Parallel linkage and artificial joint device using the same

• US 7,118,601 B2
• Filed: 02/28/2003
• Issued: 10/10/2006
• Est. Priority Date: 02/28/2002
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Okada, Kazuo, Kiyomoto, Hiroshi, Kubo, Atsushi, Yamamoto, Kazunori, Iwasaki, Haruyuki, Nakayama, Manabu, Shiono, Masamitsu, Umeda, Shungo, Nakahara, Youichi, Usukura, Isao, Yasui, Yuji
• Primary Examiner(s): McDermott, Corrine
• Assistant Examiner(s): Matthews, William H
• Application Number:
  US10/376,169
• Publication Number:
  US 20030163206A1
• Time in Patent Office: 1,320 Days
• Field of Search: 403/52, 403/53, 403/56, 403/57, 403/66, 403/122, 403/217, 403/377, 403/167, 403/186, 335/56, 744/790.1, 623/24, 623/27, 623/28, 623/32, 623/38, 623/47, 623/48, 623/52
• US Class Current: 623/24
• CPC Class Codes: A61F 2/583 Hands; Wrist joints
• CPC Class Codes: A61F 2/586 Fingers
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/30517 using a locking plate
• CPC Class Codes: A61F 2002/5001 Cosmetic coverings
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers
• CPC Class Codes: A61F 2002/5059 the feeling of position
• CPC Class Codes: A61F 2002/5066 Muscles
• CPC Class Codes: A61F 2002/5072 having spring elements
• CPC Class Codes: A61F 2002/5075 Multiple spring systems including two or more helical springs
• CPC Class Codes: A61F 2002/5084 telescopic
• CPC Class Codes: A61F 2002/5098 with rotation-limiting means
• CPC Class Codes: A61F 2002/543 Lower arms or forearms
• CPC Class Codes: A61F 2002/587 Thumbs
• CPC Class Codes: A61F 2002/6621 Toes
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 : computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/708 : electrically self charging
• CPC Class Codes: A61F 2002/7625 : for measuring angular position
• CPC Class Codes: A61F 2220/0025 : Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
• CPC Class Codes: B25J 17/0266 : comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 19/0091 : Shock absorbers in general F16F
• CPC Class Codes: B25J 9/0057 : with kinematics chains of the type spherical-prismatic-spherical
• CPC Class Codes: B62D 57/02 : with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: Y10T 403/32008 : Plural distinct articulation axes
• CPC Class Codes: Y10T 403/32032 : Plural ball and socket
• CPC Class Codes: Y10T 403/7077 : for telescoping members

Abstract

There are provided an artificial joint device that can realize an artificial limb enabling twisting motion without a drive source, and when with the drive source, reduce the size and costs of the device, and a parallel linkage that can realize the device. The linkage connects a foot portion and a mounting plate spaced from each other. A fixed link has one end fixed to the plate, and the other end connected to the foot portion via a ball joint, making the angle of the fixed link relative to the foot portion changeable in any direction. Expansible links extend between the foot portion and the plate in an expansible/contractible manner and each have opposite ends connected to the plate and the foot portion via respective upper and lower ball joints, making respective angles thereof relative to the foot portion and the plate changeable in any direction.

Claims

1. In combination, a parallel linkage for connecting two link mounting portions spaced from each other, comprising:

a fixed link having one end thereof fixed to one of the link mounting portions;

a fixed-link joint for connecting another end of said fixed link to another of the link mounting portions such that an angle of said fixed link with respect to the another of the link mounting portions can be changed in any desired direction;

a plurality of expansible links extending between the two link mounting portions in an expansible/contractible manner, wherein said plurality of expansible links are at least three expansible links;

a plurality of expansible-link joints respectively connecting opposite ends of said plurality of expansible links to the link mounting portions such that respective angles of each expansible link with respect to the link mounting portions can be changed in any desired direction

a drive source;

actuators each for actuating a corresponding one of said at least three expansible links for expansion and contraction by a driving force supplied from said drive source, wherein said each actuator is an electric actuator configured to produce regenerative power when said corresponding expansible link is expanded and contracted by an external force;

control means for controlling said driving force supplied to said each actuator from said drive source; and

an accumulator for storing the regenerative power produced by each said electric actuator.

2. A parallel linkage according to claim 1, further comprising urging members provided in said plurality of expansible links, respectively, each for urging a corresponding one of said expansible links in at least one opposite direction to directions in which said expansible link expands and contracts, when said expansible link expands and contracts.

3. A parallel linkage according to claim 1, wherein said at least three expansible links are arranged such that connecting portions thereof connected to at least one of the two link mounting portions are not in a line on the at least one of the two link mounting portions, and that a connecting portion of said fixed link is positioned within a polygon defined by the connecting portions of said at least three expansible links as vertexes.