大腿義足ソケット継手部に作用する6軸力の分析とその応用(4部運動機能の支援)

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This paper deals primarily with 6-axis forcemoment such as two shearing forces (F_x, F_y), compression (F_z), two bending moments (M_x, M_y) and a tortional moment (M_z) that are acting on the stump of the during walking. An above/knee amputee walked while wearing his A/K prosthesis, which is equipped with the 6-axis force-moment sensor between the knee joint of the prosthesis and the socket, and the above-mentioned forces and moments were measured. As a result of the walking experiments, the values of F_x, F_y, F_z, M_x, M_y and M_z during walking were determined. In the case of fast walking, the peak of F_x and F_z at the beginning of the stance phase is bigger that those in the case of slow walking. This shearing force F_x prevents sudden flexion of theknee joint. Then two application studies of 6-axis forces and moments are described. The first study was concerned with the invention of an evaluative method for alignment of A/K socket with the above-mentioned 6-axis forces and moments. The toe of the A/K prosthesis is set inside (toe-in) or outside (toe-out) about 10°. An A/K amputee walked, and the 6-axis forces and moments were measured. As a result of the walking experiments, the differences between the adjusted alignment and the above-mentioned setting are identified, and the following is turned out. In the case of setting toe-in, it is difficult for the amputee to walk smoothly because stability in the side direction decreases. The second study is about an application of the forces and moments to controlling signals for ascending a staircase. The shearing force (F_x) and the compression (F_z) are utilized as triggers for extending or flexing the knee joint, respectively. An amputee wearing the A/K prosthesis which we had developped could walk on a staircase with a natural posture without the help of his arms. These results of the two application studies confirm the usefulness of the sensing system which is proposed in this study.
バイオメカニズム学会の論文
1992-05-20

大腿義足ソケット継手部に作用する6軸力の分析とその応用(4部運動機能の支援)

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大腿義足ソケット継手部に作用する6軸力の分析とその応用(4部 運動機能の支援)

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大腿義足ソケット継手部に作用する6軸力の分析とその応用(4部運動機能の支援)