CN102378669A - 用于机械腿的基于模型的神经机械控制器 - Google Patents
用于机械腿的基于模型的神经机械控制器 Download PDFInfo
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- CN102378669A CN102378669A CN2010800152080A CN201080015208A CN102378669A CN 102378669 A CN102378669 A CN 102378669A CN 2010800152080 A CN2010800152080 A CN 2010800152080A CN 201080015208 A CN201080015208 A CN 201080015208A CN 102378669 A CN102378669 A CN 102378669A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5066—Muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7625—Measuring means for measuring angular position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/764—Measuring means for measuring acceleration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US14854509P | 2009-01-30 | 2009-01-30 | |
US61/148,545 | 2009-01-30 | ||
PCT/US2010/022783 WO2010088635A1 (en) | 2009-01-30 | 2010-02-01 | Model-based neuromechanical controller for a robotic leg |
Publications (1)
Publication Number | Publication Date |
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CN102378669A true CN102378669A (zh) | 2012-03-14 |
Family
ID=42396064
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010800152080A Pending CN102378669A (zh) | 2009-01-30 | 2010-02-01 | 用于机械腿的基于模型的神经机械控制器 |
CN2010800152076A Pending CN102481194A (zh) | 2009-01-30 | 2010-02-01 | 具有主缩肌-拮抗肌激励的动力人造膝 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010800152076A Pending CN102481194A (zh) | 2009-01-30 | 2010-02-01 | 具有主缩肌-拮抗肌激励的动力人造膝 |
Country Status (7)
Country | Link |
---|---|
EP (2) | EP2398425A4 (ko) |
JP (2) | JP2012516717A (ko) |
KR (2) | KR20110120927A (ko) |
CN (2) | CN102378669A (ko) |
AU (2) | AU2010208020A1 (ko) |
CA (1) | CA2787955A1 (ko) |
WO (2) | WO2010088635A1 (ko) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104921851A (zh) * | 2015-05-25 | 2015-09-23 | 河北工业大学 | 主动型膝上假肢膝关节的预测控制方法 |
CN108143594A (zh) * | 2017-12-21 | 2018-06-12 | 大连厚德坤泰管理咨询有限公司 | 下肢外骨骼机器人复杂地形的共融协调控制方法 |
CN108393892A (zh) * | 2018-03-05 | 2018-08-14 | 厦门大学 | 一种机器人前馈力矩补偿方法 |
CN108884456A (zh) * | 2015-10-01 | 2018-11-23 | 麻省理工学院 | 生物状态机 |
CN109664297A (zh) * | 2018-12-14 | 2019-04-23 | 深圳市汇川技术股份有限公司 | 机器人的振动抑制方法、系统、装置及计算机可读存储器 |
CN109773792A (zh) * | 2019-02-14 | 2019-05-21 | 中科新松有限公司 | 串联弹性驱动器的位置控制装置及方法、存储介质、设备 |
CN110405761A (zh) * | 2019-07-22 | 2019-11-05 | 北京理工大学 | 一种机器人关节的仿生粘弹性控制方法 |
WO2021077950A1 (zh) * | 2020-03-27 | 2021-04-29 | 之江实验室 | 基于关节工况多象限耦合的双足机器人数字液压驱动方法 |
CN113635992A (zh) * | 2021-06-15 | 2021-11-12 | 上海大学 | 一种双关节气动人工肌肉驱动的仿生跳跃腿 |
CN113673153A (zh) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | 机器人电磁转矩的确定方法和装置、存储介质、电子装置 |
CN114750152A (zh) * | 2022-04-02 | 2022-07-15 | 南京航空航天大学 | 一种用于变刚度外骨骼的志愿柔顺辅助控制方法 |
CN116257942A (zh) * | 2023-05-16 | 2023-06-13 | 东方空间技术(山东)有限公司 | 一种火箭仿真模型的确定方法及装置 |
CN118046421A (zh) * | 2024-04-16 | 2024-05-17 | 以诺康医疗科技(苏州)有限公司 | 手术机器人关节实际力矩的自动采集方法及系统 |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20070123997A1 (en) | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US8512415B2 (en) | 2005-03-31 | 2013-08-20 | Massachusetts Institute Of Technology | Powered ankle-foot prothesis |
US20070043449A1 (en) | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US20070162152A1 (en) | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US20060249315A1 (en) | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US9498401B2 (en) | 2011-12-20 | 2016-11-22 | Massachusetts Institute Of Technology | Robotic system for simulating a wearable device and method of use |
US9682005B2 (en) | 2012-02-24 | 2017-06-20 | Massachusetts Institute Of Technology | Elastic element exoskeleton and method of using same |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US10441439B2 (en) | 2012-05-15 | 2019-10-15 | Vanderbilt University | Stair ascent and descent control for powered lower limb devices |
DE102012013141A1 (de) | 2012-07-03 | 2014-05-08 | Otto Bock Healthcare Gmbh | Orthetische oder prothetische Gelenkeinrichtung und Verfahren zu dessen Steuerung |
US9603724B2 (en) | 2013-08-27 | 2017-03-28 | Carnegie Mellon University, A Pennsylvania Non-Profit Corporation | Robust swing leg controller under large disturbances |
US20160207194A1 (en) * | 2013-09-03 | 2016-07-21 | Anne J. BLOOD | Stabilization system for robotic technology |
WO2015095211A2 (en) | 2013-12-16 | 2015-06-25 | Massachusetts Institute Of Technology | Optimal design of a lower limb exoskeleton or orthosis |
CN103892943B (zh) * | 2014-03-19 | 2015-08-19 | 中国人民解放军理工大学 | 主被动式结合增力型柔性下肢外骨骼 |
WO2015153633A2 (en) * | 2014-03-31 | 2015-10-08 | Parker-Hannifin Corporation | Wearable robotic device |
KR102378018B1 (ko) * | 2014-07-29 | 2022-03-24 | 삼성전자주식회사 | 보행 동작 인식 장치 및 그 방법 |
KR102429612B1 (ko) * | 2015-07-27 | 2022-08-05 | 삼성전자주식회사 | 보행 보조 방법 및 이를 수행하는 장치들 |
KR102459677B1 (ko) * | 2015-11-05 | 2022-10-28 | 삼성전자주식회사 | 알고리즘 학습 방법 및 장치 |
ITUB20159411A1 (it) * | 2015-12-28 | 2017-06-28 | Stellar Project S R L | Sistema di puntamento stabilizzato compatto |
JP6357672B2 (ja) * | 2016-09-23 | 2018-07-18 | 株式会社国際電気通信基礎技術研究所 | 駆動機構 |
US10406000B2 (en) * | 2016-09-29 | 2019-09-10 | The Chinese University Of Hong Kong | Ankle-foot prosthesis device |
CN106730604B (zh) * | 2016-12-30 | 2019-03-01 | 西安交通大学 | 一种基于cpg模型的人体锻炼跑步机自适应主动控制方法 |
WO2018236208A1 (en) * | 2017-06-22 | 2018-12-27 | Universiti Malaya | INTEGRATED PROSTHETIC MEMBER WITH SENSORY SYSTEM |
CN108789395B (zh) * | 2018-06-07 | 2021-03-30 | 上海交通大学 | 一种基于仿生肌腱的串联粘弹性驱动器 |
KR102175752B1 (ko) | 2019-06-19 | 2020-11-06 | 성균관대학교 산학협력단 | 양방향 조인트 구동장치 |
CN114127643B (zh) * | 2019-07-19 | 2024-03-29 | 三菱电机株式会社 | 参数同定装置、参数同定方法及存储介质 |
CN114286655A (zh) * | 2019-08-29 | 2022-04-05 | 本田技研工业株式会社 | 接头装置 |
GB2599579B (en) * | 2019-09-17 | 2023-12-06 | Bionicm Inc | Assist device and artificial limb |
KR102295380B1 (ko) * | 2019-11-06 | 2021-08-30 | 근로복지공단 | 하이브리드형 의지 장치 |
CN111166346A (zh) * | 2020-02-20 | 2020-05-19 | 福州大学 | 基于角速度传感器的膝关节屈伸角度实时测量装置及方法 |
JP7237891B2 (ja) * | 2020-07-15 | 2023-03-13 | ソフトバンク株式会社 | 学習実行装置、プログラム、及び学習実行方法 |
CN112207819B (zh) * | 2020-08-31 | 2022-05-10 | 深圳市优必选科技股份有限公司 | 机器人及其关节控制方法、关节控制装置 |
CN112894766B (zh) * | 2020-12-25 | 2022-06-14 | 华南理工大学 | 一种应用于步行踝关节线驱外骨骼的力位置混合控制方法 |
IT202100024512A1 (it) * | 2021-09-23 | 2023-03-23 | Fondazione St Italiano Tecnologia | Articolazione protesica attiva |
NL2032980B1 (en) * | 2022-09-07 | 2024-03-21 | Univ Groningen | Variable stiffness prosthetic joint |
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CN101111211A (zh) * | 2005-01-26 | 2008-01-23 | 山海嘉之 | 穿戴式动作辅助装置以及控制用程序 |
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US5383939A (en) * | 1991-12-05 | 1995-01-24 | James; Kelvin B. | System for controlling artificial knee joint action in an above knee prosthesis |
US5650704A (en) * | 1995-06-29 | 1997-07-22 | Massachusetts Institute Of Technology | Elastic actuator for precise force control |
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- 2010-02-01 KR KR1020117020233A patent/KR20110122150A/ko not_active Application Discontinuation
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- 2010-02-01 WO PCT/US2010/022783 patent/WO2010088635A1/en active Application Filing
- 2010-02-01 CN CN2010800152080A patent/CN102378669A/zh active Pending
- 2010-02-01 AU AU2010207942A patent/AU2010207942A1/en not_active Abandoned
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JP2012516717A (ja) | 2012-07-26 |
EP2398425A1 (en) | 2011-12-28 |
KR20110120927A (ko) | 2011-11-04 |
AU2010207942A1 (en) | 2011-09-15 |
WO2010088635A1 (en) | 2010-08-05 |
JP2012516780A (ja) | 2012-07-26 |
EP2398425A4 (en) | 2013-09-18 |
CN102481194A (zh) | 2012-05-30 |
EP2391486A1 (en) | 2011-12-07 |
AU2010208020A1 (en) | 2011-09-15 |
KR20110122150A (ko) | 2011-11-09 |
EP2391486A4 (en) | 2013-09-04 |
CA2787955A1 (en) | 2010-08-05 |
WO2010088616A1 (en) | 2010-08-05 |
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