Joining device, knee joining device, joining device control method, joining device control program, and storage medium storing said control program

Abstract

A control unit (10) of an electric prosthetic leg (1) performs control in a first connection state in which either a first interrupting mechanism (210) or a second interrupting mechanism (220) is connected, in a standing stage, which is a load-bearing state, and performs control in a second connection state in which either the first interrupting mechanism (210) or the second interrupting mechanism (220) is connected; in a non-load state, i.e., a leg raising stage, control is performed so as to be a cut-off state in which the first interrupting mechanism (210) and the second interrupting mechanism (220) are cut off, or control is performed so as to be a second connected state in which the other of the first interrupting mechanism (210) and the second interrupting mechanism (220) is connected.

Description

Technical Field

[0001] The present invention relates to a joint device, a knee joint device, a control method of the joint device, a control program of the joint device and a storage medium storing the control program. Background Art

[0002] In the past, as an example of a joint device, there is known a prosthetic leg device which is mounted on the leg of a robot or a person whose limb has been amputated due to an accident or disease. For example, Patent Document 1 describes an electric prosthetic leg which is equipped with a transmission having two power transmission paths with different speed ratios in order to smoothly ascend and descend stairs.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2021 / 251500 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In a coupling device equipped with a transmission having two power transmission paths, it is necessary to appropriately switch the connection and disconnection of an intermittent device provided in each power transmission path according to the state of the coupling device. By appropriately switching the connection and disconnection of the intermittent device according to the state of the coupling device, the power transmission path is appropriately switched, thereby improving the convenience and commerciality of the coupling device.

[0008] The present invention provides a highly convenient joint device, a knee joint device, a control method for the joint device, a control program for the joint device, and a storage medium storing the control program.

[0009] Solutions to Solve Problems

[0010] The present invention is a joint device, which comprises:

[0011] first component;

[0012] The second component;

[0013] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0014] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0015] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0016] The power transmission unit has:

[0017] a first power transmission path for transmitting the power at a first speed ratio; and

[0018] a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio,

[0019] The expansion and contraction device also has:

[0020] a first intermittent mechanism for switching between disconnection and connection of power on the first power transmission path;

[0021] a second intermittent mechanism that switches between disconnection and connection of power on the second power transmission path; and

[0022] a control unit that controls the power source, the first intermittent mechanism, and the second intermittent mechanism,

[0023] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0024] The control unit performs the following control:

[0025] (A) When in the load-bearing state described above,

[0026] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0027] (B) when in the non-weight-bearing position,

[0028] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0029] The present invention is a knee joint device, which comprises:

[0030] first component;

[0031] The second component;

[0032] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0033] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0034] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0035] The power transmission unit has:

[0036] a first power transmission path for transmitting the power at a first speed ratio; and

[0037] a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio,

[0038] The expansion and contraction device also has:

[0039] a first intermittent mechanism for switching between disconnection and connection of power on the first power transmission path;

[0040] a second intermittent mechanism that switches between disconnection and connection of power on the second power transmission path; and

[0041] a control unit that controls the power source, the first intermittent mechanism, and the second intermittent mechanism,

[0042] The knee joint device is configured to switch between a standing state in which a load is received from a mounting body of the knee joint device and a leg-lifting state in which no load is received.

[0043] The control unit performs the following control:

[0044] (A) While in the standing position,

[0045] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0046] (B) When in the leg-lifting state,

[0047] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0048] The present invention is a control method for a joint device, wherein the joint device comprises:

[0049] first component;

[0050] The second component;

[0051] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0052] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0053] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0054] The power transmission unit has:

[0055] a first power transmission path for transmitting the power at a first speed ratio; and

[0056] a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio,

[0057] The expansion and contraction device also has:

[0058] a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and

[0059] a second intermittent mechanism for switching between disconnection and connection of the power on the second power transmission path;

[0060] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0061] The control method comprises the following steps:

[0062] (A) When in the load-bearing state described above,

[0063] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0064] (B) when in the non-weight-bearing position,

[0065] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0066] The present invention is a control program for a joint device, wherein the joint device comprises:

[0067] first component;

[0068] The second component;

[0069] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0070] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0071] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0072] The power transmission unit has:

[0073] a first power transmission path for transmitting the power at a first speed ratio; and

[0074] a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio,

[0075] The expansion and contraction device also has:

[0076] a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and

[0077] a second intermittent mechanism for switching between disconnection and connection of the power on the second power transmission path;

[0078] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0079] The control program causes the computer to execute the following steps:

[0080] (A) When in the load-bearing state described above,

[0081] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0082] (B) when in the non-weight-bearing position,

[0083] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0084] Furthermore, the present invention is a storage medium which is a computer-readable storage medium, wherein the storage medium stores the control program.

[0085] Effects of the Invention

[0086] According to the present invention, the connection and disconnection of the intermittent device are appropriately switched according to the state of the coupling device, thereby switching the power transmission path and improving the convenience of the coupling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 This is a perspective view of the electric prosthetic leg 1 according to the first embodiment, as seen obliquely from the front.

[0088] Figure 2 It is an exploded perspective view of the electric prosthetic leg 1 .

[0089] Figure 3 is a cross-sectional view of the electric prosthetic leg 1 .

[0090] Figure 4is a cross-sectional view of the telescopic device 140 .

[0091] Figure 5 1 is a cross-sectional view of the main parts showing the electric prosthetic leg 1 in a bent state.

[0092] Figure 6 1 is a cross-sectional view of the main parts showing the electric prosthetic leg 1 in the maximum bending state.

[0093] Figure 7 It is a cross-sectional view of a two-way clutch.

[0094] Figure 8 It is a perspective view of the retainer 282 .

[0095] Fig. 9 2 are diagrams showing the operation of the operating mechanism 240, (A) is a diagram showing that the intermittent portion 212 and the intermittent portion 222 are in the OFF state, (B) is a diagram showing that the intermittent portion 212 is in the OFF state and the intermittent portion 222 is in the ON state, and (C) is a diagram showing that the intermittent portion 212 is in the ON state and the intermittent portion 222 is in the OFF state.

[0096] Fig.10 (A) is a cross-sectional view showing the intermittent portion 222 in the OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0097] Fig.11 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the OFF state to the ON state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0098] Fig.12 (A) is a cross-sectional view showing the intermittent portion 222 in the forward rotation activated state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0099] Fig.13 (A) is a cross-sectional view showing the inversion activated state of the intermittent portion 222 , and (B) is a diagram showing the position of the operating lever 241 at this time.

[0100] Fig.14 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the ON state to the OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0101] Fig.15 is a cross-sectional view of an electric prosthetic leg 1 according to a second embodiment.

[0102] Fig.16 is a functional block diagram of the electric prosthetic leg 1 .

[0103] Fig.17The diagram shows the motion of a person and an electric prosthetic leg when climbing stairs (stair climbing motion).

[0104] Fig.18 The diagram shows the motion of a person and an electric prosthetic leg when walking on flat ground (flat ground walking motion).

[0105] Fig.19 (A) is a diagram for explaining the angle of the knee joint, (B) is a diagram for explaining the angle of the thigh, and (C) is a diagram for explaining the angle of the calf.

[0106] Fig. 20 is a table summarizing the stages and control methods in the step-up mode and the flat and step-down modes.

[0107] Fig.21 This is a graph showing the relationship among the knee joint angle, thigh angle, calf angle, and load in the step-climbing mode.

[0108] Fig. 22 Graph showing the relationship between the knee angle, thigh angle, calf angle, calf angular velocity, and load in the flat ground and step-down modes.

[0109] Fig.23 : is a graph showing the load, the knee joint angle, and the states of the first intermittent mechanism 210 and the second intermittent mechanism 220 when a terminal impact occurs (comparative example).

[0110] Fig.24 Graphs showing the load, the knee joint angle, and the states of the first intermittent mechanism 210 and the second intermittent mechanism 220 during the late impact suppression control.

[0111] Fig.25 3 is a graph showing the load, the angular velocity of the lower leg, and the states of the first intermittent mechanism 210 and the second intermittent mechanism 220 when stumbling occurs (comparative example).

[0112] Fig.26 3 is a graph showing the load, the angular velocity of the lower leg, and the states of the first intermittent mechanism 210 and the second intermittent mechanism 220 during stumble suppression control. DETAILED DESCRIPTION

[0113] Hereinafter, an electric prosthetic leg as an embodiment of the joint device of the present invention will be described with reference to the accompanying drawings. In addition, in the following description, the front-back direction, the left-right direction, and the up-down direction are defined based on the user of the electric prosthetic leg. In the accompanying drawings, the front of the electric prosthetic leg is represented as Fr, the rear is represented as Rr, the left side is represented as L, the right side is represented as R, the top is represented as U, and the bottom is represented as D.

[0114] like Figures 1 to 4As shown, the electric prosthetic leg 1 of this embodiment is a prosthetic leg installed on the leg of a person without a knee, and comprises: a below-knee side component 110 located below the knee; an above-knee side component 120 installed on the thigh and located above the knee; a knee joint mechanism 130 connecting the below-knee side component 110 and the above-knee side component 120 so that the angle between the two can be changed; an expansion and contraction device 200 capable of expanding and contracting the angle between the below-knee side component 110 and the above-knee side component 120; a mechanical stopper mechanism 150 for mechanically limiting the range of change of the angle between the below-knee side component 110 and the above-knee side component 120; a buffer mechanism 160 for buffering the impact of the mechanical stopper mechanism 150; a sensor device 270; and a battery B for supplying power to the expansion and contraction device 200 and the like.

[0115] The above-knee member 120 includes a connector 121 connected to a receiving cavity (not shown) and an above-knee base 126. The connector 121 is mounted on an upper wall 125 of the above-knee base 126. The receiving cavity is a connecting member provided on the thigh, and the above-knee member 120 is integrated with the thigh by connecting the connector 121 to the receiving cavity.

[0116] The below-knee side component 110 comprises: a box-shaped main frame 111 with openings at the top and rear; side covers 112 covering the left and right side surfaces of the main frame 111; a detachable rear cover 113 that can open and close and cover the rear opening of the main frame 111; and a connector 122 mounted on the lower surface of the main frame 111.

[0117] The above-knee member 120 is provided on the upper portion of the main frame 111 of the below-knee member 110 via a connecting shaft 135 constituting the knee joint mechanism 130 , and the leg portion 114 extending downward is connected to a joint 122 of the main frame 111 .

[0118] In the space formed by the above-knee side component 120 and the below-knee side component 110, an expansion and contraction device 200 capable of expanding and contracting the angle between the below-knee side component 110 and the above-knee side component 120 is provided. The expansion and contraction device 200 is an expansion and contraction device 140 capable of expanding and contracting the angle between the below-knee side component 110 and the above-knee side component 120 by expansion and contraction. The expansion and contraction device 140 extends in the up-down direction, and one end side of the extension direction is mechanically connected to the above-knee side component 120, and the other end side of the extension direction is mechanically connected to the below-knee side component 110, and the details will be described later. In addition, "mechanical connection" is a concept including a structure that is directly connected and a structure that is connected via other components.

[0119] like Figure 3 and Figure 4As shown, the telescopic device 140 includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a spindle unit SP that is connected to the transmission T in a manner that can transmit power and converts the rotational power output from the transmission T into translational motion (telescopic motion); a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T; an operating mechanism 240 that performs switching operations on the first intermittent mechanism 210 and the second intermittent mechanism 220; and a control unit 10 that controls the motor M and simultaneously operates the operating mechanism 240 to control the first intermittent mechanism 210 and the second intermittent mechanism 220.

[0120] The motor M is, for example, a permanent magnet motor, and is disposed behind and above the transmission T, and the spindle unit SP is disposed in front and above the transmission T. The spindle unit SP is disposed on the opposite side of the motor M relative to the transmission T in the power transmission path. The motor M is a gear mechanism built-in motor having a motor body 171 and a gear mechanism 172 for reducing the output rotation of the motor body 171. The spindle unit SP has a spindle 173 formed with an external thread and a sleeve 174 formed with an internal thread, and the sleeve 174 performs translational motion along the axis of the spindle 173 by the rotation of the spindle 173.

[0121] Specifically, the main shaft 173 receives the rotational power of the motor M transmitted by the transmission T and performs rotational motion. On the other hand, the sleeve 174 is supported by the unit housing 250 in a manner that it cannot rotate but can move up and down. Therefore, when the main shaft 173 receives the rotational power of the motor M transmitted by the transmission T and rotates to one side, the sleeve 174 moves translationally away from the transmission T, and when the main shaft 173 rotates to the other side, the sleeve 174 moves translationally toward the transmission T. In addition, sometimes the translational movement of the sleeve 174 away from the transmission T is referred to as an extension action of the main shaft unit SP, and conversely, sometimes the translational movement of the sleeve 174 toward the transmission T is referred to as a shortening action of the main shaft unit SP.

[0122] That is, the distance between the sleeve 174 and the transmission T is expanded and contracted according to the rotation direction of the main shaft 173. The upper end of the sleeve 174 is connected to the above-knee side member 120 via the link member 175. The distance between the sleeve 174 and the transmission T is expanded and contracted according to the rotation direction of the main shaft 173, thereby rotating the below-knee side member 110 and the above-knee side member 120 around the connecting shaft 135. As a result, the angle between the above-knee side member 120 and the below-knee side member 110 is changed.

[0123] Here, the angle between the above-knee component 120 and the below-knee component 110 is defined by a first imaginary line L1 and a second imaginary line L2, wherein the first imaginary line L1 connects the center of the connection shaft 135 of the knee joint mechanism 130 and the joint 121 of the above-knee component 120, and the second imaginary line L2 passes through the center of the connection shaft 135 of the knee joint mechanism 130 and the below-knee component 110 and extends downward in the vertical direction. Among the angles between the below-knee component 110 and the above-knee component 120 centered on the connection shaft 135 of the knee joint mechanism 130, one side of a circle is a first angle θ1, and the other side is a second angle θ2. When the second angle θ2 is the smaller of the first angle θ1 and the second angle θ2, the angle on the popliteal side of the user of the electric prosthetic leg 1 (popliteal angle) becomes the second angle θ2. The first angle θ1 takes a value of about 175 [deg] to 300 [deg], and the second angle θ2 takes a value of about 60 [deg] to 185 [deg].

[0124] Figure 3 The knee joint mechanism 130 is shown in an extended state, with the first angle θ1 being approximately 175 degrees and the second angle θ2 being approximately 185 degrees. Figure 5 1 is a cross-sectional view of a main part showing the electric prosthetic leg 1 in a bent state. The first angle θ1 is about 240 degrees, and the second angle θ2 is about 120 degrees. Figure 6 It is a cross-sectional view of the main part showing the electric prosthetic leg 1 in the maximum bending state, the first angle θ1 is about 300 [deg], and the second angle θ2 is about 60 [deg].

[0125] In addition, the expansion and contraction device 200 of the present embodiment converts the rotational motion into the telescopic motion through the main shaft unit SP of the telescopic device 140, thereby expanding and contracting the telescopic device 140, and at the same time, the angle between the below-knee side component 110 and the above-knee side component 120 is expanded and reduced. However, it is also possible not to provide a telescopic (movement) part like the telescopic device 140 (main shaft unit SP), but to provide a gear meshing mechanism (etc.) between the below-knee side component 110 and the above-knee side component 120, so that the angle between the below-knee side component 110 and the above-knee side component 120 is expanded and reduced.

[0126] return Figure 3 and Figure 4The transmission T includes: a first speed change mechanism T1 having a first speed change portion for transmitting the power of the motor M to the spindle unit SP at a first speed change ratio; and a second speed change mechanism T2 having a second speed change portion for transmitting the power of the motor M to the spindle unit SP at a second speed change ratio different from the first speed change ratio. The first speed change mechanism T1 and the second speed change mechanism T2 are switched between a power disconnection state and a power connection state by the intermittent mechanisms 210 and 220.

[0127] According to such a transmission T, by having two power transmission paths with different speed ratios, it is possible to switch the extension and flexion movement speeds and the generated power in the knee joint mechanism 130. As long as the first speed ratio and the second speed ratio are different, the first speed change mechanism T1 and the second speed change mechanism T2 may be either a speed reduction mechanism and the other a speed increase mechanism, or either a constant speed mechanism and the other a speed reduction mechanism or a speed increase mechanism, or both may be speed reduction mechanisms, or both may be speed increase mechanisms.

[0128] The first speed ratio is a ratio of the speed after the speed change, which is the speed on the opposite side (spindle unit SP side) of the first speed change mechanism T1 to the motor M side than the first speed change part, to the speed before the speed change, which is the speed on the motor M side than the first speed change part in the first speed change mechanism T1. The second speed ratio is a ratio of the speed after the speed change, which is the speed on the opposite side (spindle unit SP side) of the second speed change mechanism T2 to the motor M side than the second speed change part in the second speed change mechanism T2, to the speed before the speed change, which is the speed on the motor M side than the second speed change part in the second speed change mechanism T2.

[0129] For example, when the first speed ratio of the first speed change mechanism T1 is less than 1, the rotation speed of the opposite side of the motor M (the spindle unit SP side) is lower than the rotation speed of the motor M side, and the torque increases. When the second speed ratio of the second speed change mechanism T2 is greater than 1, the rotation speed of the opposite side of the motor M (the spindle unit SP side) is higher than the rotation speed of the motor M side, and the torque decreases. In this embodiment, the first speed ratio is set to be less than 1, the second speed ratio is greater than 1, and the first speed change mechanism T1 is arranged at a lower position than the second speed change mechanism T2.

[0130] The first speed change mechanism T1 and the second speed change mechanism T2 include: a first shaft 181, which is rotatably arranged on the lower extension line of the output shaft 172a of the gear mechanism part 172; and a second shaft 182, which is rotatably arranged on the lower extension line of the main shaft 173 of the main shaft unit SP. The first shaft 181 is connected to the output shaft 172a of the gear mechanism part 172 of the motor M via a coupling 187 that allows axial center error so as to be rotatable as a whole. The second shaft 182 is connected to the main shaft 173 of the main shaft unit SP so as to be rotatable as a whole. In addition, although the second shaft 182 of the present embodiment is integrated with the main shaft 173 of the main shaft unit SP, the second shaft 182 may also be connected to the main shaft 173 of the main shaft unit SP using a spline fitting or a coupling.

[0131] The first speed change mechanism T1 includes a first speed change portion composed of a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported on the first shaft 181 in a manner that allows integral rotation, and the first driven gear 184 is supported on the second shaft 182 in a manner that allows relative rotation. The rotation axes of the first driven gear 184 and the second shaft 182 coincide with each other. The first speed change mechanism T1 of this embodiment is a speed reduction transmission mechanism in which the diameter of the first drive gear 183 is smaller than the diameter of the first driven gear 184, and can enable the main shaft unit SP to perform telescopic action at a low speed and high torque.

[0132] The second speed change mechanism T2 has a second speed change part composed of a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported on the first shaft 181 in a manner that allows it to rotate as a whole, and the second driven gear 186 is supported on the second shaft 182 in a manner that allows it to rotate relatively. The rotation axes of the second driven gear 186 and the second shaft 182 are consistent with each other. The second speed change mechanism T2 of this embodiment is a speed increase transmission mechanism in which the diameter of the second drive gear 185 is larger than that of the second driven gear 186, and can enable the main shaft unit SP to perform telescopic movements at high speed and low torque. In addition, in this embodiment, the second speed change mechanism T2 is arranged on the upper side of the first speed change mechanism T1, but the second speed change mechanism T2 can also be arranged on the lower side of the first speed change mechanism T1. In addition, the first shaft 181 and the second shaft 182 of this embodiment are respectively formed as a whole from the beginning, but they can also be connected (combined) as a whole after the upper and lower gear support parts are formed separately.

[0133] The first intermittent mechanism 210 includes an intermittent portion 212 disposed between the first driven gear 184 and the second shaft 182. The second intermittent mechanism 220 includes an intermittent portion 222 disposed between the second driven gear 186 and the second shaft 182. These intermittent portions 212, 222 have a common structure and are configured to be switchable between a cut-off state for cutting off power transmission and a power transmittable state for transmitting rotational power in both one direction and another direction. In addition, the details of the intermittent portions 212, 222 will be described later.

[0134] The operating mechanism 240 includes an operating rod 241 provided so as to be able to intermittently operate the intermittent portions 212 and 222 , and a servo motor 242 which linearly moves the operating rod 241 .

[0135] The second shaft 182 is a hollow shaft having an internal space S2 extending in the direction of the rotation axis (also referred to as the up-down direction), and the operating rod 241 is arranged in the internal space S2. The operating rod 241 is provided with a rack 241a at the lower end exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5 arranged in the internal space S2 so as not to rotate relative to the rack 241a but to move forward and backward in an integrated manner in the direction of the rotation axis. The lower end of the second shaft 182 is screwed with a cover member 188 having an insertion hole for the operating rod 241 to be inserted. The cover member 188 prevents foreign matter from invading the internal space S2 and facilitates the replacement of the operating rod 241. The pinion 243 provided on the output shaft 242a of the servo motor 242 meshes with the rack 241a, and the position of the operating rod 241 in the up-down direction is switched according to the drive of the servo motor 242. Small diameter parts 241b1, 241b2 and large diameter parts 241c1 to 241c3 are formed on the outer periphery of the operating rod 241, and the small diameter parts 241b1, 241b2 and large diameter parts 241c1 to 241c3 intermittently operate the intermittent parts 212 and 222 according to the position of the operating rod 241. The operating mechanism 240 will be described in detail later.

[0136] like Figures 3 to 5 As shown, the unit housing 250 includes an upper housing 251, a middle housing 252, and a lower housing 253. These upper housing 251, middle housing 252, and lower housing 253 are formed independently of each other.

[0137] The upper housing 251 accommodates the spindle unit SP.

[0138] The second drive gear 185 , the second driven gear 186 , the first drive gear 183 , the first driven gear 184 , the intermittent parts 212 and 222 , and a part of the operating mechanism 240 are accommodated in a space S1 formed by the intermediate housing 252 and the lower housing 253 .

[0139] The unit case 250 has a three-stage structure of an upper case 251 , an intermediate case 252 , and a lower case 253 , and can not only house the transmission T and the spindle unit SP, but also unitize the telescopic device 140 including the motor M.

[0140] In addition, the unit case 250 is attached to the main frame 111 via a bracket (not shown).

[0141] like Figure 3 , Figure 5 and Figure 6 As shown, the mechanical stopper mechanism 150 includes a stopper member 151 provided on the below-knee member 110, and a first contact portion 152 and a second contact portion 153 provided on the above-knee base 126 of the above-knee member 120. Figure 3 In the state shown (the second angle θ2 is about 185 degrees), the first abutting portion 152 abuts against the stopper 151, thereby restricting the knee joint mechanism 130 from bending in the reverse direction. Figure 6 In the state shown (the second angle θ2 is about 60 degrees), the second abutment portion 153 abuts against the stop member 151, thereby limiting the further bending of the knee joint mechanism 130 from the maximum bending state. Figure 6 The maximum bending state is shown.

[0142] The buffer mechanism 160 is provided on the side of the above-knee member 120, and includes a pressing portion 162 that can press the upper end of the link member 175 by the urging force of a spring 161 (for example, a compression coil spring). The lower end of the link member 175 is rotatably connected to the sleeve 174 of the spindle unit SP via a first rotating portion 176, and the upper end of the link member 175 is rotatably connected to the above-knee member 120 via a second rotating portion 177. A cam portion 178 is formed at the upper end of the link member 175. The cam portion 178 continuously includes a small diameter outer peripheral portion 178a having a small radius with the second rotating portion 177 as the center, a large diameter outer peripheral portion 178b having a long distance from the second rotating portion 177, and a connecting outer peripheral portion 178c that connects the small diameter outer peripheral portion 178a and the large diameter outer peripheral portion 178b without a step.

[0143] like Figure 5 and Figure 6 As shown, when the knee joint mechanism 130 is bent, the pressing portion 162 faces the small diameter outer peripheral portion 178a of the cam portion 178, so the pressing portion 162 is separated from the cam portion 178. Figure 3As shown, the knee joint mechanism 130 is extended according to the shortening action of the spindle unit SP. When approaching the mechanical stop position on the extended side, the opposing position of the pressing portion 162 and the cam portion 178 moves from the connecting outer peripheral portion 178c to the large diameter outer peripheral portion 178b. Accompanying this, the cam portion 178 abuts against the pressing portion 162, and the large diameter outer peripheral portion 178b overcomes the force of the spring 161 and pushes the pressing portion 162. In other words, the cam portion 178 is pressed in the return direction by the force of the spring 161. As a result, the force of the spring 161 becomes a resistance, and the impact when the first abutting portion 152 abuts against the stopper 151 is buffered.

[0144] Next, refer to Figure 7 The details of the intermittent portions 212 , 222 and the operating mechanism 240 are described in detail in the following figures.

[0145] The intermittent parts 212 and 222 have a common structure and are configured to be switchable between a cut-off state in which power transmission is cut off and a power transmittable state in which rotational power in both one direction and another direction can be transmitted. Figure 7 As shown, each intermittent portion 212, 222 of the present embodiment is constituted by using a two-way clutch 280 having a forced free function. The two-way clutch 280 includes: a plurality of (three in the present embodiment) rollers 281 disposed between the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the gears 184, 186; a retainer 282 that retains the plurality of rollers 281 at a predetermined interval; a plurality of (three in the present embodiment) pins 283 that penetrate the second shaft 182 in the radial direction and are operated by the operating mechanism 240 to a forced free position and a forced free release position; and a plurality of (three in the present embodiment) guides 284 that are provided on the retainer 282 and limit the relative rotation position of the retainer 282 relative to the second shaft 182 when the pins 283 are in the forced free position. The rollers 281 may be balls or wedges.

[0146] The radial interval A between the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 is smaller than the diameter B of the roller 281. In addition, flat portions 182a are formed at predetermined intervals in the circumferential direction on the outer circumferential portion of the second shaft 182, and the interval A is larger than the diameter B at the circumferential center of the flat portion 182a.

[0147] That is, when the roller 281 is maintained at the circumferential center of the flat portion 182a, the roller 281 does not mesh with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (non-engaged state), allowing relative rotation between the second shaft 182 and the gears 184 and 186 (forced free state).

[0148] On the other hand, in a state where the roller 281 is allowed to move circumferentially relative to the second shaft 182, the roller 281 is engaged with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (engaged state), and the second shaft 182 and the gears 184 and 186 are connected in a manner that allows them to rotate as a whole in two directions (forced free release state).

[0149] like Figure 8 As shown, the retainer 282 is annular and rotatable relative to the second shaft 182 and the gears 184 and 186 , and has a plurality of roller retaining portions 282 a for retaining the rollers 281 and a plurality of guide retaining portions 282 b for retaining the guides 284 .

[0150] In addition, a plurality of rubber balls 282c are embedded at predetermined intervals in the circumferential direction on the outer peripheral surface of the retainer 282. These rubber balls 282c cause appropriate friction between the gears 184, 186 and the retainer 282, thereby preventing accidental idling in the forced free release state. In addition, the component causing friction between the gears 184, 186 and the retainer 282 is not limited to the rubber balls 282c, and may also be an O-ring.

[0151] return Figure 7 The pin 283 has a conical convex portion 283a at the radially outer end portion, and the guide 284 has a conical concave portion 284a that fits (engages) with the convex portion 283a at the radially inner end surface. When the convex portion 283a of the pin 283 fits with the concave portion 284a of the guide 284, the relative rotation position of the retainer 282 with respect to the second shaft 182 is positioned at a predetermined position where the retainer is in a forced free state by the guiding action of the pin 283 and the guide 284.

[0152] like Fig. 9 As shown, the first large diameter portion 241c1, the first small diameter portion 241b1, the second large diameter portion 241c2, the second small diameter portion 241b2 and the third large diameter portion 241c3 are formed in sequence from the top at a predetermined length and interval. The operating rod 241 is configured to simultaneously control the two intermittent portions 212 and 222, but may also be configured separately for each intermittent portion 212 and 222.

[0153] In the following description, refer to Fig. 9 The operation of the operating mechanism 240 for simultaneously controlling the intermittent portions 212 and 222 will be described.

[0154] like Fig. 9 As shown, the intermittent portions 212 and 222 are switched between a forced free state (hereinafter referred to as an OFF state as appropriate) and a forced free released state (hereinafter referred to as an ON state as appropriate) by an operating mechanism 240 .

[0155] When the operating rod 241 of the operating mechanism 240 is in Fig. 9 When the intermittent portion 212 is in the upper position shown in (A), the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 222 outwardly, and the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 212 outwardly, thereby setting the intermittent portion 212 and the intermittent portion 222 to the OFF state.

[0156] In addition, when the operating rod 241 of the operating mechanism 240 is in Fig. 9 When in the intermediate position shown in (B), the first small diameter portion 241b1 allows the pin 283 of the intermittent portion 222 to return in the inner diameter direction, and at the same time the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 212 in the outer diameter direction, thereby setting the intermittent portion 222 to the ON state and the intermittent portion 212 to the OFF state.

[0157] In addition, when the operating rod 241 of the operating mechanism 240 is in Fig. 9 When the intermittent portion 222 is in the lower position shown in (C), the first large diameter portion 241c1 pushes the pin 283 of the intermittent portion 222 in the outer diameter direction, and the second small diameter portion 241b2 allows the pin 283 of the intermittent portion 212 to return in the inner diameter direction, thereby setting the intermittent portion 222 to the OFF state and the intermittent portion 212 to the ON state.

[0158] Next, taking the intermittent portion 222 as an example, refer to Figures 10 to 14 The operation of the two-way clutch 280 will be described. In the following example, the intermittent portion 222 is Fig. 9 The following explanation will take the case where (A) is transferred to (C) via (B) as an example.

[0159] like Fig.10 As shown in (A) and (B), in a state where the second large diameter portion 241c2 of the operating lever 241 pushes the pin 283 of the intermittent portion 222 in the outer diameter direction, the convex portion 283a of the pin 283 is engaged with the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held at the circumferential center portion of the flat portion 182a, so the roller 281 does not mesh with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186, and the relative rotation of the second shaft 182 and the second driven gear 186 is allowed. The OFF state is achieved.

[0160] Fig.11 (A) and (B) show the state where the operating lever 241 moves from the position where the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 222 outward in the outer diameter direction to the position where the first small diameter portion 241b1 allows the pin 283 to return inward in the inner diameter direction. Fig.11Although the pin 283 has moved in the inner diameter direction, in fact, when the second shaft 182 and the second driven gear 186 generate relative rotation, the guide member 284 of the retainer 282 that rotates in conjunction with the second driven gear 186 uses the inclined surface of the recess 284a to push the pin 283 back in the inner diameter direction.

[0161] like Fig.12 As shown in (A) and (B), when the second shaft 182 and the second driven gear 186 generate relative rotation in the forward direction as indicated by the arrow in the figure, in a state where the pin 283 is allowed to return in the inner diameter direction, the retainer 282 that rotates in conjunction with the second driven gear 186 moves the roller 281 in the forward direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and a forward activation state occurs in which the second shaft 182 and the second driven gear 186 rotate integrally in the forward direction.

[0162] like Fig.13 As shown in (A) and (B), when the second shaft 182 and the second driven gear 186 generate relative rotation in the reverse direction indicated by the arrow in the figure while the pin 283 is allowed to return in the inner diameter direction, the retainer 282 that rotates in conjunction with the second driven gear 186 moves the roller 281 in the reverse direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and a reverse activation state occurs in which the second shaft 182 and the second driven gear 186 rotate integrally in the reverse direction.

[0163] like Fig.14 As shown in (A) and (B), when the operating lever 241 moves from the position where the first small diameter portion 241b1 allows the pin 283 of the intermittent portion 222 to return in the inner diameter direction to the position where the first large diameter portion 241c1 pushes the pin 283 in the outer diameter direction, the convex portion 283a of the pin 283 is engaged with the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position in a positioning state by the guiding action of the pin 283 and the guide 284. In this state, the roller 281 is held at the circumferential center of the flat portion 182a, so the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and the relative rotation of the second shaft 182 and the second driven gear 186 is allowed. The OFF state is achieved.

[0164] In the above embodiment, the intermittent parts 212, 222 and the operating mechanism 240 are arranged on the second shaft 182 side, but it can also be as follows Fig.15That is, in the electric prosthetic leg 1 of the second embodiment, the intermittent portion 212 of the first intermittent mechanism 210 is disposed between the first drive gear 183 and the first shaft 181, and the intermittent portion 222 of the second intermittent mechanism 220 is disposed between the second drive gear 185 and the first shaft 181. The other structures are basically the same or similar to those of the first embodiment, so the electric prosthetic leg 1 of the first embodiment will also be taken as an example for description below.

[0165] like Fig.16 As shown, the sensor device 270 includes a knee joint angle sensor 271 provided in the knee joint mechanism 130 (connecting shaft 135 ), a load sensor 272 built into the joint 122 , and an inertial measurement unit (IMU) 273 mounted on a substrate (not shown) arranged near the motor M.

[0166] The knee joint angle sensor 271 detects the knee joint angle (θ [deg]). Fig.19 As shown in (A), the knee joint angle (θ [deg]) is the angle between the extension line L11 of the upper knee side component 120 passing through the connecting shaft 135 and the lower knee side component 110. In other words, the knee joint angle θ is the angle obtained by subtracting the aforementioned second angle θ2 from 180 [deg], and is the supplementary angle of the second angle θ2. When the lower knee side component 110 is located in a position forward of the extension line L11, the knee joint angle θ takes a negative value, and when the lower knee side component 110 is located in a position backward of the extension line L11, the knee joint angle θ takes a positive value (+deg). Therefore, since the possible range of the second angle θ2 is approximately 60 [deg] ~ 185 [deg], the possible range of the knee joint angle θ is approximately -5 [deg] ~ 120 [deg].

[0167] The load sensor 272 detects the load received by the electric prosthetic leg 1, in other words, the load from the user of the electric prosthetic leg 1. The load sensor 272 is set so that the tensile load takes a positive value and the compressive load takes a negative value. Therefore, in the loaded state where the electric prosthetic leg 1 touches the ground (hereinafter, sometimes referred to as the standing stage), the load (compressive load) acts on the electric prosthetic leg 1 from the outside, so it takes a negative value, and in the non-loaded state where the electric prosthetic leg 1 leaves the ground (hereinafter, sometimes referred to as the leg-lifting stage), although no load is received from the outside, a tensile load is applied due to the deadweight of the electric prosthetic leg 1, so it takes a positive value.

[0168] IMU273 acquires 3-axis angular velocity and 3-axis acceleration. When the 3 axes of the orthogonal coordinate system are set as X-axis, Y-axis, and Z-axis, IMU273 detects X-axis angular velocity ωx [deg / s], Y-axis angular velocity ωy [deg / s], Z-axis angular velocity ωz [deg / s], and X-axis acceleration Ax [m / s2 ]、Y-axis acceleration Ay[m / s 2 ], and Z-axis acceleration Az[m / s 2 ].

[0169] Next, the control unit 10 for controlling the electric prosthetic leg 1 will be described.

[0170] When the user walks up stairs, the control unit 10 drives the electric prosthetic leg 1 in the step-up mode described later, and when the user walks forward on flat ground or walks down stairs, the control unit 10 drives the electric prosthetic leg 1 in the flat ground and step-down modes described later. The control unit 10 receives information from the sensor device 270 and controls the electric prosthetic leg 1 in each mode. More specifically, information from the knee joint angle sensor 271, the load sensor 272, and the IMU 273 is input to the control unit 10. The control unit 10 obtains the knee joint angle θ from the knee joint angle sensor 271, obtains the load from the load sensor 272, and calculates the shank angle θs based on the angular velocity of the three axes and the acceleration of the three axes detected by the IMU 273. In addition, the control unit 10 calculates the thigh angle θt based on the knee joint angle θ and the shank angle θs. In addition, the control unit 10 can also calculate the angular velocity and angular acceleration of each of the knee joint angle θ, the calf angle θs, and the thigh angle θt, or the acceleration of the below-knee member 110 and the above-knee member 120.

[0171] Here, if Fig.19 As shown in (C), the calf angle θs is the angle between the center line extending in the extension direction of the below-knee side component 110 centered on the connecting axis 135 and the plumb line VL1 passing through the connecting axis 135. When the below-knee side component 110 is located forward of the plumb line VL1, the calf angle θs takes a negative value (-deg). When the below-knee side component 110 is located backward of the plumb line VL1, the calf angle θs takes a positive value (+deg).

[0172] In addition, if Fig.19 As shown in (B), the thigh angle θt is the angle between the plumb line VL2 passing through the hip joint 124 of the thigh 123 on which the above-knee side component 120 is installed and the center line extending in the extension direction of the above-knee side component 120. When the above-knee side component 120 is located forward of the plumb line VL2, the thigh angle θt takes a negative value (-deg), and when the above-knee side component 120 is located backward of the plumb line VL2, the thigh angle θt takes a positive value (+deg).

[0173] In each mode, the control unit 10 controls the operating mechanism 240 (servomotor 242 ) based on this information to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 between the disconnected state and the power transmittable state, and controls the motor M to output power for extending or bending the electric prosthetic leg 1 .

[0174] Back to Fig.16 The control unit 10 includes: a stage determination unit 11 that determines whether the electric prosthetic leg 1 is in the standing stage or the leg-raising stage; a stage transition prediction unit 12 that predicts the transition from the standing stage to the leg-raising stage and the transition from the leg-raising stage to the standing stage; and a motor control unit 13 that controls the motor M that extends and retracts the extension device 140 and the servo motor 242 that drives the operating rod 241. The stage determination unit 11 functions as a load transition acquisition unit that acquires whether the electric prosthetic leg 1 is in a load-bearing state (standing stage) or a non-load-bearing state (leg-raising stage), and the stage transition prediction unit 12 functions as a load acquisition unit that acquires the load received by the electric prosthetic leg 1, or acquires the load-bearing state (standing stage) or the non-load-bearing state (leg-raising stage).

[0175] The stage determination unit 11 determines that the stage is in the leg-raising stage when the load detected by the load sensor 272 is above the first threshold value (e.g., -90 [N]), and determines that the stage is in the standing stage when the load is below the second threshold value (e.g., -110 [N]). In addition, when it is determined that the stage is in the standing stage, if the load becomes above the first threshold value (e.g., -90 [N]), the stage determination unit 11 determines that the stage has changed from the standing stage to the leg-raising stage. On the other hand, when it is determined that the stage is in the leg-raising stage, if the load becomes below the second threshold value (e.g., -110 [N]), it is determined that the stage has changed from the leg-raising stage to the standing stage. In addition, the first threshold value and the second threshold value may be the same value, but are preferably set to different values ​​by setting a hysteresis. Thereby, hunting can be suppressed.

[0176] The phase transition prediction unit 12 predicts and acquires the transition from the leg raising phase to the stance phase and the transition from the stance phase to the leg raising phase based on at least one of the knee angle θ, the calf angle θs, the angular velocity ωs of the calf angle θs (hereinafter referred to as the calf angular velocity ωs), and the thigh angle θt. By predicting the state transition in the walking motion by the phase transition prediction unit 12, the later collision and / or stumbling described later can be suppressed.

[0177] The motor control unit 13 controls the motor M to extend and retract the telescopic device 140, thereby extending or bending the electric prosthetic leg 1. In addition, the motor control unit 13 controls the servo motor 242 to operate the operating rod 241, thereby switching the disconnection state and the power transmittable state of the first intermittent mechanism 210 and the second intermittent mechanism 220. In addition, in the power transmittable state, the speed change state (hereinafter referred to as the high torque side connection state) in which the power is transmitted via the first speed change mechanism T1 and the speed change state (hereinafter referred to as the high speed side connection state) in which the power is transmitted via the second speed change mechanism T2 are switched.

[0178] <Stair climbing mode>

[0179] The electric prosthetic leg 1 constructed in this way can smoothly perform the step-climbing action, while the conventional passive prosthetic leg with a passive damper has to climb the non-prosthetic leg side (healthy leg) step by step in the step-climbing action. The mode when the user walks up the stairs is the step-climbing mode.

[0180] Fig.17 is a diagram showing the motion of a person and an electric prosthetic leg when climbing stairs (stair climbing motion). Fig.21 : is a graph showing the relationship among the knee joint angle θ, the thigh angle θt, the calf angle θs, and the load in the step-climbing mode.

[0181] Fig.17 (A) to (D) are diagrams showing the standing phase, Fig.17 (D) to (E) are diagrams showing the transition phase from standing to the early stage of leg raising. Fig.17 (E) to (G) are diagrams showing the early stages of leg raising. Fig.17 (G) is a diagram showing the transition phase from the early stage of leg lifting to the late stage of leg lifting and the late stage of leg lifting, Fig.17 (H) is a diagram showing the transition phase from the late leg-lifting stage to the standing stage and the standing stage.

[0182] like Fig.17 As shown in (A) to (D) of FIG. 1 , when the electric prosthetic leg 1 is extended forward and steps onto a step (climbing a step), a large power is required to extend the knee joint mechanism 130 from a bent state while a load is applied to the electric prosthetic leg 1 .

[0183] When standing ( Fig.17 (A) to (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the high torque side connection state ( Fig. 20 In the high torque side connection state, when the motor M is rotated in the extension direction, that is, in the direction of increasing the second angle θ2, the power of the motor M is transmitted to the first shaft 181, the first drive gear 183, the first driven gear 184, the intermittent portion 212 of the first intermittent mechanism 210, the second shaft 182, and the main shaft unit SP. As a result, the sleeve 174 extends away from the transmission T, and the upper knee side component 120 connected to the sleeve 174 rotates around the connecting shaft 135 relative to the lower knee side component 110 on which the transmission T is installed, so that the knee joint mechanism 130 extends. The power for this extension is the power that is converted into high torque when it is decelerated by the first speed change mechanism T1. Therefore, even in a state where a large load is applied to the electric prosthetic leg 1 when the electric prosthetic leg 1 is extended forward and steps onto a step, the knee joint mechanism 130 can be reliably extended from the bent state.

[0184] On the other hand, in order to smoothly perform the step-up action, such as Fig.17 As shown in (D) to (G), the knee joint mechanism 130 needs to be bent from the extended state while a load is applied to the healthy leg. At this time, the electric prosthetic leg 1 needs to be quickly retracted and then quickly dropped onto the next step. When the knee joint mechanism 130 is bent from the extended state, a large force is not required, but a quick action is required.

[0185] Specifically, when transitioning from standing to the early stages of leg raising ( Fig.17 (D) to (E)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high torque side connection state to the high rotation speed side connection state ( Fig. 20 During the transition phase (standing → early leg raising), the motor M is set to a non-driven state. The non-driven state of the motor M means that the motor M is controlled so that it does not generate power or stops the motor M. In the subsequent early leg raising ( Fig. 20 In the early stage of leg lifting), in the high-speed side connection state, the motor M is rotated in the bending direction opposite to the stretching direction ( Fig.17 (E) to (G)). In this way, the power of the motor M is transmitted to the first shaft 181, the second driving gear 185, the second driven gear 186, the intermittent portion 222 of the second intermittent mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 contracts and approaches the transmission T, and the knee-side component 110 mounted with the transmission T rotates around the connecting shaft 135 relative to the knee-side component 120 connected to the sleeve 174, causing the knee joint mechanism 130 to bend.

[0186] When transitioning from the early leg lift to the late leg lift ( Fig.17 (G)), temporarily set the motor M to the non-driving state ( Fig. 20 Then, in the late leg lift period ( Fig.17 (G) to (H)), in this high-speed side connection state, the motor M is rotated in the extension direction ( Fig. 20 In this way, the power of the motor M is transmitted to the first shaft 181, the first driving gear 183, the first driven gear 184, the intermittent portion 222 of the first intermittent mechanism 210, the second shaft 182, and the main shaft unit SP. As a result, the sleeve 174 extends away from the transmission T, and the upper knee side component 120 connected to the sleeve 174 rotates around the connecting shaft 135, so that the knee joint mechanism 130 extends. In addition, the power for bending and stretching during the leg lifting is the power that is reduced in torque when the speed is increased by the second transmission mechanism T2, so that the knee joint mechanism 130 can be bent and stretched quickly.

[0187] When transitioning from the late leg raise to standing ( Fig.17 (H)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high rotation speed side connection state to the high torque side connection state ( Fig. 20 During the transition phase (late leg-lifting → standing)), the motor M is set to a non-driven state.

[0188] In the step-up mode, when the motor control unit 13 controls the motor M, when it is in the high torque side connection state, the control is performed based on the torque target value, which is a target value of torque related to the torque for expanding or reducing the included angle of the telescopic device 140. On the other hand, when it is in the high speed side connection state, the motor control unit 13 controls based on the position target value, which is a target value of the position related to the angle formed by the telescopic device 140.

[0189] <Flat ground and step-down mode>

[0190] The mode when the user goes down stairs or walks on flat ground is the flat ground and step-down mode. In addition, the flat ground refers to a place without steps such as stairs, and conceptually includes upslope and downslope in addition to a horizontal place. Fig.18 is a diagram showing the motion of a person and an electric prosthetic leg when walking on flat ground (flat ground walking motion), Fig. 22 : is a graph showing the relationship between the knee joint angle θ, the thigh angle θt, the calf angle θs, and the load in the flat ground mode and the step-down mode.

[0191] Fig.18 (A) to (D) are diagrams showing the standing phase, Fig.18 (D) is a diagram showing the transition phase from standing to leg raising. Fig.18 (E) to (H) are diagrams showing the leg-lifting phase. Fig.18 (H) is a diagram showing the transition phase from leg raising to standing.

[0192] In the flat ground and step-down modes, the motor M is always set to the non-driving state. When the motor M is in the non-driving state, Fig.18 As shown in (A) to (D), during the standing phase when a load is applied to the electric prosthetic leg 1, it is necessary to prevent the so-called knee buckling.

[0193] When standing ( Fig.18 (A) to (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the high-speed side connection state ( Fig. 20In the high-speed side connection state, the intermittent portion 222 is turned on, so the motor M and the spindle unit SP transmit power via the second speed change mechanism T2. When the motor M is kept in the non-driven state in the high-speed side connection state, the external force in the bending direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2. Therefore, by using the friction between the motor M and the transmission T to attenuate the external force in the bending direction, the so-called knee buckling can be prevented.

[0194] On the other hand, Fig.18 As shown in (E) to (H) of FIG. 1 , when the electric prosthetic leg 1 is raised without external load, the electric prosthetic leg 1 needs to be freely swung. Therefore, when transitioning from standing to raising the leg ( Fig.18 (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the disconnected state ( Fig. 20 In this disconnected state, the intermittent portion 212 and the intermittent portion 222 are in the OFF state, so that the motor M and the spindle unit SP are disconnected when the leg is raised ( Fig. 20 In this state, when the motor M is kept in a non-driven state, the knee joint mechanism 130 is allowed to freely extend and bend. In addition, the same control as walking on flat ground is also performed when going down stairs.

[0195] When transitioning from leg raise to standing ( Fig.18 (H)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the disconnected state to the high-speed side connected state ( Fig. 20 The transition phase (lifting legs → standing)).

[0196] like Fig. 20 As shown, the control unit 10 performs control in the standing stage in the step-up mode so as to be in the high-torque side connection state in which the first intermittent mechanism 210 is connected, and performs control in the leg-lifting stage (early leg-lifting stage, transition stage (early leg-lifting stage → late leg-lifting stage), late leg-lifting stage) in the step-up mode so as to be in the high-speed side connection state in which the second intermittent mechanism 220 is connected. In addition, the control unit 10 performs control in the standing stage in the flat ground and step-down modes so as to be in the high-speed side connection state in which the second intermittent mechanism 220 is connected, and performs control in the leg-lifting stage in the flat ground and step-down modes so as to be in the disconnected state in which the first intermittent mechanism 210 and the second intermittent mechanism 220 are disconnected. In addition, in the standing stage in the flat ground and step-down modes, the high-speed side connection state is set to prevent knee fracture, and it is not necessarily required to be set to the high-speed side connection state, and it may also be set to the high-torque side connection state.

[0197] That is, when summarizing without distinguishing between the step-up mode and the flat and step-down modes, in the weight-bearing state, i.e., the standing stage, the control unit 10 controls the first intermittent mechanism 210 and the second intermittent mechanism 220 to the first connection state in which one of the two is connected, and in the non-weight-bearing state, i.e., the leg-lifting stage, the control unit 10 controls the first intermittent mechanism 210 and the second intermittent mechanism 220 to the disconnected state in which both are disconnected, or controls the first intermittent mechanism 210 and the second intermittent mechanism 220 to the second connection state in which the other of the two is connected. In this way, the states of the first intermittent mechanism 210 and the second intermittent mechanism 220 are appropriately switched in the standing stage in which the electric prosthetic leg 1 receives a weight from the outside and in the leg-lifting stage in which no weight is received, thereby improving the convenience of the electric prosthetic leg 1.

[0198] In the step-up mode, when the phase transition prediction unit 12 obtains the transition from the standing phase to the leg-lifting phase, the control unit 10 executes control to convert the high-torque side connection state to the high-speed side connection state. When the phase transition prediction unit 12 obtains the transition from the leg-lifting phase to the standing phase, the control unit 10 executes control to convert the high-speed side connection state to the high-torque side connection state.

[0199] In the flat ground and step-down modes, when the phase transition prediction unit 12 obtains the transition from the standing phase to the leg-lifting phase, the control unit 10 executes control to convert from the high-speed side connected state to the disconnected state, and when the phase transition prediction unit 12 obtains the transition from the leg-lifting phase to the standing phase, it executes control to convert from the disconnected state to the high-speed side connected state.

[0200] (Late Impact Suppression Control)

[0201] In the leg-lifting stage in the flat ground and step-down modes, the first intermittent mechanism 210 and the second intermittent mechanism 220 are controlled to be in the disconnected state, thereby allowing the knee joint mechanism 130 to rotate freely, and a late impact may occur. The late impact refers to the collision sound caused by the first abutment portion 152 of the upper-knee side component 120 that prevents the overextension of the electric prosthetic leg 1 and the stopper 151 of the lower-knee side component 110 in the late stage of leg-lifting in the walking action (refer to Figure 3 ).

[0202] like Fig.23 As shown in the comparative example, when the electric prosthetic leg 1 touches the ground while walking on flat ground, that is, when transitioning from the leg-lifting phase to the standing phase, the second angle θ2 (popliteal angle) is set to approximately the maximum angle (185 [deg]), in other words, the knee joint angle θ is set to approximately the minimum angle (-5 [deg]), but a late impact may occur at this time.

[0203] like Fig.23As shown in the comparative example of FIG. 1 , when the electric prosthetic leg 1 lands, the stage determination unit 11 determines the transition from the leg-raising stage to the standing stage. When the connection state is switched after the determination, a late impact occurs. The occurrence of a late impact may impair the convenience of the electric prosthetic leg 1 .

[0204] In order to prevent the occurrence of a late impact, it is necessary to control the first intermittent mechanism 210 and the second intermittent mechanism 220 to be in a power transmission state before transitioning from the leg-lifting phase to the standing phase.

[0205] Therefore, the phase transition prediction unit 12 predicts the transition of the electric prosthetic leg 1 from the leg raising phase to the standing phase, and the motor control unit 13 performs control to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 from the disconnected state to the high speed side connected state before the transition of the electric prosthetic leg 1 from the leg raising phase to the standing phase begins.

[0206] Specifically, when the electric prosthetic leg 1 is in the leg-raising stage and the control unit 10 controls the first intermittent mechanism 210 and the second intermittent mechanism 220 to be in the disconnected state, when the following condition (P1) is satisfied and preferably at least one of the conditions (P2) and (P3) is satisfied, the motor control unit 13 executes control to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 from the disconnected state to the high-speed side connected state.

[0207] (P1)

[0208] The phase transition prediction unit 12 detects that the second included angle θ2 is equal to or larger than a threshold value that is smaller than the maximum included angle by a predetermined angle, in other words, detects that the knee joint angle θ is equal to or smaller than a threshold value.

[0209] (P2)

[0210] The thigh angle θt is within a first prescribed range.

[0211] (P3)

[0212] The calf angular velocity ωs is within the second prescribed range.

[0213] (P1) is a condition for determining the time immediately before the late impact occurs, and (P2) and (P3) are conditions for determining that the person is in the level-ground walking motion (the leg-lifting phase of the electric prosthetic leg 1). Although conditions (P2) and / or (P3) are not essential, by using (P2) and / or (P3) as determination conditions, the late impact can be more appropriately suppressed.

[0214] The threshold of the second angle θ2 is, for example, 172 degrees. In other words, the knee joint angle θ is 8 degrees. When the second angle θ2 is greater than 172 degrees, in other words, the knee joint angle θ is less than 8 degrees, as shown in FIG. Fig. 22 and Fig.24As shown, the occurrence of late impact can be predicted.

[0215] The first predetermined range is, for example, a negative range. That is, as described above, when the above-knee side member 120 is located forward of the vertical line VL2, the thigh angle θt takes a negative value (refer to Fig.19 (B)), therefore, it is possible to determine, based on this condition, when the electric prosthetic leg 1 is swung forward during the level-ground walking action, that is, the leg-lifting stage during the level-ground walking action (refer to Fig. 22 ).

[0216] The second predetermined range is a range below -100 [deg / s]. That is, as described above, when the knee-side member 110 is located forward of the vertical line VL1, the calf angle θs takes a negative value (see Fig.19 Therefore, the range of the calf angular velocity ωs below -100 [deg / s] means that the forward swing speed of the knee-below side member 110 is fast. According to the fast forward swing speed of the knee-below side member 110, it can be determined that it is the leg-lifting stage in the flat-ground walking action (refer to Fig. 22 ).

[0217] according to Fig. 22 The graph showing the relationship between the knee angle θ, thigh angle θt, calf angle θs, and load in the flat ground and step-down modes shows that, just before the late impact, the thigh angle θt is in the negative range and the calf angular velocity ωs is below -100 [deg / s].

[0218] Therefore, before the time when the knee joint angle θ becomes approximately the minimum angle (when the second angle θ2 (popliteal angle) becomes approximately the maximum angle of 185 degrees), when the thigh angle θt is in the negative range and the calf angular velocity ωs is below -100 [deg / s], and the phase transition prediction unit 12 detects that the knee joint angle θ is below 8 [deg] (the second angle θ2 is above 172 [deg]), the control unit 10 predicts the transition of the electric prosthetic leg 1 from the leg raising phase to the standing phase, and executes control to switch from the disconnected state to the high speed side connected state.

[0219] When the first intermittent mechanism 210 and the second intermittent mechanism 220 are connected to the high-speed side, the external force in the extension direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2. Therefore, the friction between the motor M and the transmission T is used to attenuate the external force in the extension direction, thereby suppressing the later impact.

[0220] In addition, after the control unit 10 switches the disconnected state to the high-speed side connected state, it executes control to maintain the high-speed side connected state for a specified time (for example, 300 [ms]). Moreover, when the stage determination unit 11 obtains that the standing stage has been reached during the specified time, the control unit 10 executes control to maintain the high-speed side connected state after the specified time has passed. In this way, by maintaining the high-speed side connected state for a specified time after switching to the high-speed side connected state, the switching operation when transitioning to the standing stage can be omitted. On the other hand, when the stage determination unit 11 does not obtain that the standing stage has been reached during the specified time, the control unit 10 executes control to switch to the disconnected state after the specified time has passed. As a result, in the absence of a transition from the leg-raising stage to the standing stage, the defect caused by maintaining the high-speed side connected state can be avoided.

[0221] exist Fig. 22 In the example, after switching from the disconnected state to the high-speed side connected state, during 300 [ms], the stage determination unit 11 determines the transition from the leg-raising stage to the standing stage by the sensor value of the load sensor 272 becoming less than -110 [N], and executes control to maintain the high-speed side connected state after 300 [ms].

[0222] (Stumble Inhibition Control)

[0223] On the other hand, in the flat ground and step-down modes, e.g. Fig.25 As shown in the comparative example, when the electric prosthetic leg 1 leaves the ground, the transition from the standing stage to the leg-lifting stage is determined, and after the determination, the first intermittent mechanism 210 and the second intermittent mechanism 220 are switched to the disconnected state, so that the toes may be caught on the ground, i.e., the so-called stumbling, which makes the user of the electric prosthetic leg 1 feel uncomfortable. In order to prevent the knee from being bent in the standing stage, the high-speed side connection state is maintained, so when leaving the ground, the free rotation of the knee joint mechanism 130 is suppressed, and stumbling may occur. Regarding stumbling, although the toes are often caught on the ground, the heels may also be caught on the ground.

[0224] When the electric prosthetic leg 1 leaves the ground while walking on flat ground, that is, when transitioning from the standing phase to the leg-lifting phase, the second angle θ2 (popliteal angle) is set to approximately the maximum angle (185 [deg]). In other words, the knee joint angle θ is set to approximately the minimum angle (-5 [deg]), but stumbling may occur at this time.

[0225] Therefore, the phase transition prediction unit 12 predicts the transition of the electric prosthetic leg 1 from the standing phase to the leg-raising phase, and the motor control unit 13 performs control to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high-speed side connection state to the disconnection state before the transition of the electric prosthetic leg 1 from the standing phase to the leg-raising phase begins.

[0226] Specifically, when the electric prosthetic leg 1 is in the standing stage and the motor control unit 13 controls the first intermittent mechanism 210 and the second intermittent mechanism 220 to be in the high-speed side connection state, when the following condition (Q1) is satisfied and preferably at least one of the conditions (Q2) and (Q3) is satisfied, the motor control unit 13 executes control to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high-speed side connection state to the disconnection state.

[0227] (Q1)

[0228] The phase transition prediction unit 12 detects that the second included angle θ2 is equal to or larger than a threshold value that is smaller than the maximum included angle by a predetermined angle, in other words, detects that the knee joint angle θ is equal to or smaller than a threshold value.

[0229] (Q2)

[0230] The thigh angle θt is within the third prescribed range.

[0231] (Q3)

[0232] The calf angular velocity ωs is within the fourth prescribed range.

[0233] (Q1) is a condition for determining the moment just before stumbling, and (Q2) and (Q3) are conditions for determining the state of walking on flat ground (stance stage of the electric prosthetic leg 1). Although conditions (Q2) and / or (Q3) are not essential, stumbling can be more appropriately suppressed by using (Q2) and / or (Q3) as determination conditions.

[0234] The threshold of the second angle θ2 is, for example, 172 degrees. In other words, the knee joint angle θ is 8 degrees. When the second angle θ2 is greater than 172 degrees, in other words, the knee joint angle θ is less than 8 degrees, as shown in FIG. Fig. 22 As shown, stumbling before landing can be foreseen.

[0235] The third predetermined range is, for example, a positive range. That is, as described above, when the above-knee side member 120 is located further back than the vertical line VL2, the thigh angle θt takes a positive value (refer to Fig.19 (B)), therefore, it is possible to determine based on this condition that the electric prosthetic leg 1 is retained in the rear during the level-ground walking action, that is, the second half of the stance phase during the level-ground walking action (refer to Fig. 22 ).

[0236] The fourth predetermined range is a range of 100 [deg / s] or more. That is, as described above, when the knee-side member 110 is located further back than the vertical line VL1, the calf angle θs takes a positive value (refer to Fig.19Therefore, the range of the lower leg angular velocity ωs being 100 [deg / s] or more means that the swing speed of the lower knee side member 110 to the rear is fast. The fast swing speed of the lower knee side member 110 to the rear can be judged as the second half of the stance phase of the flat ground walking action (refer to Fig. 22 and Fig.26 ).

[0237] according to Fig. 22 From the graph showing the relationship between the knee angle θ, thigh angle θt, calf angle θs, and load in the flat ground and step-down modes, it can be seen that just before stumbling, the thigh angle θt is within the positive range and the calf angular velocity ωs is above 100 [deg / s].

[0238] Therefore, before the time when the knee joint angle θ becomes approximately the minimum angle (when the second angle θ2 (popliteal angle) becomes approximately the maximum angle of 185 degrees), when the thigh angle θt is within the positive range and the calf angular velocity ωs is greater than 100 [deg / s], and the phase transition prediction unit 12 detects that the knee joint angle θ is less than 8 degrees (the second angle θ2 is greater than 172 degrees), the control unit 10 predicts the transition of the electric prosthetic leg 1 from the standing phase to the leg raising phase, and executes control to switch from the high-speed side connected state to the disconnected state.

[0239] When the first intermittent mechanism 210 and the second intermittent mechanism 220 are in the disconnected state, the knee joint mechanism 130 is allowed to rotate freely, thereby suppressing the occurrence of stumbling.

[0240] The control method in the step-up mode and the flat and step-down modes can be implemented by executing a pre-prepared program by a computer (processor). The program is stored in a computer-readable storage medium and is executed by reading from the storage medium. In addition, the control program can be provided in the form of a non-temporary storage medium such as a flash memory, or can be provided via a network such as the Internet.

[0241] Above, various embodiments have been described with reference to the accompanying drawings, but the present invention is certainly not limited to this example. It should be understood by those skilled in the art that various variations or modifications can be conceived within the scope of the technical solution, and these variations or modifications certainly also belong to the technical scope of the present invention. In addition, the various constituent elements in the above-mentioned embodiments may also be arbitrarily combined within the scope of the gist of the invention.

[0242] For example, in the above embodiment, an artificial leg device (electric artificial leg) applied to a knee joint is illustrated as an embodiment of the joint device of the present invention using the intermittent device, but the present invention is not limited thereto, and an artificial limb device (electric artificial limb) applied to an elbow joint may be used, and the mounting subject may be an animal other than a human or a robot. In the case of application to an elbow joint, the lower-knee side component 110 of the above embodiment becomes the end side of the mounting subject, i.e., the forearm, relative to the upper-knee side component 120.

[0243] In this specification, at least the following matters are described. In addition, although corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0244] (1) A joint device (electric prosthetic leg 1), comprising:

[0245] A first component (below-knee side component 110);

[0246] The second component (the above-knee side component 120);

[0247] a connecting portion (knee joint mechanism 130 ) that connects the first component and the second component and is capable of changing an angle (a second angle θ2 ) between the first component and the second component; and

[0248] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein

[0249] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0250] The power transmission unit has:

[0251] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0252] a second power transmission path (second speed change mechanism T2) for transmitting the power at a second speed ratio different from the first speed ratio,

[0253] The expansion and contraction device also has:

[0254] A first intermittent mechanism (first intermittent mechanism 210) switches between disconnection and connection of the power on the first power transmission path,

[0255] a second intermittent mechanism (second intermittent mechanism 220) for switching between disconnection and connection of power on the second power transmission path; and

[0256] a control unit (control unit 10) for controlling the power source, the first intermittent mechanism and the second intermittent mechanism,

[0257] The joint device is configured to switch between a weight-bearing state (stance phase) in which a weight is received from the outside and a non-weight-bearing state (leg-lifting phase) in which no weight is received.

[0258] The control unit performs the following control:

[0259] (A) When in the load-bearing state described above,

[0260] Controlling to a first connection state (high torque side connection state) in which either the first intermittent mechanism or the second intermittent mechanism is connected;

[0261] (B) when in the non-weight-bearing position,

[0262] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state (disconnected state) in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or controlled to be in a second connected state (high rotation speed side connected state) in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0263] According to (1), the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched between the loaded state in which the joint device receives a load from the outside and the unloaded state in which the joint device receives no load, thereby improving the convenience of the joint device.

[0264] (2) The joint device according to (1), wherein:

[0265] The joint device further includes a load acquisition unit (phase transition prediction unit 12) for acquiring a load received by the joint device, or acquiring the load state or the non-load state.

[0266] The control unit performs the following control (a) or (b):

[0267] (a) when the load acquisition unit acquires a transition from the non-load state to the load state,

[0268] executing control so as to switch from the disconnected state or the second connected state to the first connected state,

[0269] (b) when the load acquisition unit acquires a transition from the load state to the non-load state,

[0270] Control is performed so as to switch from the first connection state to the disconnection state or the second connection state.

[0271] According to (2), when the load acquisition unit acquires the state transition, the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched, thereby enabling a smooth switching operation.

[0272] (3) The joint device according to (2), wherein:

[0273] (a) when the load acquisition unit acquires a transition from the non-load state to the load state,

[0274] The control unit performs control so as to switch from the disconnected state to the first connected state,

[0275] The load acquisition unit predicts and acquires a transition from the non-load state to the load state,

[0276] The control section performs control so as to switch from the disconnected state to the first connected state before the transition from the non-loaded state to the load-bearing state starts.

[0277] According to (3), the load acquisition unit predicts and acquires the transition from the unloaded state to the loaded state, thereby enabling a smoother switching operation.

[0278] (4) The joint device according to any one of (1) to (3), wherein:

[0279] The angle is defined as one side of a circle centered on the connection axis of the connection portion as a first angle (first angle θ1) and the other side as a second angle (second angle θ2).

[0280] When the first angle and the second angle, whichever is smaller, is the smallest angle within the relative movement range of the first component and the second component, the second angle,

[0281] The second included angle is set to take a value within the range from the minimum included angle (60 degrees) to the maximum included angle (185 degrees),

[0282] The joint device is arranged such that when changing from the non-load-bearing state to the load-bearing state, the second included angle is substantially the maximum included angle.

[0283] According to (4), late impact may occur when transitioning from a non-weight-bearing state to a weight-bearing state.

[0284] (5) The joint device according to (4), wherein:

[0285] The joint device further comprises a load acquisition unit (phase transition prediction unit 12), which acquires the load received by the joint device, or acquires the load state or the non-load state, wherein:

[0286] When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state,

[0287] When the load acquisition unit acquires that the second angle is smaller than the maximum angle by a predetermined angle or more (the second angle θ2 is greater than 172 degrees),

[0288] The control unit controls switching from the disconnected state to the first connected state.

[0289] According to (5), the late impact can be suppressed.

[0290] (6) The joint device according to (5), wherein:

[0291] When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state,

[0292] When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angle (thigh angle θt) between the second member and the reference line (vertical line VL2) is within a first predetermined range (negative range),

[0293] The control unit controls the switching from the disconnected state to the first connected state,

[0294] The reference line passes through a rotation axis (hip joint 124) between a first portion (thigh portion 123) of the mounting body and a second portion (upper body) that rotates relative to the first portion.

[0295] According to (6), the late impact can be suppressed more appropriately.

[0296] (7) The joint device according to (5) or (6), wherein:

[0297] When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state,

[0298] When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angular velocity (calf angular velocity ωs) of another angle (calf angle θs) between the first member and another reference line (vertical line VL1) is within a second predetermined range (range of -100 [deg / s]),

[0299] The control unit controls the switching from the disconnected state to the first connected state,

[0300] The other reference line passes through the other rotation axis (connection axis 135 ) between the first component and the second component.

[0301] According to (7), the late impact can be suppressed more appropriately.

[0302] (8) The joint device according to any one of (5) to (7), wherein:

[0303] The control unit controls to maintain the first connection state for a predetermined time (300 [ms]) after switching from the disconnected state to the first connection state.

[0304] According to (8), when there is no transition from the non-loaded state to the loaded state, it is possible to avoid a problem caused by maintaining the first connection state.

[0305] (9) The joint device according to (8), wherein:

[0306] The joint device further includes a load transition acquisition unit (stage determination unit 11) for acquiring that the joint device is in the load state.

[0307] When the load transition acquisition unit acquires that the load state has been reached during the predetermined time,

[0308] The control unit controls so as to maintain the first connection state even after the predetermined time has elapsed.

[0309] According to (9), by maintaining the first connection state for a predetermined time after switching to the first connection state, it is possible to omit the switching operation when transitioning to the load state.

[0310] (10) The joint device according to (2) or (3), wherein:

[0311] (b) when the load acquisition unit acquires a transition from the load state to the non-load state,

[0312] The control unit controls the switching from the first connection state to the disconnection state,

[0313] The load acquisition unit predicts and acquires a transition from the load state to the non-load state,

[0314] The control unit controls to switch from the first connection state to the disconnection state before the transition from the load-bearing state to the non-load-bearing state starts.

[0315] According to (10), the load acquisition unit predicts and acquires the transition from the load state to the non-load state, thereby enabling a smoother switching operation.

[0316] (11) The joint device according to any one of (1) to (10), wherein:

[0317] The angle is defined as one side of a circle centered on the connection axis of the connection portion as a first angle (first angle θ1) and the other side as a second angle (second angle θ2).

[0318] When the first angle and the second angle, whichever is smaller, is the smallest angle within the relative movement range of the first component and the second component, the second angle,

[0319] The second included angle is set to take a value within the range from the minimum included angle (60 degrees) to the maximum included angle (185 degrees),

[0320] The joint device is configured such that when the joint device changes from the load-bearing state to the non-load-bearing state, the second included angle is substantially the maximum included angle.

[0321] According to (11), for example, in the case where the joint device is used as a prosthetic leg device, stumbling may occur when transitioning from a weight-bearing state to a non-weight-bearing state.

[0322] (12) The joint device according to (11), wherein:

[0323] The joint device further includes a load acquisition unit (phase transition prediction unit 12) for acquiring a load received by the joint device, or acquiring the load state or the non-load state.

[0324] When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state,

[0325] When the load acquisition unit acquires that the second angle is smaller than the maximum angle by a predetermined angle or more (the second angle θ2 is greater than 172 degrees),

[0326] The control unit controls the switching from the first connection state to the disconnection state.

[0327] According to (12), stumbling can be suppressed.

[0328] (13) The joint device according to (12), wherein:

[0329] When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state,

[0330] When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angle (thigh angle θt) between the second member and the reference line (vertical line VL2) is within a third predetermined range (positive range),

[0331] The control unit controls the switching from the first connection state to the disconnection state,

[0332] The reference line passes through a rotation axis (hip joint 124) between a first portion (thigh portion 123) of the mounting body and a second portion (upper body) that rotates relative to the first portion.

[0333] According to (13), stumbling can be suppressed more appropriately.

[0334] (14) The joint device according to (12) or (13), wherein:

[0335] When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state,

[0336] When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angular velocity (calf angular velocity ωs) of another angle (calf angle θs) between the first member and another reference line (vertical line VL1) is within a fourth predetermined range (a range of 100 [deg / s] or more),

[0337] The control unit controls the switching from the first connection state to the disconnection state,

[0338] The other reference line passes through the other rotation axis (connection axis 135 ) between the first component and the second component.

[0339] According to (14), stumbling can be suppressed more appropriately.

[0340] (15) The joint device according to any one of (1) to (14), wherein:

[0341] The expansion and contraction device is a telescopic device (telescopic device 140),

[0342] The telescopic device includes a telescopic portion (spindle unit SP) having one end side in the extension direction mechanically connected to the first member and the other end side mechanically connected to the second member, and the telescopic portion can expand and reduce the angle by telescoping.

[0343] According to (15), the included angle can be enlarged or reduced by extending and retracting the telescopic portion.

[0344] (16) The joint device according to (15), wherein:

[0345] The telescopic portion is disposed on a side of the power transmission portion opposite to the power source on the power transmission path.

[0346] According to (16), the telescopic portion can be operated using the power transmitted through the power transmission portion.

[0347] (17) The joint device according to (15) or (16), wherein:

[0348] The power source is configured to output rotational power,

[0349] The telescopic portion includes a motion conversion mechanism (spindle unit SP) that converts the rotational power output from the power source into a translational motion.

[0350] According to (17), the telescopic portion can be extended and retracted by the motion conversion mechanism.

[0351] (18) The joint device according to (17), wherein:

[0352] The motion conversion mechanism includes a shaft member (main shaft 173 ) and a tube member (sleeve 174 ) that performs translational motion along the axis of the shaft member due to the rotation of the shaft member.

[0353] According to (18), the motion conversion mechanism can be constructed with a simple structure.

[0354] (19) The joint device according to any one of (1) to (14), wherein:

[0355] When the first speed ratio is defined as a ratio of a speed after the speed change relative to the first speed change portion on the first power transmission path to a speed before the speed change, which is a speed closer to the power source than the first speed change portion, and the second speed ratio is defined as a ratio of a speed after the speed change relative to the second speed change portion on the second power transmission path to a speed before the speed change, which is a speed closer to the power source than the second speed change portion,

[0356] The first speed ratio is configured to be smaller than the second speed ratio,

[0357] The control unit performs the following control:

[0358] (A) When in the load-bearing state described above,

[0359] controlling the first connection state so that the first intermittent mechanism is connected;

[0360] (B) when in the non-weight-bearing position,

[0361] The second connecting state is controlled so that the second intermittent mechanism is connected.

[0362] According to (19), for example, when the joint device is used as a prosthetic leg device, by switching the first connection state and the second connection state between the weight-bearing state and the non-weight-bearing state, climbing stairs becomes smooth.

[0363] (20) The joint device according to (19), wherein:

[0364] The control unit also controls the power source.

[0365] The control unit performs the following control:

[0366] (A) When in the first connection state,

[0367] The power source is controlled based on a torque target value, wherein the torque target value is a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle,

[0368] (B) When in the second connection state,

[0369] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0370] According to (20), climbing stairs becomes smoother.

[0371] (21) The joint device according to any one of (1) to (20), wherein:

[0372] The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component.

[0373] The joint device is a prosthetic device that is configured to function as a joint of the mounting body.

[0374] According to (21), smooth bending and stretching movements can be performed.

[0375] (22) The joint device according to (21), wherein:

[0376] The prosthetic device is a prosthetic leg device installed on the leg of the installation body.

[0377] According to (22), the prosthetic leg is capable of smooth flexion and extension movements.

[0378] (23) The joint device according to (22), wherein:

[0379] The prosthetic leg device is configured as follows:

[0380] The second component is mounted on the thigh of the leg,

[0381] The connecting portion functions as a knee joint between the thigh and the calf.

[0382] According to (23), it is possible to walk smoothly.

[0383] (24) The joint device according to (22) or (23), wherein:

[0384] (B) When walking forward on level ground or walking down stairs, while in the non-weight-bearing state,

[0385] The control unit controls the cut-off state.

[0386] According to (24), it is possible to walk on flat ground and go down stairs smoothly.

[0387] (25) The joint device according to any one of (22) to (24), wherein:

[0388] (B) In the case of walking up stairs, while in the non-weight-bearing state,

[0389] The control unit controls the second connection state.

[0390] According to (25), it is possible to climb the stairs smoothly.

[0391] (26) A knee joint device (electric prosthetic leg 1), comprising:

[0392] A first component (below-knee side component 110);

[0393] The second component (the above-knee side component 120);

[0394] a connecting portion (knee joint mechanism 130 ) connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0395] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0396] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0397] The power transmission unit has:

[0398] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0399] a second power transmission path (second speed change mechanism T2) for transmitting the power at a second speed ratio different from the first speed ratio,

[0400] The expansion and contraction device also has:

[0401] A first intermittent mechanism (first intermittent mechanism 210 ) for switching between disconnection and connection of power on the first power transmission path;

[0402] a second intermittent mechanism (second intermittent mechanism 220) for switching between disconnection and connection of power on the second power transmission path; and

[0403] a control unit (control unit 10) for controlling the power source, the first intermittent mechanism and the second intermittent mechanism,

[0404] The knee joint device is configured to switch between a standing state in which a load is received from a mounting body of the knee joint device and a leg-lifting state in which no load is received.

[0405] The control unit performs the following control:

[0406] (A) While in the standing position,

[0407] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0408] (B) When in the leg-lifting state,

[0409] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0410] According to (26), in a load state where the knee joint device receives a load from the outside and a non-load state where the knee joint device does not receive a load, the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched, thereby improving the convenience of the knee joint device.

[0411] (27) A control method for a joint device, the joint device (electric prosthetic leg 1) comprising:

[0412] A first component (below-knee side component 110);

[0413] The second component (the above-knee side component 120);

[0414] a connecting portion (knee joint mechanism 130 ) connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0415] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0416] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0417] The power transmission unit has:

[0418] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0419] a second power transmission path (second speed change mechanism T2) for transmitting the power at a second speed ratio different from the first speed ratio,

[0420] The expansion and contraction device also has:

[0421] a first interrupting mechanism (first interrupting mechanism 210) for switching between disconnection and connection of power on the first power transmission path, and

[0422] A second intermittent mechanism (second intermittent mechanism 220) switches between disconnection and connection of the power on the second power transmission path,

[0423] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0424] The control method comprises the following steps:

[0425] (A) When in the load-bearing state described above,

[0426] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0427] (B) when in the non-weight-bearing position,

[0428] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0429] According to (27), in the loaded state where the joint device receives a load from the outside and the unloaded state where the joint device does not receive a load, the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched, thereby improving the convenience of the joint device.

[0430] (28) A control program for a joint device, the joint device (electric prosthetic leg 1) comprising:

[0431] A first component (below-knee side component 110);

[0432] The second component (the above-knee side component 120);

[0433] a connecting portion (knee joint mechanism 130 ) connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0434] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0435] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0436] The power transmission unit has:

[0437] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0438] a second power transmission path (second speed change mechanism T2) for transmitting the power at a second speed ratio different from the first speed ratio,

[0439] The expansion and contraction device also has:

[0440] a first interrupting mechanism (first interrupting mechanism 210) for switching between disconnection and connection of power on the first power transmission path, and

[0441] A second intermittent mechanism (second intermittent mechanism 220) switches between disconnection and connection of the power on the second power transmission path,

[0442] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0443] The control program causes the computer to execute the following steps:

[0444] (A) When in the load-bearing state described above,

[0445] controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state;

[0446] (B) when in the non-weight-bearing position,

[0447] The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

[0448] According to (28), in the loaded state where the joint device receives a load from the outside and the unloaded state where the joint device does not receive a load, the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched, thereby improving the convenience of the joint device.

[0449] (29) A storage medium is a computer-readable storage medium, wherein the storage medium stores the control program described in (28).

[0450] According to (29), in the loaded state where the joint device receives a load from the outside and the unloaded state where the joint device does not receive a load, the states of the first intermittent mechanism and the second intermittent mechanism are appropriately switched, thereby improving the convenience of the joint device.

[0451] In addition, this application is based on the Japanese patent application (Japanese Patent Application No. 2022-142465) filed on September 7, 2022, and the contents are incorporated in this application as a reference.

[0452] Description of reference numerals:

[0453] 1: Electric prosthetic leg (joint device, knee joint device)

[0454] 10: Control Department

[0455] 11: Stage determination unit (weight change acquisition unit)

[0456] 12: Phase transition prediction department (load acquisition department)

[0457] 110: Below-knee side part (first part)

[0458] 120: Above knee side part (second part)

[0459] 130: Knee joint mechanism (connection part)

[0460] 135: Connecting shaft (other rotating shaft)

[0461] 140: Telescopic device

[0462] 173: Spindle (shaft component)

[0463] 174: Sleeve (cylinder component)

[0464] 200: Expansion and contraction device

[0465] 210: First intermittent mechanism

[0466] 220: Second intermittent mechanism

[0467] M: Motor (power source)

[0468] SP: Spindle unit (motion conversion mechanism, telescopic part)

[0469] T: Transmission (power transmission part)

[0470] T1: First speed change mechanism (first power transmission path)

[0471] T2: Second speed change mechanism (second power transmission path)

[0472] VL1: Plumb line (other reference line)

[0473] VL2: plumb line (reference line)

[0474] θ2: Second angle (angle)

[0475] θs: calf angle (other angles)

[0476] θt: thigh angle.

Claims

1. A joint device, comprising: first component; The second component; a connecting portion, which connects the first component and the second component and is capable of changing an angle between the first component and the second component; as well as An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device also has: a first intermittent mechanism for switching between disconnection and connection of power on the first power transmission path; a second intermittent mechanism for switching between disconnection and connection of power on the second power transmission path; as well as a control unit that controls the power source, the first intermittent mechanism, and the second intermittent mechanism, The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control unit performs the following control: (A) When in the load-bearing state described above, controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state; (B) when in said non-weight-bearing position, The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

2. The connector device according to claim 1, wherein: The connector device further comprises a load acquisition unit, which acquires the load received by the connector device, or acquires the load state or the non-load state. The control unit performs the following control (a) or (b): (a) when the load acquisition unit acquires a transition from the non-load state to the load state, Controlling to switch from the disconnected state or the second connected state to the first connected state; (b) when the load acquisition unit acquires a transition from the load state to the non-load state, The control is to switch from the first connection state to the disconnection state or the second connection state.

3. The connector device according to claim 2, wherein: (a) when the load acquisition unit acquires a transition from the non-load state to the load state, the control unit controls the switching from the disconnected state to the first connected state, The load acquisition unit predicts and acquires a transition from the non-load state to the load state, The control unit controls to switch from the disconnected state to the first connected state before the transition from the non-loaded state to the load-bearing state starts.

4. The connector device according to any one of claims 1 to 3, wherein: The angle is defined as one side of a circle centered on the connection axis of the connection portion as the first angle and the other side as the second angle. When the first angle and the second angle, whichever is smaller, is the smallest angle within the relative movement range of the first component and the second component, the second angle, The second included angle is set to take a value within a range from the minimum included angle to the maximum included angle, The joint device is arranged such that when changing from the non-load-bearing state to the load-bearing state, the second included angle is substantially the maximum included angle.

5. The connector device according to claim 4, wherein: The connector device further comprises a load acquisition unit, which acquires the load received by the connector device, or acquires the load state or the non-load state. When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state, When the load acquisition unit acquires that the second angle is smaller than the maximum angle by a predetermined angle or more, The control unit controls the switching from the disconnected state to the first connected state.

6. The connector device according to claim 5, wherein: When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state, When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angle between the second member and the reference line is within a first predetermined range, The control unit controls the switching from the disconnected state to the first connected state, The reference line passes through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

7. The connector device according to claim 5 or 6, wherein: When the connector device is in the non-load state and the control unit controls the connector device to the cut-off state, When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angular velocity of another angle between the first member and the other reference line is within a second predetermined range, The control unit controls the switching from the disconnected state to the first connected state, The other reference line passes through another rotation axis between the first component and the second component.

8. The connector device according to any one of claims 5 to 7, wherein: The control unit controls to maintain the first connection state for a predetermined time after switching from the disconnected state to the first connection state.

9. The connector device according to claim 8, wherein: The joint device further comprises a load change acquisition unit, the load change acquisition unit acquiring that the joint device becomes the load state, When the load transition acquisition unit acquires that the load state has been reached during the predetermined time, The control unit controls so as to maintain the first connection state even after the predetermined time has elapsed.

10. The connector device according to claim 2 or 3, wherein: (b) when the load acquisition unit acquires a transition from the load state to the non-load state, the control unit controls the switching from the first connection state to the disconnection state, The load acquisition unit predicts and acquires a transition from the load state to the non-load state, The control unit controls to switch from the first connection state to the disconnection state before the transition from the load-bearing state to the non-load-bearing state starts.

11. The connector device according to any one of claims 1 to 10, wherein: The angle is defined as one side of a circle centered on the connection axis of the connection portion as the first angle and the other side as the second angle. When the first angle and the second angle, whichever is smaller, is the smallest angle within the relative movement range of the first component and the second component, the second angle, The second included angle is set to take a value within a range from the minimum included angle to the maximum included angle, The joint device is configured such that when the joint device changes from the load-bearing state to the non-load-bearing state, the second included angle is substantially the maximum included angle.

12. The connector device according to claim 11, wherein: The connector device further comprises a load acquisition unit, which acquires the load received by the connector device, or acquires the load state or the non-load state. When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state, When the load acquisition unit acquires that the second angle is smaller than the maximum angle by a predetermined angle or more, The control unit controls the switching from the first connection state to the disconnection state.

13. The connector device according to claim 12, wherein: When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state, When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angle between the second member and the reference line is within a third predetermined range, The control unit controls the switching from the first connection state to the disconnection state, The reference line passes through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

14. The connector device according to claim 12 or 13, wherein: When the connector device is in the load-bearing state and the control unit controls the connector to the first connection state, When the load acquisition unit acquires that the second angle is equal to or greater than the threshold value and the angular velocity of another angle between the first member and the other reference line is within a fourth predetermined range, The control unit controls the switching from the first connection state to the disconnection state, The other reference line passes through another rotation axis between the first component and the second component.

15. The connector device according to any one of claims 1 to 14, wherein: The expansion and contraction device is a telescopic device, The telescopic device comprises a telescopic portion, one end of which in the extension direction is mechanically connected to the first component, and the other end of which is mechanically connected to the second component, and the telescopic portion can expand and reduce the angle by telescoping.

16. The connector device according to claim 15, wherein: The telescopic portion is disposed on a side of the power transmission portion opposite to the power source on the power transmission path.

17. The connector device according to claim 15 or 16, wherein: The power source is configured to output rotational power, The telescopic portion includes a motion conversion mechanism that converts the rotational power output from the power source into a translational motion.

18. The connector device according to claim 17, wherein: The motion conversion mechanism includes a shaft member and a tubular member that performs translational motion along the axis of the shaft member due to rotation of the shaft member.

19. The connector device according to any one of claims 1 to 14, wherein: When the first speed ratio is defined as a ratio of a speed after the speed change relative to the first speed change portion on the first power transmission path to a speed before the speed change, which is a speed closer to the power source than the first speed change portion, and the second speed ratio is defined as a ratio of a speed after the speed change relative to the second speed change portion on the second power transmission path to a speed before the speed change, which is a speed closer to the power source than the second speed change portion, The first speed ratio is configured to be smaller than the second speed ratio, The control unit performs the following control: (A) When in the load-bearing state described above, controlling the first connection state so that the first intermittent mechanism is connected; (B) when in said non-weight-bearing position, The second connecting state is controlled so that the second intermittent mechanism is connected.

20. The connector device according to claim 19, wherein: The control unit also controls the power source. The control unit performs the following control: (A) When in the first connection state, controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle; (B) When in the second connection state, The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

21. A connector device according to any one of claims 1 to 20, wherein: The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component. The joint device is a prosthetic device, and the prosthetic device is configured so that the connecting portion functions as a joint of the mounting body.

22. The connector device according to claim 21, wherein: The prosthetic device is a prosthetic leg device installed on the leg of the installation body.

23. The connector device according to claim 22, wherein: The prosthetic leg device is configured as follows: The second component is mounted on the thigh of the leg, The connecting portion functions as a knee joint between the thigh and the calf.

24. A connector device according to claim 22 or 23, wherein: (B) When walking forward on level ground or walking down stairs, while in the non-weight-bearing state, The control unit performs control to establish the cut-off state.

25. A connector device according to any one of claims 22 to 24, wherein: (B) In the case of walking up stairs, while in the non-weight-bearing state, The control unit controls the second connection state.

26. A knee joint device comprising: first component; The second component; a connecting portion, which connects the first component and the second component and is capable of changing an angle between the first component and the second component; as well as An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device also has: a first intermittent mechanism for switching between disconnection and connection of power on the first power transmission path; a second intermittent mechanism for switching between disconnection and connection of power on the second power transmission path; as well as a control unit that controls the power source, the first intermittent mechanism, and the second intermittent mechanism, The knee joint device is configured to switch between a standing state in which a load is received from a mounting body of the knee joint device and a leg-lifting state in which no load is received. The control unit performs the following control: (A) While in the standing position, controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state; (B) When in the leg-lifting state, The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

27. A method for controlling a joint device, the joint device comprising: first component; The second component; a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device also has: a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and a second intermittent mechanism for switching between disconnection and connection of the power on the second power transmission path; The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control method comprises the following steps: (A) When in the load-bearing state described above, controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state; (B) when in said non-weight-bearing position, The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

28. A control program for a splicing device, the splicing device comprising: first component; The second component; a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device also has: a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and a second intermittent mechanism for switching between disconnection and connection of the power on the second power transmission path; The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control program causes the computer to execute the following steps: (A) When in the load-bearing state described above, controlling to connect either the first intermittent mechanism or the second intermittent mechanism to a first connection state; (B) when in said non-weight-bearing position, The first intermittent mechanism and the second intermittent mechanism are controlled to be in a disconnected state in which the first intermittent mechanism and the second intermittent mechanism are disconnected, or the second intermittent mechanism and the second intermittent mechanism are controlled to be in a second connected state in which the other of the first intermittent mechanism and the second intermittent mechanism is connected.

29. A storage medium, which is a computer-readable storage medium, wherein: The storage medium stores the control program according to claim 28.

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