CN102670342B - Axisymmetric electrorheological fluid damping knee-joint orthosis - Google Patents
Axisymmetric electrorheological fluid damping knee-joint orthosis Download PDFInfo
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- CN102670342B CN102670342B CN2012101393314A CN201210139331A CN102670342B CN 102670342 B CN102670342 B CN 102670342B CN 2012101393314 A CN2012101393314 A CN 2012101393314A CN 201210139331 A CN201210139331 A CN 201210139331A CN 102670342 B CN102670342 B CN 102670342B
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Abstract
The invention relates to an axisymmetric electrorheological fluid damping knee-joint orthosis, which is composed of an electrorheological fluid damper part, a harmonic gear driving part and a support part connected with legs, wherein the electrorheological fluid damper part is positioned at the outermost side of the orthosis and generates controllable damping moment under the action of a control system; the harmonic gear driving part is positioned at the middle part of the orthosis and is a driving and moment amplification mechanism, and the harmonic gear driving part amplifies and outputs the damping moment through the meshing role of a flexible gear and a rigid gear; the support part connected with the legs is a supporting part of the orthosis, and the harmonic gear driving part is fixedly connected with the support part; and the moment output by the harmonic gear driving part limits the free rotation of a lower leg support, so that the purpose that knee-joints hyperextension is limited is realized. The potable knee-joint orthosis can correct stroke patients with an abnormal gait for a long time, playing an important role on increasing the life quality of the patients and easing the burden of the family.
Description
Technical field
The present invention relates to a kind of axial symmetry ER fluid damping orthopaedic device for knee, it is applicable to the function of stroke patient lower limb and corrects, and belongs to the rehabilitation medical instrument technical field.
Background technology
The Ministry of Public Health statistics shows, China's apoplexy prevalence reaches 429～6,20/,100,000 people, existing about 500-600 ten thousand paralytics, and about 3/4ths disabilities in various degree, severe disabled person accounts for 40%.Apoplexy survivor patient tends to be subject to the dyskinesia and movement defect in various degree.These dyskinesia and defect have had a strong impact on stroke patient and household's quality of life, use a kind of rectification of lower extremity movement of portable lower extremity movement orthosis Patients with Apoplexy After and the rehabilitation of motion function that very important meaning is arranged.
The present invention research motion of knee joint basis on, utilize harmonic gear as drive mechanism, ER fluid as antivibrator, designed a kind of portable axisymmetric orthopaedic device for knee.
Summary of the invention
Purpose:
The object of the present invention is to provide a kind of axial symmetry ER fluid damping orthopaedic device for knee, this portable orthopaedic device for knee can make the stroke patient of abnormal gait obtain long-term rectification, and the burden that is alleviated to family members the quality of life of improving patient plays a very important role.
Technical scheme:
See Fig. 1, the present invention includes three parts: the damper portions of ER fluid, Harmonic Gears part and the holder part be connected with shank.Relation is therebetween: the damper portions of ER fluid is positioned at orthotic outermost, produces controlled damping torque under the effect of control system; Harmonic Gears partly is positioned at the orthosis middle part, is transmission and moment amplification mechanism, by its flexbile gear and firm wheel engagement, damping torque is amplified to output; The holder part be connected with shank is orthotic support section, and Harmonic Gears part is connected with it, freely the rotating of the little leg support of moment restriction that Harmonic Gears is partly exported, thus realization limits the purpose of knee joint hyperextension.
One, the damper portions of ER fluid
The damper portions of described ER fluid is comprised of the bolt and nut of antivibrator casing, antivibrator end cap, rotating electrode, fixed electrode, large and small Teflon axle sleeve, rotating shaft, copper brush and connection damper casing and antivibrator end cap.Fixed electrode is connected by form and the antivibrator casing of similar spline joint.Rotating shaft one end is designed to be connected with the wave producer axle of Harmonic Gears part with the hole of keyway, the other end is designed to the internal spline form and is connected with rotating electrode, strengthen sealing effectiveness for reducing friction, at the position of rotating shaft and the combination of antivibrator casing, put large Teflon axle sleeve.The rotating electrode outer end is connected with the antivibrator end cap by little Teflon axle sleeve, and little Teflon axle sleeve and antivibrator end cap are bonding, at the rotating electrode overcoat, copper brush are arranged.The antivibrator end cap is connected by bolt and nut with the antivibrator casing.
The damper portions of ER fluid is controlled the viscosity of current liquid by the voltage of additional power source, produce reversible, continuous variation damping torque.
This antivibrator casing is double cylinder-shaped structure, and each arranged in a crossed mannerly has 6 fixing lug boss both ends; Its function is to place fixed electrode, rotating electrode and current liquid, forms the space of sealing.
This antivibrator end cap is circular configuration, and its shape is corresponding with the antivibrator casing; Seal.
The structure that this rotating electrode is comprised of four concentric circular anchor rings, an interior side of rotating electrode is designed with the boss of similar spline, and for being connected with rotating shaft, an outer side is designed to boss with holes for connection damper end cap, copper brush and little Teflon axle sleeve; Its function is to apply voltage to current liquid, produces shearing moment.
The structure that this fixed electrode is comprised of four concentric circular anchor rings, its middle part is porose, along symmetrical four groovings of hole surrounding, for being connected with the antivibrator casing; Its function is to provide voltage for current liquid.
This large and small Teflon axle sleeve is columnar structured, and its function is seal and reduce relative friction.
This rotating shaft is ladder-type structure, and an end is designed with the hole of keyway for connecting the wave producer axle of Harmonic Gears part, and the other end is designed with the hole of class spline for being connected with rotating electrode.
This copper brush is columnar structured, and the lateral surface of cylinder is designed with boss radially; Its function is that the connection external power source is the rotating electrode power supply.
This bolt and nut is the connector of choosing as required.
Two, Harmonic Gears part
Described Harmonic Gears part is by: wave producer, just wheel, bending resistance ring, flexbile gear part, wave producer section casing, flexbile gear section casing, wave producer section end cap, flexbile gear section end cap and bolt and nut form.Relation is therebetween: the wave producer axle in wave producer is the power shaft of Harmonic Gears part, with the rotating shaft of the damper portions of ER fluid, is connected, using damping torque as input torque.The roller compressing bending resistance ring that moves through of wave producer makes the deformation of flexible wheel in the flexbile gear part, and the flexbile gear tooth pressure enters the engagement that firm wheel produces the gear teeth, makes the flexbile gear axle rotate, and the input torque amplification is exported by the flexbile gear axle the most at last.
This wave producer is comprised of wave producer axle, wave producer bar, roller, roller shaft, bearing, nut, round nut and round nut stop washer; This wave producer axle is the multidiameter form, and an end is connected with the wave producer bar by key, and the other end is connected with the rotating shaft of the damper portions of ER fluid, is the power shaft of Harmonic Gears part.This wave producer bar is middle with hole both sides mechanisms axisymmetricly, and its function is in order to support roller shaft.This roller is the disc-shaped structure of middle with hole, plays compressing bending resistance ring, makes the effect of the engaging-in firm gear teeth of flexbile gear tooth.This roller shaft is cylindrical-shaped structure, works to support roller.The standard component that Selection of Bearings is suitable, guarantee the relative motion between roller and roller shaft.Nut, round nut, round nut stop washer are the standard components of selecting as required.
Just wheel be the internal spur gear of standard, was evenly distributed with six holes on the gear exterior circumferential, for being connected with flexbile gear section casing with wave producer section casing.
This bending resistance ring is bottomless cylinder-like structure, and the cylinder outside coordinates with the flexbile gear inwall; Its function is that the roller that guarantees wave producer can evenly be oppressed flexbile gear.
This flexbile gear part is comprised of flexbile gear, flexbile gear axle, bolt and nut.This flexbile gear is cylinder-like structure, and the nozzle outside is designed with the gear teeth, uses and firm wheel engagement, and the cylinder end is porose.This flexbile gear axle is similar to bolt shape, is uniformly distributed four circular holes on " nut ", and for fixing with flexbile gear, the other end of flexbile gear axle is designed with keyway.The flexbile gear part is amplified output by the engagement with firm wheel by input torque.
This wave producer section casing is columnar structured, and the week at two ends upwards is evenly distributed with screwed hole; Its function is to support wave producer.
This flexbile gear section casing is columnar structured, and the week at two ends upwards is evenly distributed with screwed hole; Its function is to support the flexbile gear part.
This wave producer section end cap is the disc-shaped structure of middle with hole; Play sealing process.
This flexbile gear section end cap is the disc-shaped structure of middle with hole, plays sealing process.
This screw nut is the standard component of selecting as required.
Three, the holder part be connected with shank
The described holder part be connected with shank is the part be connected with human body lower limbs.Consider that orthosis can be contained on the lower limb of patient both sides and use, symmetrical form in the outside in this partial design becomes.It reaches the fixedly screw of use by thigh support frame, little leg support, thigh cover, shank cover, fixture, bearing and forms.Relation is therebetween: fixture is connected on large and small leg support by precalculated position, and large and small lower limb cover is connected in respectively position, large and small leg support upper end, and bearing is placed in shank support circular hole.
This thigh support frame one end end in the form of annular discs is shaft-like, is distributed with seven double thread holes on the length direction of bar, on a discoid end, is designed with boss; Its function is to be connected with patient's thigh, rises and supports fixation.
This little leg support one end is a cylindric end and is shaft-like, is distributed with ten double thread holes on the length direction of bar, and an end cylindraceous upwards is distributed with screwed hole in week; Its function is fixing Harmonic Gears part, connects patient's shank.
This thigh cover is to be the circulus of not sealing, and with the lower limb contact side, with flexible liner, rises and connects interior outside thigh support frame and fixation.
This shank cover is to be the circulus of not sealing, and with the lower limb contact side, with flexible liner, rises and connects interior outside shank support and fixation.
This fixture integral body is rectangular-shaped, with the lower limb contact side, is designed to arc and has flexible liner, and before and after fixture, side is designed with annular adapter sleeve; Its function is that the frame of thigh support frame, shank is fixing with it.
This bearing is the standard component of selecting as required, and its function is the relative motion guaranteed between the frame of thigh support frame and shank.
This hold-down screw is the standard component of selecting as required.
Principle of the present invention and workflow are as follows:
The gearing that the present invention has utilized the electrorheological property of current liquid to produce damping torque and harmonic gear mechanism.Current liquescent damper of the present invention partly is connected to the Harmonic Gears part, and the Harmonic Gears part is fixed with holder part again.Large and small leg support is fixed with patient's large and small lower limb respectively, and kneed curvature movement drives the relative motion of large and small lower limb.The output torque of ER fluid damping portion has the voltage of controlling by controlling fixed electrode, rotating electrode to control.When the knee joint hyperextension, the voltage that control system is controlled between fixed electrode and rotating electrode increases, damping torque is increased, and damping torque is partly amplified and is outputed to the thigh support frame be connected with the flexbile gear axle by Harmonic Gears, thereby realizes the restriction to the knee joint hyperextension.
Advantage and effect: the present invention adopts the modular portable design, can meet different patients' demand.Use current liquescent damper can make damping torque that continuous real-time variation occurs, make correction torque change steadily, the impact of generation is little.Harmonic Gears is introduced to orthotic design and can alleviate orthotic quality, increase the stationarity of system.Adopt inside and outside symmetric design in the design of support, made orthosis to use at the left and right lower limb, alleviated patient's financial burden; Also considered different patients' individual variation in design, can design according to patient's practical situation the support of lower limb, and other parts can be general, strengthened orthotic comfortableness and versatility.
The accompanying drawing explanation
The structural representation of a kind of axial symmetry ER fluid of Fig. 1 the present invention damping orthopaedic device for knee
Fig. 2 a current liquescent damper outline drawing
Fig. 2 b current liquescent damper internal view
Fig. 3 a Harmonic Gears part outline drawing
Fig. 3 b Harmonic Gears partial interior structure cutaway view
Fig. 3 c wave producer structural representation
Fig. 3 d flexbile gear part-structure schematic diagram
Fig. 4 a holder part structural representation
Fig. 4 b single side bracing structural representation
In figure, symbol description is as follows:
A means the current liquescent damper part, and B means the Harmonic Gears part, and C means the holder part be connected with shank; 1, antivibrator casing; 2, fixed electrode; 3, rotating electrode; 4, large Teflon axle sleeve; 5, rotating shaft; 6, copper brush; 7, little Teflon axle sleeve; 8, antivibrator end cap; 9, nut; 10, bolt; 11, wave producer section end cap; 12, small sealing ring; 13, bolt; 14, wave producer section casing; 15, bolt; 16, wave producer bearing; 17, wave producer axle; 18, round nut stop back-up ring; 19, round nut; 20, roller shaft nut; 21, nut (connecting flexbile gear and flexbile gear axle uses); 22, bolt (connecting flexbile gear and flexbile gear axle uses); 23, flexbile gear axle; 24, flexbile gear axle bearing; 25, large sealing packing ring; 26, flexbile gear section end cap; 27, bolt; 28, flexbile gear section casing; 29, roller shaft; 30, wave producer bar; 31, flexbile gear; 32, roller; 33, bending resistance ring; 34, just take turns; 35, roller bearing; 36, flexbile gear shaft retaining ring; 37, thigh cover; 38, screw; 39, thigh support frame; 40, fixture; 41, screw (stationary fixture); 42, bearing; 43, little leg support; 44, shank cover; 45, adapter sleeve.
The specific embodiment
Illustrate implementation method of the present invention below in conjunction with accompanying drawing.
See Fig. 1, the present invention is comprised of three parts: the damper portions A of ER fluid, Harmonic Gears part B, the holder part C be connected with shank.
Relation is therebetween: the damper portions A of ER fluid is positioned at orthotic outermost, produces controlled damping torque under the effect of control system.Harmonic Gears part B is positioned at the orthosis middle part, is transmission and moment amplification mechanism, by flexbile gear 31 and firm wheel 34 engagement, damping torque is amplified to output.The holder part C be connected with shank is orthotic support section, and Harmonic Gears part B is connected with it, freely the rotating of the moment restriction shank support 43 of Harmonic Gears part B output, thus realization limits the purpose of knee joint hyperextension.
The damper portions A of described ER fluid, be shown in Fig. 2 a, 2b, by antivibrator casing 1 antivibrator end cap 8, rotating electrode 3, fixed electrode 2, large Teflon axle sleeve 4, rotating shaft 5, copper brush 6, little Teflon axle sleeve 7, and bolt 10 nuts 9 of connection damper casing 1 and antivibrator end cap 8 form.Antivibrator casing 1 and antivibrator end cap 8 are connected to form the environment of a relative closure by bolt 10, nut 9.Fixed electrode 2 is fixed on antivibrator casing 1.Rotating electrode 3 passes through similar spline joint with rotating shaft 5,1 of rotating shaft 5 and antivibrator casing are provided with large Teflon axle sleeve 4, rotating electrode 3 is connected with antivibrator end cap 8 by little Teflon axle sleeve 7, at the outer ring of rotating electrode 3 around copper brush 6, for giving rotating electrode 3 power supplies.The electrode voltage of the damper portions A of this ER fluid is controlled according to motion of knee joint condition monitoring in patient's walking process.
Described Harmonic Gears part B, be shown in Fig. 3 a, 3b, mainly by the wave producer part, and flexbile gear 31, flexbile gear axle 23, just taken turns 34, the compositions such as wave producer section casing 14, flexbile gear section casing 28, wave producer section end cap 11, flexbile gear section end cap 26.Relation is therebetween: see Fig. 3 c, 3d, the wave producer axle 17 in the wave producer part is power shafts of damping torque, by key, connects with the turning cylinder 5 of antivibrator and is connected, and zanjon bearing 16 guarantees the relative motion of itself and wave producer section casing 14.Wave producer bar 30 is connected with wave producer axle 17 by key, the two ends of wave producer bar 30 symmetry be equipped with roller 32, roller shaft 29,32, roller shaft 29 and roller are equipped with bearing 35, guarantee the relative motion of 32, roller shaft 29 and roller.End in the wave producer part limits the axially-movable of wave producer bars 30 by round nut 19 and round nut stop back-up ring circle 18.Flexbile gear 31 is connected with flexbile gear axle 23 by four pairs of bolts, 22 nuts 21, and the relative motion that flexbile gear axle bearing 24 guarantees flexbile gear axle 23 and flexbile gear section casing 28 is housed on flexbile gear axle 23.Just wheel 34 is between wave producer section casing 14 and flexbile gear section casing 28, by bolt 15 connect be connected with wave producer section casing 14, flexbile gear section casing 28 on, wave producer part and the coaxial installation of flexbile gear part, installed inside at flexbile gear 31 has bending resistance ring 33, when wave producer axle 17 rotates, roller 32 compressing bending resistance rings 33 make the engaging-in firm wheel 34 of tooth of flexbile gear 31, thereby make flexbile gear axle 23 rotate, output after input torque is amplified.Wave producer section casing 14 and flexbile gear section casing 28 end faces are connected with wave producer section end cap 11, flexbile gear section end cap 26 by bolt 13 bolts 27 respectively.Wave producer section end cap 11 is equipped with small sealing ring 12 with wave producer axle 17 joint portions, and large sealing packing ring 25 is equipped with in flexbile gear section end cap 26 and flexbile gear axle 23 joint portions.
The described holder part C be connected with shank, be shown in Fig. 4 a, is the structure be connected with the human body shank, considers that orthosis can be used on two lower limbs of patient left and right, and this holder part is designed to the form of interior outside symmetry.The support of every side, be shown in Fig. 4 b, thigh support frame 39, shank support 43, consists of, and relatively rotating by the bearing 42 be arranged in shank support 43 between the two realizes.The interior outside is overlapped 37 by thigh and is connected with shank cover 44, and thigh cover 37 and shank cover 44 can be by the thickness designs of patient's lower limb, and what lower limb overlapped is interior with flexible liner, and the lower limb cover outside is connected on thigh support frame 39 and shank support 43 by screw 38 screws 41 respectively.On large and small leg support 39,43, fixture 40 is installed, fixture 40 is inboard with flexible liner, and velcro fixing for support and lower limb can be installed on fixture 40.Be designed with multipair screw hole on large and small leg support 39,43, fixing to meet different patients' requirement for fixture 40.Fixture 40 front and back sides are designed with annular adapter sleeve 45; Its function is that the frame of thigh support frame 39, shank 43 is fixing with it.
Claims (1)
1. an axial symmetry ER fluid damping orthopaedic device for knee, it is characterized in that: it consists of damper portions, the Harmonic Gears part of ER fluid and the holder part be connected with shank, the damper portions of ER fluid is positioned at orthotic outermost, produces controlled damping torque under the effect of control system; Harmonic Gears partly is positioned at the orthosis middle part, is transmission and moment amplification mechanism, by its flexbile gear and firm wheel engagement, damping torque is amplified to output; The holder part be connected with shank is orthotic support section, and Harmonic Gears part is connected with it, freely the rotating of the little leg support of moment restriction that Harmonic Gears is partly exported, thus realization limits the purpose of knee joint hyperextension;
The damper portions of described ER fluid is comprised of the bolt and nut of antivibrator casing, antivibrator end cap, rotating electrode, fixed electrode, large and small Teflon axle sleeve, rotating shaft, copper brush and connection damper casing and antivibrator end cap; Fixed electrode is connected by form and the antivibrator casing of similar spline joint, rotating shaft one end is designed to be connected with the wave producer axle of Harmonic Gears part with the hole of keyway, the other end is designed to the internal spline form and is connected with rotating electrode, strengthen sealing effectiveness for reducing friction, at the position of rotating shaft and the combination of antivibrator casing, put large Teflon axle sleeve; The rotating electrode outer end is connected with the antivibrator end cap by little Teflon axle sleeve, and little Teflon axle sleeve and antivibrator end cap are bonding, at the rotating electrode overcoat, copper brush are arranged, and the antivibrator end cap is connected by bolt and nut with the antivibrator casing; This antivibrator casing is double cylinder-shaped structure, and each arranged in a crossed mannerly has 6 fixing lug boss both ends; Its function is to place fixed electrode, rotating electrode and current liquid, forms the space of sealing; This antivibrator end cap is circular configuration, and its shape is corresponding with the antivibrator casing, seals; The structure that this rotating electrode is comprised of four concentric circular anchor rings, an interior side of rotating electrode is designed with the boss of similar spline, for being connected with rotating shaft, an outer side is designed to boss with holes for connection damper end cap, copper brush and little Teflon axle sleeve, its function is to apply voltage to current liquid, produces shearing moment; The structure that this fixed electrode is comprised of four concentric circular anchor rings, its middle part is porose, and along symmetrical four groovings of hole surrounding, for being connected with the antivibrator casing, its function is to provide voltage for current liquid; This large and small Teflon axle sleeve is columnar structured, and its function is seal and reduce relative friction; This rotating shaft is ladder-type structure, and an end is designed with the hole of keyway for connecting the wave producer axle of Harmonic Gears part, and the other end is designed with the hole of class spline for being connected with rotating electrode; This copper brush is columnar structured, and the lateral surface of cylinder is designed with boss radially, and its function is that the connection external power source is the rotating electrode power supply;
Described Harmonic Gears part is comprised of wave producer, firm wheel, bending resistance ring, flexbile gear part, wave producer section casing, flexbile gear section casing, wave producer section end cap, flexbile gear section end cap and bolt and nut; Wave producer axle in wave producer is the power shaft of Harmonic Gears part, with the rotating shaft of the damper portions of ER fluid, be connected, using damping torque as input torque, the roller compressing bending resistance ring that moves through of wave producer makes the deformation of flexible wheel in the flexbile gear part, the flexbile gear tooth pressure enters the engagement that firm wheel produces the gear teeth, make the flexbile gear axle rotate, the input torque amplification is exported by the flexbile gear axle the most at last; This wave producer is comprised of wave producer axle, wave producer bar, roller, roller shaft, bearing, nut, round nut and round nut stop washer; This wave producer axle is the multidiameter form, and an end is connected with the wave producer bar by key, and the other end is connected with the rotating shaft of the damper portions of ER fluid, is the power shaft of Harmonic Gears part; This wave producer bar is middle with hole both sides mechanisms axisymmetricly, and its function is in order to support roller shaft; This roller is the disc-shaped structure of middle with hole, plays compressing bending resistance ring, makes the effect of the engaging-in firm gear teeth of flexbile gear tooth; This roller shaft is cylindrical-shaped structure, works to support roller; Just wheel be the internal spur gear of standard, was evenly distributed with six holes on the gear exterior circumferential, for being connected with flexbile gear section casing with wave producer section casing; This bending resistance ring is bottomless cylinder-like structure, and the cylinder outside coordinates with the flexbile gear inwall, and its function is that the roller that guarantees wave producer can evenly be oppressed flexbile gear; This flexbile gear part is comprised of flexbile gear, flexbile gear axle and bolt and nut; This flexbile gear is cylinder-like structure, and the nozzle outside is designed with the gear teeth, uses and firm wheel engagement, and the cylinder end is porose; This flexbile gear axle is similar to bolt shape, is uniformly distributed four circular holes on " nut ", and for fixing with flexbile gear, the other end of flexbile gear axle is designed with keyway, and the flexbile gear part is amplified output by the engagement with firm wheel by input torque; This wave producer section casing is columnar structured, and the week at two ends upwards is evenly distributed with screwed hole, and its function is to support wave producer; This flexbile gear section casing is columnar structured, and the week at two ends upwards is evenly distributed with screwed hole, and its function is to support the flexbile gear part; This wave producer section end cap is the disc-shaped structure of middle with hole, plays sealing process; This flexbile gear section end cap is the disc-shaped structure of middle with hole, plays sealing process;
The described holder part be connected with shank is the part be connected with human body lower limbs, consider that orthosis can be contained on the lower limb of patient both sides and use, the symmetrical shape in the outside in this partial design becomes, it reaches the fixedly screw of use by thigh support frame, little leg support, thigh cover, shank cover, fixture, bearing and forms; Fixture is connected on large and small leg support by precalculated position, and large and small lower limb cover is connected in respectively position, large and small leg support upper end, and bearing is placed in shank support circular hole; This thigh support frame one end end in the form of annular discs is shaft-like, is distributed with seven double thread holes on the length direction of bar, on a discoid end, is designed with boss, and its function is to be connected with patient's thigh, rises and supports fixation; This little leg support one end is a cylindric end and is shaft-like, is distributed with ten double thread holes on the length direction of bar, and an end cylindraceous upwards is distributed with screwed hole in week, and its function is fixing Harmonic Gears part, connects patient's shank; This thigh cover is to be the circulus of not sealing, and with the lower limb contact side, with flexible liner, rises and connects interior outside thigh support frame and fixation; This shank cover is to be the circulus of not sealing, and with the lower limb contact side, with flexible liner, rises and connects interior outside shank support and fixation; This fixture integral body is rectangular-shaped, with the lower limb contact side, is designed to arc and has flexible liner, and before and after fixture, side is designed with annular adapter sleeve, and its function is that the frame of thigh support frame, shank is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101393314A CN102670342B (en) | 2012-05-07 | 2012-05-07 | Axisymmetric electrorheological fluid damping knee-joint orthosis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101393314A CN102670342B (en) | 2012-05-07 | 2012-05-07 | Axisymmetric electrorheological fluid damping knee-joint orthosis |
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| CN102670342A CN102670342A (en) | 2012-09-19 |
| CN102670342B true CN102670342B (en) | 2013-12-04 |
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| CN2012101393314A Expired - Fee Related CN102670342B (en) | 2012-05-07 | 2012-05-07 | Axisymmetric electrorheological fluid damping knee-joint orthosis |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5469947A (en) * | 1992-09-20 | 1995-11-28 | Fujikura Ltd. | Fluid clutch device |
| US5573088A (en) * | 1994-05-10 | 1996-11-12 | Daniels; John J. | Controllable resistance device and force dampener, and vehicle utilizing the same |
| US6129690A (en) * | 1998-07-29 | 2000-10-10 | Empi Corp. | Unidirectional resistance pivot assembly for a splint |
| AU4975901A (en) * | 2000-03-29 | 2001-10-08 | Massachusetts Inst Technology | Speed-adaptive and patient-adaptive prosthetic knee |
| WO2003088865A2 (en) * | 2002-04-16 | 2003-10-30 | Scorvo Sean K | An adjustable orthotic brace |
| US6966882B2 (en) * | 2002-11-25 | 2005-11-22 | Tibion Corporation | Active muscle assistance device and method |
| US7101487B2 (en) * | 2003-05-02 | 2006-09-05 | Ossur Engineering, Inc. | Magnetorheological fluid compositions and prosthetic knees utilizing same |
| CN101443572A (en) * | 2004-11-09 | 2009-05-27 | 东北大学 | Electro-rheological fluid brake and actuator devices and orthotic devices using the same |
| DE102009057700B3 (en) * | 2009-12-07 | 2011-05-05 | Otto Bock Healthcare Gmbh | knee brace |
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