerInternational Ltd.制造的Lighting Powerbelt型。动力源(240)的其它例子是Worley Inc.制造的SLPB526495型电池和Cap-XX制造的超级电容器。动力驱动装置(230)的例子是Copley Controls Corps Inc.制造的5121型和Advanced Motion Control制造的BE40A8型。应当说明的是，动力源(240)和动力驱动装置(230)的设计并不限于上述设备而是 可以由任何定制或商业产品来执行，只要所选设备符合与假肢(10)一起使用的所选致动器(16)的电气性能。 
优选地，假肢(10)还包括一组传感器(250)以给控制器(220)提供反馈信息。这种反馈使得控制器(220)可以调节力和各种其它参数。能被监控的参数的例子是膝盖元件(12)的相对角度和膝盖元件(12)处由致动器(16)所施加的扭矩。也可以采取其它类型的测量措施。膝盖元件(12)相对角度的测量例如可以借助于市售的标准增量式光学解码器(260)比如EM1-0-250型读出头和由US Digital Inc.制造的LIN-250-16-S2037型的标记有均匀间隔增量的Mylart条带(262)。用作对假肢(10)的角运动进行限制的限位开关的其它传感器是优选地安装在专门机械支架(38)上的光学开关。图1和2所示的电缆连接器(78)允许将外部设备联接到假肢(10)的内部部件。 
光学开关(252)固定在第一枢轴线(31)上并用来设定膝盖元件(12)的基准角位置。一旦已知这个基准位置，光学解码器信息被用来计算膝盖元件(12)在马达转动期间的角度、滚柱螺杆节距以及假肢几何形状。而且，光学开关(252)被用来通过在膝盖元件(12)接近临界位置时向控制器(220)发送信号来防止运动超出范围。当然，根据与开关检测相关联的指令的性质，光学开关(252)也可用于其它目的。测量膝盖元件(12)相对角度的另一可能方式是通过利用绝对光学解码器例如US Digital Inc.制造的E2-512-250-I解码器和光学开关的组合。这些开关的一个例子是SUNX制造的PM-L24型开关。 
扭矩的测量来自于由负荷传感器(92)所测量的由致动器(16)所施加的力。负荷传感器的一个例子是Omegadyne制造的LC 202 1K型。马达(70)上的连接器将内部传感器联接到电缆。应当说明的是，假肢(10)的传感器(250)并不限于上述设备并且可以由其它适合的器具来执行。 
前致动器结构的操作 
在操作中，膝盖元件(12)连接到承窝(18)并且枢轴组件(30)允许贯胫元件和膝盖之间绕着大致横向水平轴的相对运动。膝盖元件相对于贯胫元件(14)的转动由致动器(16)的操作来控制。致动器(16)作用在膝盖元件(12)上的枢轴组件(80)和贯胫元件(14)下端上的枢轴组件(100)之间以使得致动器(16)长度的变化将导致绕着枢轴(30)的相应转动。 
致动器(16)的长度由来自控制器(220)的控制信号进行调节，该控制器(220)将动力供应到马达(70)以在一个方向或另一方向上转动螺杆(72)。螺杆(72)的转动使得从动件(74)沿着螺杆(72)运动并且这个运动通过由枢轴组件(100)提供的连接传递到贯胫元件(14)。这引起膝盖元件(12)和贯胫元件(14)绕着枢轴(30)的相应转动以提供所希望的运动。很明显，转动的速度和程度可以通过朝向马达(70)的控制信号来调节并且嵌入在假肢中的传感器将反馈提供给控制器(220)。 
后致动器结构 
图8至13示出了根据第二实施例的假肢(10)。这示出了具有后致动器结构的假肢(10)的一个例子。这个实施例非常类似于使用前致动器结构的那个。其示出为具有另一种致动器(16)和另一模式的假足(20)。代替上述的两个，贯胫元件(14)的中间段(14B)使用了四个支柱(54)。其没有背板。而且，没有底部延伸设在贯胫元件(14)上。 
贯胫元件(14)还具有将膝盖元件(12)和假足(20)联接起来的例如由1/2``贯胫支柱54构成的壳形结构。在所示实施例中，致动器(16)可以是标准的线性马达(图5)或装备有定制的市售马达(70)的连续弹性致动器(SEA)(图8)，尽管假肢(10)被设计为使得其能接收大致相同尺寸的任何类型的线性制动(16)。SEA致动器(16) (图8)具有滚珠螺杆传送系统，其包括与已知性质的弹性设备(110)相结合的螺杆(72)。这种致动器(16)(图8)允许了基于弹性部件变形的力控制制动。而且，这种设计允许了能量存储、振动耐受度和相对稳定的力控制。SEA致动器(16)(图8)由MIT Leg Laboratory的Gill Pratt开发并且在1997年授权为美国专利No.5,650,704。在一个实施例中，其设有Litton BN23-28马达(70)和直径为3/8″且节距为1/8″的滚珠螺杆(72)。SEA致动器(16)(图8)由Yobotic Inc.出售。 
在图8所示布置中，扭矩例如可以通过标准的市售分压计来测量，该分压计测量致动器(16)的弹性设备的压缩，比如由Novotechnik Inc.制造的PTN025型导电塑料电阻元件。膝盖元件(12)和贯胫元件(14)之间的角度的测量也可以直接从致动器(16)的长度测量和假肢的已知几何形状计算出来。标准的市售增量式光学解码器(260)，比如EMI-0-250型读出头，安装在可动部件上并且具有均匀间隔增量的Mylar条带(262)(US Digital Inc.制造的LIN-250-16-S2037型)紧固到固定部件。在马达(70)转动传动螺杆(70)时，因而就实现了对致动器(16)长度的直接读取。 
图13示出了后致动器结构的几何模型。其基本上类似于图6所示前致动器结构的几何模型。 
倒置致动器 
在每个上述实施例中，致动器(16)已经布置有邻近膝盖元件(12)的马达(70)和延伸到贯胫元件(14)的较低踝部的从动件(74)。这种布置简化了动力和控制管线的路线并且通常允许了朝着踝部的锥形轮廓以与腿的自然轮廓相符合。然而，具有这些布置，马达(70)与枢轴组件(80)一起运动过假肢的运动的范围并且因此马达的工作容积必须适应于膝盖元件(12)的设计。类似地，马达(70)邻近膝盖元件的定位导致了质量分布的变化并且因而在腿运动期间可能会导致假肢在使用中出现导致不自然感觉的动力学。为了解决这些问题， 图15至21示出了假肢(10)的又一实施例，其中同样的部件将用同样的附图标记加上为了清楚起见的基本后缀(`)来说明。 
因此具体地参照图15和18，假肢(10`)具有形成为U形元件的的膝盖元件(12`)，并且具有从上板(26`)延伸的凸缘(24`)。凸缘(24`)的下端接收相应的轴承(34`)，所述轴承(34`)构成了将膝盖元件(12`)连接到贯胫元件(14`)的枢轴组件(30`)的部件。承窝连接器组件(17`)紧固到上板(26`)，以连接到适合的承窝。 
贯胫元件(14`)具有由一对间隔开的腹板(300)所形成的上段(14A`)，所述腹板(300)具有用来容纳枢轴组件(30`)的轴承(34`)的孔径(302)。腹板(300)紧固到中间段(14B`)的上端处的肩部(未示出)。中间段(14B`)形成为具有横向间隔侧壁(306)的开口通道元件(304)，所述侧壁(306)由整体形成的前壁(308)互连。通道元件(304)由背壁(310)封闭，该背壁(310)可移除以允许通向通道元件(304)内部。中间段(14B`)因而就提供了高扭转和弯曲强度的轻质结构元件以符合置于其上的负荷。 
通道元件(304)的上和下端(312，314)都被扩大以接收上段(14A`)和下段(14B`)并且从而限定出了缩腰的中间部(316)。在通道元件(304)的任一侧上，缩腰部(316)中的侧壁(306)具有支撑通常为电池组的能量存储模块(320)的大致平面状侧面。前壁(308)还形成有平面状的小平面(314)以接收与致动器(16`)的操作相联系的控制面板(319)以及调节朝向和来自能量存储模块(320)的功率通量。 
背壁(310)还用作用于控制致动器(16`)的又一控制面板(322)的安装点。由前和后段(326，328)所形成的外壳(324)包围中间部(316)并被支撑在放大的上和下端(312，314)上。外壳(324)包括安装在缩腰中间部(316)上的部件并且被构造为与人腿的外观相符 合。 
贯胫元件(14`)的下段(14C`)包括被接收在放大下端(314)内的安装板(330)。板(330)被螺栓连接到通道元件(304)的下端(314)以及螺栓连接到用于控制致动器(16`)的动力驱动装置(322)，该动力驱动装置(322)又被紧固到中间段(14B`)。承窝(334)安装在板(330)的下侧以接收足连接器组件(20`)的管状元件(336)。管状元件(336)延伸到形成于足(20`)上的凸承窝并且其长度可以被调节来使假肢适合于具体个人。裙部(338)在管状元件(336)周围延伸用于装饰的目的。 
从图15和17中能最佳的看出，致动器(16`)包括具有螺杆(72`)的马达(70`)。致动器(16`)定位在中间段(14B`)的内部以便被壁(308，310，312)所包围，并且螺杆(72`)在上端(312)之上并且在膝盖元件(12)的凸缘(24`)之间延伸。螺杆(72`)与构成枢轴组件(80`)的部件的从动件(74`)相啮合，该枢轴组件(80`)在与枢轴组件(30`)间隔开的位置处连接到膝盖元件(12`)。 
马达(70`)类似地通过枢轴组件(100`)在接收枢轴组件(100`)的轴承的安装点(340)(图16)处连接到中间段(14B`)的下端(314)。 
倒置致动器的操作 
倒置致动器的操作基本上与前面安装的致动器相同，马达(70`)的转动导致了致动器(16`)有效长度的变化以及膝盖元件(12`)相对于贯胫元件(14`)的相应转动。在这种转动期间，要说明的是，马达(70`)绕着其枢轴组件(100`)摆动但是不沿着假肢(10`)的轴线平移。马达在运动范围时的工作容积因而就减小，以允许更好地利用可用空间。还应当说明的是，考虑到马达不平移，假肢中的质量分布仍然基本上均匀以给假肢的操作提供更加自然的感觉。 
将能量模块和控制面板集成在中间段上还提供了自包含单元并且简化了控制和动力传递的路线。 
例子——针对最佳角度的计算 
可以假设以下技术规范： 
●  几何体积相应于体重70kg且身高170cm的人的自然胫部的人形体积； 
●  最大距离r设定在0.055m，也就是r＜0.055m； 
●  最小和最大长度LT分别设定为0.3m和0.4m，也就是0.3m＜LT ＜0.4m；和 
●  最小和最大距离dT分别设定为-0.015m和+0.015m，也就是-0.015m＜dT＜+0.015m。 
几何模型可以用以下公式定义： 
β＝π-θfix-α-θK    公式1 
L A = L T 2 + d T 2 公式2 
α＝arctan(dT/LT)      公式3 
L 2 = L 2 A + r 2 - 2 · L A · r · cos β 公式4 
b r = r · L A · sin β / L 2 A + r 2 - 2 · L A · r · cos β 公式5 
其中： 
θK  膝盖角度，∠DOA 
r  膝盖元件(12)的转动中心“O”和致动器(16)在膝盖元件(12)上的附接点之间的距离 
θfix  r和断肢中心轴向之间的角度，∠EOA 
LA  膝盖元件(12)的转动中心和致动器(16)在贯胫元件(14)上的附接点之间的长度 
Figure RE-S04839143820060705D000154
LT  膝盖元件(12)的转动中心和贯胫元件(14)的附接点之间的长度 
Figure RE-S04839143820060705D000155
dT  贯胫元件(14)的转动中心和致动器(16)在贯胫元件(14)的附接点之间的长度 
α    形成于LT，LA之间的角度，∠AOB 
L     致动器(16)的长度， 
Figure RE-S04839143820060705D000161
β    形成于LT，r之间的角度，∠BOC 
br    致动器(16)相对于第一枢轴线(31)的杠杆臂 
优选地，假设杠杆臂br在膝盖角度θK为35度时最大。机械设计的几何计算基于距离r、长度LT、距离dT和角度θfix。因此，这些参数根据截肢者的拟人测量和所选致动器(16)来限定。 
对于角度θfix，在公式5处于最大值时，发现对于最大杠杆臂br 的最佳值，也就是： 
Figure RE-048391438_1
br/
Figure RE-048391438_2
θfix＝0    公式6 
其中θfix＝π-α-θK-β 
对于图6和13所示结构，这个条件在下式成立时达到： 
β＝±3π/2        公式7 
从公式1，距离r和承窝的中心轴线之间的最佳角度(表示为θfix|optimal)限定为： 
θ fix | optimal = + π / 2 - π / 2 - θ K - α 公式8 
其中+π/2和-π/2分别相应于前和后致动器结构。 
其结构是最佳角度θfix优选地设定在125±3度。 
可以理解到，替代的尺寸和参数将应用于其它肢体，比如臂，但是一旦理解了其基本概念，可以容易地将上述基本部件适应于这种环境。 

Claims (27)

1.一种用来代替膝上截肢者的腿的促动腿假肢，该假肢包括：
膝盖元件；
用来将承窝连接到所述膝盖元件的承窝连接器组件；
细长贯胫元件，其具有沿着纵向主轴线间隔开的相对上端和下端；
用来将假足连接到所述细长贯胫元件的所述下端的第二连接器组件；
第一枢轴组件，其用来将所述细长贯胫元件的所述上端操作上连接到所述膝盖元件以允许所述膝盖元件和所述细长贯胫元件之间绕着由所述第一枢轴组件所限定的第一枢轴线的相对转动；
位于与所述第一枢轴组件间隔开的位置处的线性致动器，其包括回转马达和传动元件，该传动元件由所述马达操作以将所述马达的转动运动转换为线性位移，所述线性致动器的上端经由限定第二枢轴线的第二枢轴组件被枢轴转动地连接到所述膝盖元件，并且所述线性致动器的底端经由限定第三枢轴线的第三枢轴组件被枢轴转动地连接到所述细长贯胫元件，
其中在运动过程中所述传动元件的线性位移导致所述膝盖元件相对于所述细长贯胫元件绕着所述第一枢轴线的相应转动，并且其中所述膝盖元件与所述细长贯胫元件之间的相对转动绕着所述第一枢轴线，所述线性致动器与所述细长贯胫元件之间的相对转动绕着所述第三枢轴线，并且所述线性致动器与所述膝盖元件之间的相对转动绕着所述第二枢轴线。
2.根据权利要求1的假肢，其中：
所述第二和第三枢轴线基本上平行于所述第一枢轴线并与之间隔开。
3.根据权利要求1的假肢，其中所述线性致动器定位在所述贯胫元件内。
4.根据权利要求3的假肢，其中所述贯胫元件包括至少两个间隔开的支柱，所述支柱大致限定了定位所述线性致动器的大部分的空间。
5.根据权利要求3的假肢，其中所述贯胫元件包括中空壳体并且所述线性致动器定位在所述壳体内。
6.根据权利要求5的假肢，其中所述壳体由开口通道元件和可分离的封闭件所构成。
7.根据权利要求5的假肢，其中能量存储模块被支撑于所述壳体上。
8.根据权利要求5的假肢，其中电路板被支撑于所述壳体上。
9.根据权利要求1的假肢，还包括附接到所述第二连接器组件的假足，所述假足限定了所述假肢的前面和后面。
10.根据权利要求9的假肢，其中所述线性致动器的一端在所述第一枢轴线的前面连接到所述膝盖元件。
11.根据权利要求3的假肢，其中所述贯胫元件包括在其所述上端和下端之间延伸的背板。
12.根据权利要求9的假肢，其中所述线性致动器的一端在所述第一枢轴线的后面连接到所述膝盖元件。
13.根据权利要求12的假肢，其中所述贯胫元件具有中间段，该中间段包括至少两个间隔开的支柱，所述支柱大致限定了定位所述线性致动器的大部分的空间。
14.根据权利要求9的假肢，还包括附接到所述膝盖元件的承窝。
15.根据权利要求1的假肢，还包括用于控制所述线性致动器的控制器。
16.根据权利要求15的假肢，其中所述控制器响应于来自本体感受器的输入信号而将控制信号输出到所述线性致动器。
17.根据权利要求16的假肢，其中所述控制器具有连接到动力驱动装置的输出，所述动力驱动装置响应于所述控制信号将电能从动力源供应到所述线性致动器。
18.根据权利要求16的假肢，其中所述输入信号还包括来自安装在所述线性致动器上的传感器的信号。
19.根据权利要求1的假肢，其中所述传动元件是螺杆和从动件，所述螺杆能够由所述马达转动，并且所述从动件在所述螺杆由所述马达转动时能够沿着所述螺杆位移。
20.根据权利要求19的假肢，其中所述从动件枢轴转动地连接到所述膝盖元件。
21.根据权利要求1的假肢，其中负荷传感器插入在所述线性致动器与所述膝盖元件和贯胫元件之间以提供施加于所述假肢上的负荷的显示。
22.根据权利要求1的假肢，包括提供所述膝盖元件和所述贯胫元件之间相对运动的显示的传感器。
23.根据权利要求22的假肢，其中所述传感器是光学传感器。
24.根据权利要求1的假肢，其中所述膝盖元件包括具有从上板向下延伸的凸缘的整体u形元件。
25.根据权利要求24的假肢，其中所述承窝连接器组件用于将所述承窝连接到所述膝盖元件的所述上板。
26.根据权利要求24的假肢，其中所述第一枢轴组件操作上将所述贯胫元件的所述上端连接到所述膝盖元件的所述凸缘。
27.根据权利要求1的假肢，其中所述贯胫元件包括在其上端和下端之间并且具有间隔开的壁的开口通道元件。
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US9358137B2 (en) 2016-06-07
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