• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a prosthetic foot (1, 61) comprising a heel (6, 71) and a toe (7, 62) able to bear on the ground and an ankle support (2, 67) characterized in that it further comprises at least one damping element (10, 76) configured to be remote from said floor.
    公开号:FR3063889A1
    申请号:FR1761388
    申请日:2017-11-29
    公开日:2018-09-21
    发明作者:Benjamin Penot
    申请人:Pm Ingenierie Et Design；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:
    (to be used only for reproduction orders)
    ©) National registration number
    063 889
    61388
    COURBEVOIE © IntCI 8 : A 61 F2 / 42 (2017.01)
    PATENT INVENTION APPLICATION
    A1
    ©) Date of filing: 29.11.17. © Applicant (s): PM ENGINEERING AND DESIGN Company © Priority: 17.03.17 FR 1752217. by simplified shares - FR. @ Inventor (s): PENOT BENJAMIN. ©) Date of public availability of the request: 21.09.18 Bulletin 18/38. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): PM INGENIERIE ET DESIGN Company related: by simplified actions. ©) Extension request (s): (© Agent (s): ARGYMA.
    (54 / FOOT PROSTHESIS COMPRISING A DAMPING ELEMENT.
    The present invention relates to a prosthetic foot (1.61) comprising a heel (6, 71) and a toe (7, 62) capable of being supported on the ground and an ankle support (2, 67) characterized in that it further comprises at least one damping element (10, 76) configured to be distant from said ground.
    FR 3 063 889 - A1

    i
    Foot prosthesis comprising a cushioning element
    The present invention relates generally to a foot prosthesis comprising a cushioning element having a shape close to that of a human foot. The invention particularly aims to increase the life of this type of prosthesis and also to improve the walking comfort of its user.
    Nowadays, prosthetic feet are an essential technical solution to replace an amputated foot. It is known from the prior art of foot prostheses such as those described in documents WO9641598, EP0280004 or US2749557 which seek to reproduce the anatomy of a human foot, but the main drawback of these prostheses is that they do not allow the complexity of the different movements performed by a foot to be reproduced. For example, patent US2749557 describes an ankle system allowing the heel of the prosthesis to be adjusted in height as well as the positioning of the toe. The main drawback of this system is that it allows adjustment only on a limited number of positions. In addition, this prosthetic foot solution does not allow energy recovery or management of inversion and eversion. There are also in the prior art foot prostheses comprising a spring blade, in a composite material of the carbon fiber, glass or aramid type, making it possible to restore the energy stored during the support phase of the prosthesis on the ground. This type of prosthesis seeks to reproduce the movements of a human foot during the support or recovery phases of the body. Such a prosthesis is described, for example, in patent application WO20111066354. The major disadvantage of these prostheses is that it is necessary to add on the spring blade various elements making it possible to reproduce the esthetics and the anatomy of a human foot. In addition, there are also prosthetic feet using a simple support plate. An active system is then used, called an electronic prosthesis, equipped with sensors, making it possible in particular to detect the support on the ground, and comprising actuators on the ankle and the knee making it possible to tighten the foot. This type of system is described, for example, in the US patent application
    2012/0191220.
    The various prostheses currently known do not allow the kinematics of a human foot to be reproduced satisfactorily. Indeed, walking mobilizes certain muscle groups during the support phase, allowing the shock shock to be absorbed, and other muscle groups during the propulsion phase, allowing energy restitution. Blade prostheses allow a relatively efficient energy accumulation and restitution, but, on the other hand, they have the disadvantage of not being able to adapt properly to a soil with a large slope or on which protuberances are present, such than pebbles or stones. In addition, they tend to wear out quickly due to the friction generated by the permanent contact of the prosthesis on the ground.
    The invention therefore aims to improve the life of prosthetic feet and increase the walking comfort of the user.
    To do this, the invention particularly relates to a foot prosthesis comprising a heel and a toe capable of being supported on the ground and an ankle support, said foot prosthesis being remarkable in that it comprises in addition to at least one damping element configured to be distant from said ground.
    Preferably, the damping element connects the toe to the ankle support.
    According to one aspect of the invention, the prosthetic foot further comprises a kick connecting the toe to the ankle support.
    Preferably, the foot prosthesis further comprises an energy accumulation and restitution means disposed between the toe and the kick.
    Advantageously, the foot prosthesis comprises a connecting rod connecting the kick to the heel.
    More preferably, the damping element includes a first point of curvature and a second point of curvature.
    Preferably, the cushioning element comprises one end connected to the ankle support from the outside of the foot prosthesis.
    According to another aspect of the invention, the cushioning element comprises an end connected to the ankle support by the interior of the foot prosthesis.
    Advantageously, the ankle support further comprises an adjustment means disposed outside or inside the ankle support.
    In another aspect of the invention, a robot includes a foot prosthesis according to the invention.
    The invention will be better understood on reading the following description, made with reference to the appended figures, in which:
    - Figure 1 is a perspective view of an example of a prosthetic foot according to the invention configured to receive a flat heel shoe;
    - Figure 2 is a side view of the prosthesis shown in Figure 1;
    - Figure 3 is a side view of the prosthesis shown in Figure 1 configured to receive a high heel shoe;
    - Figure 4 is a detailed view of a mechanism of the prosthesis shown in Figure 1;
    - Figure 5 is a detail view of another mechanism of the prosthesis shown in Figure 1.
    - Figure 6 shows a side view of another embodiment of the foot prosthesis according to the invention;
    FIG. 7 represents a perspective view of a damping element of the foot prosthesis shown in FIG. 6.
    There is shown in FIG. 1 an exemplary embodiment of the foot prosthesis 1 according to the invention comprising an ankle support 2, allowing the foot prosthesis 1 to come to be embedded in the patient's tibia, linked on its lower part to a kick 4 by means of a mechanism 3. As can be better seen in FIG. 5, this mechanism 3 comprises a first pair of rods 3a situated inside the prosthesis of the foot 1 and a second pair of rods 3b located outside of the foot prosthesis 1. The first pair of rods 3a is articulated around a pivot link 3c and the second pair of rods 3b around a pivot link 3d. We also see in Figures 1 and 2, a link 5 articulated with the kick 4 by means of the axis 5a, of the pivot link type, and with the heel 6 by means of the axis 5b, also of the link type pivot. This link 5 makes it possible to transfer the force coming from the heel 6, when the latter is placed on the ground, towards the kick 4. The heel 6 is also articulated with the ankle support 2 by means of an axis 2a pivot link type. The prosthetic foot 1 also includes a toe 7 linked to the kick 4 via a cardan type link 8. This cardan 8 includes a first articulation 8a of the pivot type forming a first axis orthogonal to the plane of symmetry of the toe 7 and a second articulation 8b of the pivot link type forming a second axis. The second articulation 8b further comprises a spring 9. In other embodiments, the spring 9 can be replaced by a hydraulic or pneumatic damper, or any other means making it possible to obtain damping adjustable in stiffness allowing adaptation to the type walk desired by the patient such as a sport walk or a city walk.
    The prosthetic foot 1 further comprises a blade 10 of composite material, of carbon fiber type, allowing cushioning during the heel support phase and an accumulation of energy. In another embodiment, the blade 10 can be made of an aluminum alloy, spring steel, or any other material having mechanical characteristics making it possible to accumulate and restore energy. The blade 10 is linked to the toe 7 by means of a pivot link type hinge 12 and to the ankle support by means of an adjustment system 11 in which the end 10a of the blade 10 comes to house. The adjustment system 11, comprising a mechanical locking, makes it possible to adjust the dorsiflexion and plantiflexion angles, the inversion-eversion angle, the angle of the toe 7 relative to the horizontal as well as the height of the prosthetic foot. This adjustment is made by unlocking the adjustment system 11 and thus temporarily releasing the blade 10 which can thus translate from bottom to top and also move angularly relative to the longitudinal axis of the pin 2. It is then possible to adjust the angle of inclination of the kick 4, the height of the heel 6, thus replicating the plantiflexion, and the angle of inclination of the toe 7 relative to the ground. The adjustment system 11 thus allows fine adjustment adapted to the patient and to the criteria of use, comfort and environment. FIG. 2 shows the prosthetic foot 1 adjusted to wear a shoe with a flat heel, the heel 6 being in a low position. Figure 3 shows the same prosthetic foot as that seen in Figure 2, but adjusted so that the patient can wear a high heel shoe. In the embodiment described in FIGS. 1 to 5, there is shown a blade 10, in the shape of Y oriented downwards, comprising a first arm located outside of the prosthetic foot 1 and a second arm located the inside of the foot prosthesis 1. The third branch of the Y forming the blade 10 is housed in the adjustment system 11. In another embodiment of the invention, the blade 10 can be made up of a single blade . In a still different embodiment, the adjustment system comprises a first actuator making it possible, in real time, to adjust the height of the blade 10 relative to the ground and a second actuator making it possible to adjust the inclination of the blade 10 relative to horizontally. These actuators can be, for example, electric motors or servomotors. Force sensors are positioned at the heel 6, the toe 7, the spring 9 and on the blade 10. The information coming from these sensors is processed in real time by a computer in order to adjust the adjustment of the prosthesis of foot 1 by means of the adjustment system 11. In this embodiment, it is not necessary for the patient to intervene in the adjustment of the prosthesis of foot 1 when the walking conditions change, the optimal adjustment being carried out directly by the adjustment system 11. The blade 10 is configured so as to be distant from the ground so as not to be in contact with the latter. This has the advantage of avoiding wear by friction of the blade 10 and thus greatly increasing the life of the prosthetic foot 1.
    We will now describe the operation of the foot prosthesis 1 when a step is taken by the patient, or by a robot when the latter includes a foot prosthesis 1. First, the heel 6 comes into contact with the ground transmitting a force via the link 5 to the blade 10 which deforms so as to accumulate energy and to dampen the pitch. The link 5 also transmits a force, directed towards the heel 6, in the kick 4 which has the effect of bringing the toe 7 towards the ground by means of the gimbal 8. The spring 9 is compressed and accumulates energy too. The prosthetic foot 1 thus generates a stabilizing effect on the inversion-eversion, even in the case of soil having a significant slope or a protuberance such as a descent, an ascent or a pebble.
    When the patient, or the robot, lifts the prosthetic foot 1, to take the next step, the energy accumulated in the blade 10 and the spring 9 is restored to help the patient, or the robot, to lift the prosthesis foot 1. The patient, or the robot, thus finds an energy return similar to that of a human foot.
    It should be noted that the various parts constituting the foot prosthesis 1 according to the invention are to be adapted, in particular in dimensions, according to the parameters of the patient, or of the robot, receiving the prosthesis such as its weight, its size or its type. Steps.
    Referring to Figure 6, there is shown schematically another embodiment of a prosthesis according to the present invention. We can see a foot prosthesis 61 comprising a toe 62 and a kick 63 connected together by a cardan type link 64. The cardan 64 includes a first articulation 66a of the pivot link type integrated into the toe 62 and a second articulation 66b, also of the pivot link type, integrated into the kick 63. The rod of the second articulation 66b further comprises a spring 65. We can see in FIG. 6 an axis X and an axis Y, perpendicular between them. The joint 66a has its axis of rotation perpendicular to the plane X-Y formed by the axes X and Y and the joint 66b has its axis of rotation perpendicular to the axis of rotation of the joint 66a. The spring 65 has the same function as in the embodiment described in FIGS. 1 to 5. It can also be advantageously replaced by a hydraulic, pneumatic or oleopneumatic damper, or any other means making it possible to obtain damping adjustable in stiffness so as to to adapt to a desired type of walk. In addition, the kick 63 is linked to an ankle support 67 via a link 68. The link 68 has a first axis 69 perpendicular to the plane XY forming a first pivot link with the ankle support 67 and a second axis 70 (not visible) also perpendicular to the plane XY, forming a second pivot connection with the kick 63. The connection 68 is made in a single piece thus making it possible to stiffen the prosthesis 61. The kick 63 is also linked to a heel 71 by means of a connecting rod 72. The connecting rod 72 comprises a first pivot link 73 connecting it to the kick 63 and having its axis of rotation perpendicular to the plane XY and a second pivot link 74 connecting it to the heel 71 also having its axis of rotation perpendicular to the XY plane. The heel 71 is articulated relative to the ankle support 67 by means of a pivot link 75. The prosthesis 61 also includes a damping element 76 directly connecting the toe 62 to the ankle support 67. This damping element 76 constitutes an alternative to the blade 10 of the foot prosthesis 1 as shown in FIG. 1. The damping element 76 is configured so as to be distant from the ground so as not to be in contact with the latter. This has the advantage of avoiding wear by friction of the damping element 76 and thus greatly increasing the life of the prosthetic foot 61.
    Referring to Figure 7, there is shown schematically and in perspective the damping element 76. It comprises a part 78, forming a plane, linked to the toe by a pivot link 77. The damping element 76 further comprises a first point of curvature 79 and a second point of curvature 80. This form comprising two points of curvature has the advantage of improving the vertical damping. The material of the damping element 76 can be metallic, for example steel, or a polymer or any other material allowing a damping and an accumulation of energy when pressing on the ground of the prosthesis 61 and patient or robot walking. The damping element 76 further comprises an end 76a which is received in an internal adjustment means 81 of the prosthesis 61. The internal adjustment means 81 comprises a mechanical locking, such as for example a pressure screw. When it is desired to adjust the prosthetic foot 61, the internal adjustment means 81 are unlocked to allow the cushioning element 76 to be moved. In another embodiment, the adjustment means comprises an actuator making it possible to adjust directly the damping element 76 using information from, for example, a computer. This actuator can be, for example, an electric motor or a servomotor.
    As already mentioned, the foot prosthesis object of the invention can also be implemented in the field of robotics. In fact, artificial feet are used there so that humanoid robots can walk in a similar way to that of a human being. These robot feet generally consist of a simple support plate which can advantageously be replaced by the foot prosthesis 1 or the foot prosthesis 61. A foot prosthesis according to the invention can also be directly incorporated into the robot during its manufacturing.
    One of the advantages of the invention is that the blade 10 or the damping element 76 are not in contact with the ground, thus allowing a significant increase in its lifespan compared with the prostheses of the prior art comprising a blade directly in contact with the ground thus undergoing permanent friction and therefore rapid wear. Another advantage of the invention, compared with existing blade prostheses, is that it is not necessary to add a sock, for example made of silicone, in order to protect the prosthesis from external nuisances, such as dust, and also to reproduce the shape of a human foot.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Foot prosthesis (1, 61) comprising a heel (6, 71) and a toe (7, 62) capable of being supported on the ground and an ankle support (2, 67) characterized in that 'it further comprises at least one damping element (10, 76) configured to be distant from said ground.
    [2" id="c-fr-0002]
    2. Foot prosthesis (1, 61) according to claim 1 characterized in that the damping element (10, 76) directly connects the toe (7, 62) to the ankle support (2, 67).
    [3" id="c-fr-0003]
    3. Foot prosthesis (1, 61) according to any one of the preceding claims, characterized in that it further comprises a kick (4, 63) connecting the toe (7, 62) to the ankle support (2, 67).
    [4" id="c-fr-0004]
    4. foot prosthesis (1, 61) according to claim 3 characterized in that it further comprises an energy accumulation and restitution means disposed between the toe (7, 62) and the kick (4, 63).
    [5" id="c-fr-0005]
    5. Foot prosthesis (1, 61) according to claim 3 characterized in that it further comprises a connecting rod (72) connecting the kick (4, 63) to the heel (6, 71).
    [6" id="c-fr-0006]
    6. Foot prosthesis (1, 61) according to any one of the preceding claims, characterized in that the damping element (10, 76) comprises a first point of curvature (79) and a second point of curvature (80 ).
    [7" id="c-fr-0007]
    7. Foot prosthesis (1, 61) according to any one of the preceding claims, characterized in that the damping element (10, 76) comprises one end (10a) connected to the ankle support (2, 67) by the outside of the foot prosthesis (1, 61).
    [8" id="c-fr-0008]
    8. Foot prosthesis (1, 61) according to any one of the preceding claims, characterized in that the damping element (10, 76) comprises one end (76a) connected to the ankle support (2, 67) by inside the foot prosthesis (1, 61).
    5
    [9" id="c-fr-0009]
    9. Foot prosthesis (1, 61) according to any one of the preceding claims, characterized in that the ankle support (2, 67) further comprises an adjustment means (11, 81) disposed outside or at inside the ankle support (2, 67).
    [10" id="c-fr-0010]
    10. Robot characterized in that it comprises a foot prosthesis (1, 61) 10 according to any one of the preceding claims.
    1/6
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    同族专利:
    公开号 | 公开日
    CN110430841A|2019-11-08|
    US20200085596A1|2020-03-19|
    EP3595593A1|2020-01-22|
    EA201992184A1|2020-02-05|
    CA3096775A1|2018-09-20|
    FR3063889B1|2021-05-14|
    WO2018166905A1|2018-09-20|
    FR3063887A3|2018-09-21|
    FR3063887B3|2019-12-13|
    EA038440B1|2021-08-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0280004A1|1985-09-12|1988-08-31|Yngve Ljungblad|Foot prosthesis|
    EP0487852A1|1990-11-29|1992-06-03|Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft|Jointless prosthetic foot|
    WO1996041598A1|1995-06-09|1996-12-27|Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft|Jointless foot prosthesis|
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    US20100023135A1|2008-07-25|2010-01-28|Rubie Eric W|High-Performance Multi-Component Prosthetic Foot|
    DE102014006571B3|2014-05-07|2015-08-06|Otto Bock Healthcare Gmbh|prosthetic|
    US2749557A|1955-04-15|1956-06-12|Grant C Riddle|Adjustable ankle joint for an artificial limb|
    US5290319A|1991-02-28|1994-03-01|Phillips L Van|Prosthetic foot incorporating adjustable bladders|
    DE29707416U1|1997-04-24|1998-08-27|Bock Orthopaed Ind|Spring-elastic foot insert|
    US20050107889A1|2003-11-18|2005-05-19|Stephane Bedard|Instrumented prosthetic foot|
    DE102008008282B4|2008-02-07|2014-04-03|Otto Bock Healthcare Gmbh|Orthopedic foot and method for controlling an artificial foot|
    DE102008008281A1|2008-02-07|2009-08-20|Otto Bock Healthcare Gmbh|Passive orthopedic aid in the form of a foot prosthesis or foot orthosis|
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    CN105250057B|2015-10-21|2017-10-13|陕西福音假肢有限责任公司|Hydraulically adjustable artificial limb anklebone joint|CA3020969A1|2016-04-14|2017-10-19|Marquette University|Passive ankle prosthesis with energy return|
    WO2021245552A1|2020-06-03|2021-12-09|Università Degli Studi Di Padova|Prosthetic ankle-foot device, in particular of the biomimetic type|
    DE102020119175A1|2020-07-21|2022-01-27|Ottobock Se & Co. Kgaa|prosthetic foot|
    CN112168439B|2020-08-17|2021-07-06|吉林大学|Rigid-flexible coupling bionic passive compliance ankle-foot prosthesis|
    CN112168440B|2020-09-25|2021-08-27|吉林大学|Passive flexible ankle-foot joint artificial limb with low energy consumption|
    法律状态:
    2018-09-21| PLSC| Publication of the preliminary search report|Effective date: 20180921 |
    2019-11-20| PLFP| Fee payment|Year of fee payment: 3 |
    2020-11-20| PLFP| Fee payment|Year of fee payment: 4 |
    2021-11-29| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1752217A|FR3063887B3|2017-03-17|2017-03-17|FOOT-TO-BLADE PROSTHESIS|
    FR1752217|2017-03-17|US16/494,408| US20200085596A1|2017-03-17|2018-03-09|Foot prosthesis comprising a damping element|
    EA201992184A| EA038440B1|2017-03-17|2018-03-09|Foot prosthesis comprising a damping element|
    CN201880018637.XA| CN110430841A|2017-03-17|2018-03-09|A kind of foot prosthesis including buffer element|
    PCT/EP2018/055868| WO2018166905A1|2017-03-17|2018-03-09|Foot prosthesis comprising a damping element|
    EP18708440.5A| EP3595593A1|2017-03-17|2018-03-09|Foot prosthesis comprising a damping element|
    CA3096775A| CA3096775A1|2017-03-17|2018-03-09|Foot prosthesis comprising a damping element|
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