Prosthetic leg knee joint, braking device, and load position detector
A prosthetic leg knee joint includes a thigh connection part that is provided on the thigh side, a lower leg part that is provided rotatably around a knee shaft connected to the thigh connection part, a four-bar link mechanism that sets an instant center S whose relative position with respect to the thigh connection part is substantially constant regardless of the relative position between the thigh connection part and the lower leg part, and a braking unit that brakes the movement of the lower leg part in accordance with the relative position between the instance center S set by the four-bar link mechanism and the lower leg part.
1. A prosthetic leg comprising:
a thigh connection part;
a lower leg part that is provided rotatably around the thigh connection part;
a multi-bar link mechanism that is deformed in accordance with a relative position between the thigh connection part and the lower leg part; and
a braking unit that brakes a movement of the lower leg part when the multi-bar link mechanism is deformed to a predetermined degree or more, wherein
the multi-bar link mechanism is configured to set an instant center, a relative position of the instant center with respect to the thigh connection part being constant regardless of the relative position between the thigh connection part and the lower leg part, and
the braking unit is configured to brake the movement of the lower leg part in accordance with the relative position between the instant center set by the multi-bar link mechanism and the lower leg part.
2. The prosthetic leg according to claim 1 , wherein the multi-bar link mechanism consists of an upper link part provided in the thigh connection part, a lower link part provided in the braking unit, and a plurality of connection link parts that connect the upper link part and the lower link part.
3. The prosthetic leg according to claim 2 , wherein a length of the upper link part and the length of the lower link part are different.
4. The prosthetic leg according to claim 3 , wherein the length of the lower link part is shorter than the length of the upper link part.
5. The prosthetic leg according to claim 4 , wherein the instant center is set between a vicinity of a sole and a vicinity of a hip joint of a prosthetic leg wearer.
6. The prosthetic leg according to claim 3 , wherein the length of the lower link part is longer than the length of the upper link part.
7. The prosthetic leg according to claim 2 , wherein the connection link parts include:
a front link part connecting a part of the upper link part and a part of the lower link part; and
a rear link part connecting another part of the upper link part and another part of the lower link part.
8. The prosthetic leg according to claim 1 , wherein the multi-bar link mechanism includes an upper link part provided in the thigh connection part, a lower link part provided in the braking unit, a connection link part connecting a part of the upper link part and a part of the lower link part, and a sliding element connecting another part of the upper link part and another part of the lower link part.