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1. 发明授权

US08529634B2 Prosthetic limbs with means capable of reducing torque in the initial period of bend of knee joint 有权
标题翻译：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。

2. 发明授权

US06558430B1 Air-cylinder apparatus for prosthetic limb 有权
标题翻译：假肢肢体气缸装置
公开(公告)号：US06558430B1
公开(公告)日：2003-05-06
申请号：US09707011
申请日：2000-11-06
申请人： Yoshiaki Nakaya , Tsutomu Togashi , Masahiko Okuda , Norio Shiraishi
发明人： Yoshiaki Nakaya , Tsutomu Togashi , Masahiko Okuda , Norio Shiraishi
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。

3. 发明授权

US07588604B2 Prosthetic leg with knee braking function 有权
标题翻译：假腿与膝制动功能
公开(公告)号：US07588604B2
公开(公告)日：2009-09-15
申请号：US10505699
申请日：2003-11-19
申请人： Masahiko Okuda , Toyohiko Imakita , Aritomo Fukui , Yoshiaki Nakaya
发明人： Masahiko Okuda , Toyohiko Imakita , Aritomo Fukui , Yoshiaki Nakaya
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。

4. 发明申请

US20070173953A1 Closed position maintainable selector valve, knee torque device using the valve, and artificial leg 有权
标题翻译：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
申请人： Toyohiko Imakita , Aritomo Fukui , Masahiko Okuda , Yoshiaki Nakaya
发明人： Toyohiko Imakita , Aritomo Fukui , Masahiko Okuda , Yoshiaki Nakaya
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。

5. 发明授权

US09089443B2 Multi-articulated link knee joint 有权
标题翻译：多关节关节膝关节
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
IPC分类号： A61F2/64 , A61F2/76 , A61F2/50 , A61F2/68 , A61F2/70
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。

6. 发明授权

US08500824B2 Knee joint including manual lock mechanism and artificial thigh 有权
标题翻译：膝关节包括手动锁定机构和人造大腿
公开(公告)号：US08500824B2
公开(公告)日：2013-08-06
申请号：US12919863
申请日：2008-03-07
申请人： Masahiko Okuda , Yoshiaki Nakaya
发明人： Masahiko Okuda , Yoshiaki Nakaya
IPC分类号： A61F2/64
CPC分类号： A61F2/68 , A61F2/642 , A61F2002/5072 , A61F2002/6854 , A61F2002/745 , A61F2002/747 , A61F2002/748
摘要： The disclosure relates to a technology of a manual lock mechanism for manually switching over the oscillating motion of an upper member and a lower member at a knee joint between a locked condition and an unlocked condition. More particularly, the disclosure aims at a simple structure of the manual lock mechanism and a size reduction of the knee joint or an artificial leg including the manual lock mechanism. For these purposes, one of oscillating shafts for swingingly coupling the upper and lower members is regulated. Therefore, the manual lock mechanism includes an oscillating shaft including an irregular part and a lock member for regulating the movement of the oscillating shaft. The lock member can be switched over between a locked condition where the lock member is in contact with the irregular part of the oscillating shaft and the unlocked condition where it is separate from the irregular part. When the lock member is in the locked condition, force from the oscillating shaft is applied as compression load in the longitudinal direction of the lock member.
摘要翻译：本发明涉及一种用于在锁定状态和解锁状态之间手动切换膝部关节处的上部构件和下部构件的摆动运动的手动锁定机构的技术。更具体地，本公开旨在手动锁定机构的简单结构和包括手动锁定机构的膝关节或人造腿的尺寸减小。为了这些目的，调节用于摆动地联接上部和下部构件的摆动轴之一。因此，手动锁定机构包括：摆动轴，其包括不规则部分和用于调节摆动轴的运动的锁定部件。锁定构件可以在锁定构件与摆动轴的不规则部分接触的锁定状态和与不规则部分分离的解锁状态之间切换。当锁定构件处于锁定状态时，来自摆动轴的力作为锁定构件的纵向方向的压缩载荷施加。

7. 发明申请

US20110009981A1 Knee Joint Including Manual Lock Mechanism and Artificial Thigh 有权
标题翻译：膝关节包括手动锁定机构和人造大腿
公开(公告)号：US20110009981A1
公开(公告)日：2011-01-13
申请号：US12919863
申请日：2008-03-07
申请人： Masahiko Okuda , Yoshiaki Nakaya
发明人： Masahiko Okuda , Yoshiaki Nakaya
IPC分类号： A61F2/78 , A61F2/64
CPC分类号： A61F2/68 , A61F2/642 , A61F2002/5072 , A61F2002/6854 , A61F2002/745 , A61F2002/747 , A61F2002/748
摘要： The disclosure relates to a technology of a manual lock mechanism for manually switching over the oscillating motion of an upper member and a lower member at a knee joint between a locked condition and an unlocked condition. More particularly, the disclosure aims at a simple structure of the manual lock mechanism and a size reduction of the knee joint or an artificial leg including the manual lock mechanism. For these purposes, one of oscillating shafts for swingingly coupling the upper and lower members is regulated. Therefore, the manual lock mechanism includes an oscillating shaft including an irregular part and a lock member for regulating the movement of the oscillating shaft. The lock member can be switched over between a locked condition where the lock member is in contact with the irregular part of the oscillating shaft and the unlocked condition where it is separate from the irregular part. When the lock member is in the locked condition, force from the oscillating shaft is applied as compression load in the longitudinal direction of the lock member.
摘要翻译：本发明涉及一种用于在锁定状态和解锁状态之间手动切换膝部关节处的上部构件和下部构件的摆动运动的手动锁定机构的技术。更具体地，本公开旨在手动锁定机构的简单结构和包括手动锁定机构的膝关节或人造腿的尺寸减小。为了这些目的，调节用于摆动地联接上部和下部构件的摆动轴之一。因此，手动锁定机构包括：摆动轴，其包括不规则部分和用于调节摆动轴的运动的锁定部件。锁定构件可以在锁定构件与摆动轴的不规则部分接触的锁定状态和与不规则部分分离的解锁状态之间切换。当锁定构件处于锁定状态时，来自摆动轴的力作为锁定构件的纵向方向的压缩载荷施加。

8. 发明授权

US6086616A Prosthetic leg with extension auxiliary mechanism 有权
标题翻译：假腿具有延伸辅助机构
公开(公告)号：US6086616A
公开(公告)日：2000-07-11
申请号：US271780
申请日：1999-03-18
申请人： Masahiko Okuda , Kotaro Tanaka , Kiyoshi Morimoto , Yasukazu Furuichi , Norio Shiraishi
发明人： Masahiko Okuda , Kotaro Tanaka , Kiyoshi Morimoto , Yasukazu Furuichi , Norio Shiraishi
IPC分类号： A61F2/50 , A61F2/64 , A61F2/68 , A61F2/74 , F16F1/12
CPC分类号： F16F1/12 , A61F2/644 , A61F2002/5003 , A61F2002/5018 , A61F2002/5043 , A61F2002/5073 , A61F2002/747
摘要： There is provided a prosthetic leg with an extension auxiliary mechanism 1100 capable of generating an extension torque only when an angle of bending of the knee is small. A knee joint 80 of a thigh prosthesis 170 is of a multi-axis structure, and a front and a rear link 130, 150 together with an upper thigh member 110 and a lower thigh member 120 constitutes a constrained chain. An extension auxiliary mechanism 1100 having a compression spring is supported between the lower thigh member 120 and the rear link 150. An extension torque generated by the extension auxiliary mechanism 1100 is determined by a product of a force caused by biasing of the compression spring and a distance from a line of action of the force to the center of rotation of the rear link 150. Here, at a stage where the bending angle of the knee exceeds, for example, 15 degrees, an axis of the compression spring is brought generally into alignment with a connecting portion 170O between the rear link 150 and the lower thigh member 120. By doing so, the distance related to the extension torque becomes approximately zero and the extension torque itself becomes approximately zero.
摘要翻译：提供了一种具有延伸辅助机构1100的假腿，仅在膝盖的弯曲角度较小时才能产生延伸转矩。大腿假体170的膝关节80具有多轴结构，并且前连杆130和后连杆130以及大腿部件110和下大腿部件120构成受约束的链条。具有压缩弹簧的延伸辅助机构1100被支撑在下大腿构件120和后连杆150之间。由延伸辅助机构1100产生的延伸转矩由压缩弹簧的偏置力和从力的作用线到后连杆150的旋转中心的距离。这里，在膝部的弯曲角超过例如15度的阶段，压缩弹簧的轴线通常进入与后连杆150和下大腿构件120之间的连接部分170O对准。通过这样做，与延伸转矩相关的距离变为近似为零，并且延伸转矩本身变为近似为零。

9. 发明授权

US5888237A Artificial limb including air cylinder device 失效
标题翻译：人造肢包括气缸装置
公开(公告)号：US5888237A
公开(公告)日：1999-03-30
申请号：US951781
申请日：1997-10-16
申请人： Norio Shiraishi , Yasukazu Furuichi , Kazuo Nakatani , Masahiko Okuda
发明人： Norio Shiraishi , Yasukazu Furuichi , Kazuo Nakatani , Masahiko Okuda
IPC分类号： A61F2/00 , A61F2/50 , A61F2/64 , A61F2/68 , A61F2/74
CPC分类号： A61F2/68 , A61F2/64 , A61F2002/30393 , A61F2002/5003 , A61F2002/5007 , A61F2002/503 , A61F2002/5039 , A61F2002/5058 , A61F2002/5072 , A61F2002/6818 , A61F2002/745 , A61F2002/747 , A61F2002/748 , A61F2220/0025
摘要： An artificial limb provides for positional relation between a first pin for rotatably connecting one end of an air cylinder device to a lower member and a second pin for rotatably connecting the other end of the air cylinder device to an upper member. The attaching position of the second pin is set to satisfy certain predetermined conditions when an artificial limb is in a completely extended state. The position of an air cylinder device (particularly, the attaching position of the second pin) is changed in conformity with a walking speed which is variable in phase such as normal walking, quick walking, and running with small steps. The artificial limb further comprises a pin position change capable of changing the position of a second pin rotatably connected to an upper member in conformity with variation of walking speed. A first example of the pin position change includes a plurality of attachment holes formed on the knee plate of the upper member and the position of the second pin is changed by attaching the second pin selectively to one of the attachment holes. If it is designed such that an elongate hole is formed along a circular arc so that the attaching position to the elongate hole can be changed, the position of the second pin can be changed steplessly or successively.
摘要翻译：假肢提供用于将气缸装置的一端可旋转地连接到下部构件的第一销和用于将气缸装置的另一端可旋转地连接到上部构件的第二销之间的位置关系。当假肢处于完全伸展状态时，第二销的安装位置被设定为满足一定的预定条件。气缸装置的位置（特别是第二销的安装位置）根据正常步行，快速行走和小步进的相位可变的步行速度而变化。假肢还包括能够根据步行速度的变化改变可旋转地连接到上部构件的第二销的位置的销位置变化。销位置变化的第一示例包括形成在上部构件的膝盖板上的多个附接孔，并且通过将第二销选择性地附接到附接孔中的一个来改变第二销的位置。如果设计成沿着圆弧形成细长的孔，使得能够改变与细长孔的连接位置，则可以无级地或相继地改变第二销的位置。

10. 发明申请

US20150032228A1 MULTI-ARTICULATED LINK KNEE JOINT 有权
标题翻译：多连接KNEE JOINT
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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