PROBLEM TO BE SOLVED: To provide a hip prosthesis with a self-driven joint wearable by a leg dissected person or a healthy person which has a controller and a driving mechanism installed within the prosthesis that drive the hip joint and the knee joint of the prosthesis actively according to walking information of a healthy-side leg so as to allow a wearer to walk stably.SOLUTION: The hip prosthesis includes a hip socket 2 supporting the pelvis and the femoral region, shoulder straps (8 and 9), a hip joint driving mechanism 19 for swinging a prosthetic femoral section 21 attached to the outer circumference of the hip socket 2 around a hip joint axis 27 by means of a motor 22, and a knee joint driving mechanism 30 for swinging a lower leg pipe 38 arranged on the lower part of the prosthetic femoral region 21 around a knee joint axis 31 by means of a motor 34. A hip joint and knee joint control mechanism 40 controls stepping of the prosthesis by analyzing, by means of a control computer 41, angular velocity values of the healthy femoral part and lower leg part measured by angle measurement device (42 and 43) while walking and a detection result of grounding/separating of both the soles of the feet measured by pressure sensitive switches (44-49).COPYRIGHT: (C)2009,JPO&INPIT【課題】健常側の歩様情報に基づき義足に内蔵した制御装置・駆動機構が、義足股関節と膝関節を能動的に駆動させ、装着者が安定歩行できる股下離断者と健常者が装着可能な関節自動駆動式股義足の提供。【解決手段】本発明は、骨盤と大腿部を支持する股ソケット2と、肩掛ストラップ(8,9)と、股ソケット2の外周側面に取り付けた義足大腿部21を駆動源22で股関節軸27周りに揺動させる股関節駆動機構19と、義足大腿部21下部に取り付けた下腿パイプ38を駆動源34で膝関節軸31周りに揺動させる膝関節駆動機構30を備え、股関節及び膝関節制御機構40が、角度計測器(42,43)による歩行時の健常側大腿部と下腿部の角速度値と、感圧スイッチ(44~49)による両脚足裏の離着床検知結果を制御コンピュータ41で解析して義足の振り出しを制御する。【選択図】図1
