CN103655011A - Artificial limb - Google Patents
Artificial limb Download PDFInfo
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- CN103655011A CN103655011A CN201310674876.XA CN201310674876A CN103655011A CN 103655011 A CN103655011 A CN 103655011A CN 201310674876 A CN201310674876 A CN 201310674876A CN 103655011 A CN103655011 A CN 103655011A
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- gripper shoe
- artificial limb
- driving device
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- bandage
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Abstract
The invention provides an artificial limb. The artificial limb comprises a receiving cavity, a first supporting plate, a bandage, a second supporting plate, a driving shaft, a driving device, a sensor and a control system. The receiving cavity is a funnel-shaped shell, wherein the big end and the small end of the receiving cavity are both open. One end of the first supporting plate is connected with the big end of the receiving cavity. The bandage and the receiving cavity are arranged in a spaced mode. The bandage is close to the big end of the receiving cavity. One end of the second supporting plate is fixedly connected with the bandage. The two ends of the driving shaft are connected with the end, far away from the receiving cavity, of the first supporting plate and the end, far away from the bandage, of the second supporting plate in a rotatable mode respectively. The driving device is electrically connected with the driving shaft and is used for driving the driving shaft to rotate. The sensor is used for collecting an electromyographic signal. The control system is electrically connected with both the driving device and the sensor and converts the electromyographic signal collected by the sensor into a driving signal after signal processing so as to control the driving device to operate. The artificial limb is not prone to disengagement and is good in load bearing capacity.
Description
[technical field]
The present invention relates to a kind of artificial limb.
[background technology]
The amputee that various disasters cause is innumerable, particularly arm amputee.As everyone knows, hands is our creation of value and the basic tool that solves personal daily life, and many upper limb amputees can select to install artificial limb, realize simple arm and hand motion, the auxiliary daily life demand that solves.But the direct fitting area of prosthetic socket and limbs and stump weight capacity all do not cause enough attention all the time.When deformed limb life-time service bears a heavy burden, the lighter easily causes amputee's prosthetic socket to come off or is loosening, and severe one can cause the chronic disturbance of blood circulation of prosthesis wearer, causes stump swelling, even occurs eczema, chronic ulcer and blister etc.More serious change of skin can make patient lose heavy burden ability, cannot wear artificial limb.
Upper extremity prosthesis comprise do evil through another person, connector assembly and receptive cavity.Do evil through another person and be connected with receptive cavity by connector assembly, receptive cavity and amputee's stump close contact.Well imagine, receptive cavity is to affect the key factor that patient installs artificial limb comfort level and functional rehabilitation, and it is the pedestal of whole upper extremity prosthesis, plays when carrying the weight of doing evil through another person own, and also bearing does evil through another person captures the weight that object transmits.Yet traditional artificial limb still exists easily and comes off, the problem of heavy burden ability.
[summary of the invention]
Given this, be necessary to provide a kind of difficult drop-off and the good artificial limb of heavy burden ability.
An artificial limb, comprising:
Receptive cavity is the leakage head housing of stub end and the equal opening of little head end;
The first gripper shoe, one end is connected with the stub end of described receptive cavity;
Bandage, arranges with described receptive cavity interval, and the stub end of close described receptive cavity;
The second gripper shoe, one end is fixedly connected with described bandage;
Driving shaft, away from one end of described receptive cavity and described the second gripper shoe, the one end away from described bandage is rotationally connected with described the first gripper shoe respectively at two ends;
Driving device, is electrically connected with described driving shaft, for driving described drive shaft turns;
Sensor, for gathering electromyographic signal; And
Control system, is all electrically connected with described driving device and described sensor, and the described electromyographic signal of described sensor acquisition is converted to driving signal, to control described driving device running.
Further, also comprise that fixed cover is located at the connecting ring on the stub end of described receptive cavity, described the first gripper shoe is connected with described connecting ring away from one end of described driving shaft.
Further, described the first gripper shoe is provided with gathering sill, and described connecting ring is provided with slide protrusion, and described slide protrusion is arranged in described gathering sill, and along described gathering sill slidably.
Further, described connecting ring is open loop structure.
Further, also comprise one end and the fixed bar that one end be fixedly connected with, the other end with described drive shaft turns be connected of described the first gripper shoe away from described receptive cavity.
Further, the shaft-like fixture that also comprise that one end is connected with described drive shaft turns, the other end and described the second gripper shoe is fixedly connected with away from one end of described bandage.
Further, also comprise and be fixed on described the first gripper shoe away from the fixing band of one end of described receptive cavity.
Further, described bandage is two, and described two bandages are individually fixed in the two ends of described the second gripper shoe.
Further, described the first gripper shoe is arc.
Further, described the second gripper shoe is arc.
Further, described driving device is for driving reducing motor.
Further, described control system comprises:
Electromyographic signal collection module, is electrically connected with described sensor, and the described electromyographic signal of described sensor acquisition is carried out to preliminary treatment;
Main control module, is electrically connected with described electromyographic signal collection module, for the described electromyographic signal after described electromyographic signal collection resume module is further processed; And
Driver module, is electrically connected with described main control module and described driving device, and receives the signal after described main control module is processed, and described signal is converted to driving signal, to control described driving device running.
Further, described control system also comprises feedback module, and described feedback module and described main control module and described driving device are all electrically connected, and the running angle of described driving device and torque are fed back to described main control module.
Further, described main control module is provided with power-assisted threshold values, described control system also comprises the adjusting display module being electrically connected with described main control module, and described adjusting display module is for showing electromyographic signal after described main control module is processed and for regulating the power-assisted threshold values of described main control module.
Above-mentioned artificial limb, when forearm amputee uses, the stub end of receptive cavity is enclosed within on forearm deformed limb, bandage is tied up on forearm deformed limb, and one end of the first gripper shoe is fixedly connected with the stub end of receptive cavity, and the other end is connected with drive shaft turns, one end of the second gripper shoe is fixedly connected with bandage, bandage is fixed on amputee's upper arm, thereby receptive cavity and amputee's upper arm is held together, and has effectively prevented coming off of artificial limb; When carrying weight, because receptive cavity and amputee's upper arm is held together, upper arm can be shared the heavy burden of a part for receptive cavity, improves the heavy burden ability of above-mentioned artificial limb, therefore, and above-mentioned artificial limb difficult drop-off and there is good heavy burden ability; In addition, by driving device and driving shaft, be electrically connected, control system and driving device and sensor are all electrically connected, and the electromyographic signal of sensor acquisition is converted to driving signal, with accessory drive, turn round, be conducive to realize amputee and control and do evil through another person by consciousness, make to do evil through another person more flexible, guaranteed stability and the comfortableness of prosthetic wearing on stump.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the artificial limb of an embodiment;
Fig. 2 is the schematic diagram on the person that is arranged on BE amputation of the artificial limb shown in Fig. 1;
Fig. 3 is the functional schematic of sensor, driving device and the control system of the artificial limb shown in Fig. 1.
[specific embodiment]
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.
As shown in Figure 1, Figure 2 and Figure 3, take forearm amputee as example, the artificial limb 100 of an embodiment, comprises receptive cavity 110, the first gripper shoe 120, bandage 130, the second gripper shoe 140, driving shaft 150, driving device 160, sensor 170 and control system 180.
One end of the first gripper shoe 120 is connected with the stub end of receptive cavity 110.The first gripper shoe 120 fits with amputee's forearm 300.Wherein, the first gripper shoe 120 is arc, and arc can be fitted with amputee's forearm 300 better, thereby increases the fastness of the laminating of the first gripper shoe 120 and amputee's forearm 300.Preferably, the first gripper shoe 120 is light-high-strength organic plates, is preferably high-intensity resin material or carbon fibre material.Thereby can alleviate amputee's wearing weight.
One end of the second gripper shoe 140 is fixedly connected with bandage 130.The second gripper shoe 140 fits with amputee's upper arm 400.The second gripper shoe 140 is arc, and arc can be fitted with amputee's upper arm 400 better, thereby increases the fastness of the laminating of the second gripper shoe 140 and amputee's upper arm 400.Preferably, the second gripper shoe 140 is light-high-strength organic plates, is preferably high-intensity resin material or carbon fibre material.Thereby can alleviate amputee's wearing weight.
In specific embodiment, bandage 130 is two, and two bandages 130 are individually fixed in the two ends of the second gripper shoe 140.Be appreciated that bandage 130 also can be one, three or more.
Away from one end of receptive cavity 110 and the second gripper shoe 140, the one end away from bandage 130 is rotationally connected with the first gripper shoe 120 respectively at the two ends of driving shaft 150.
In order to make artificial limb 100 stable, artificial limb 100 also comprises that one end and the first gripper shoe 120 are away from one end of receptive cavity 110 is fixedly connected with, the other end and driving shaft 150 are rotationally connected fixed bar 190.Wherein, fixed bar 190 is Metallic rod.
In order to increase further the stability of artificial limb 100, the shaft-like fixture 210 that artificial limb 100 also comprises that one end is rotationally connected with driving shaft 150, the other end and the second gripper shoe 140 are fixedly connected with away from one end of bandage 130.Shaft-like fixture 210 is Metallic rod.
Please again consult Fig. 2 and 3, driving device 160 is electrically connected with driving shaft 150, for driving driving shaft 150 to rotate.Driving device 160 is for driving reducing motor.Drive reducing motor to be preferably servo deceleration motor.
Further, control system 180 also comprises feedback module 187, and feedback module 187 is all electrically connected with main control module 184 and driving device 160, and the running angle of driving device 160 and torque are fed back to main control module 184.Be appreciated that torque is mainly that electric current by servo drive motor converts and obtains, can Real-time Feedback to regulating on display module, regulate on the one hand power-assisted threshold value and coach, can allow on the other hand the working condition of user Real Time Observation motor.Concrete, feedback module 187 comprises limit switch (not shown), displacement transducer (not shown), and limit switch is arranged near driving shaft 150, main by the movement limit of limbs at security standpoint, spacing information is fed back to main control module 184, thereby stop the motion of driving device 160.Limit switch be arranged on driving shaft 150 near, make driving device 160 in rotary course, for guaranteeing amputee's safety, extreme position is fed back to main control module 184, and then stops the rotation of driving device 160.Displacement transducer is arranged in driving device 160 rotating shafts, is mainly to detect elbow joint rotational angle, and Real-time Feedback is to driving device 160, the steady running of accessory drive 160.In driving device 160 rotating shafts, installation position displacement sensor Real-time Feedback displacement, to main control module 184, guarantees the steady of rotation.
Further, described main control module 184 is provided with power-assisted threshold values, control system 180 also comprises the adjusting display module 188 being electrically connected with main control module 184, regulates display module 188 for showing electromyographic signal after main control module 184 is processed and for regulating the power-assisted threshold values of main control module 184.Concrete, regulate display module 188 can be arranged near amputee's elbow joint, mainly the power-assisted threshold value of main control module 184 initial settings is shown in real time, the preferential color screen that adopts shows, can regulate by button (not shown) the size of power-assisted threshold values simultaneously, when the electromyographic signal amplitude of acquisition process is converted to force parameter (the force parameter is here changed power referred to as electromyographic signal) by certain processing, when electromyographic signal conversion power is less than power-assisted threshold value, the state of driving device 160 in freely unclamping, amputee's arm can be freely movable, when the electromyographic signal conversion power of acquisition process is greater than power-assisted threshold value, the control of electromyographic signal is locked and received to driving device 160 immediately, realize power-assisted, the number that exceeds power-assisted can be presented on color screen by imitate cartoon in real time, the optional different mode of imitate cartoon.Because power-assisted threshold value can be set, therefore also can realize the entry evaluation of upper arm muscle force recovering.
Further, artificial limb 100 also comprises that fixed cover is located at connecting ring 220, the first gripper shoes 120 on the stub end of receptive cavity 110 and is connected with connecting ring 220 away from one end of driving shaft 150.Further, connecting ring 220 is open loop structure, thereby can regulate according to the peripheral degree of receptive cavity 110 size of connecting ring 220.The material of connecting ring 220 is metalwork.Further, connecting ring 220 can be for one or more.Wherein, connecting ring 220 is removably fixedly connected with receptive cavity 110.When connecting ring 220 is disassembled from receptive cavity 110, only realize the function of conventional prosthesis.
The length that regulates forearm for the ease of amputee's practical situation, the first gripper shoe 120 is provided with gathering sill 122, and connecting ring 220 is provided with slide protrusion 222, and slide protrusion 222 is arranged in gathering sill 122, and along gathering sill 122 slidably.Concrete, gathering sill 122 is three, and three gathering sills 122 be arranged in parallel, and slide protrusion 222 corresponds to three.Be appreciated that gathering sill 122 can be one, two, four or more, slide protrusion 222 corresponds to one, two, four or more; And the quantity of gathering sill 122 and slide protrusion 222 can be identical can be not identical yet.
Further, artificial limb 100 also comprises and is fixed on the first gripper shoe 120 away from the fixing band 230 of one end of receptive cavity 110.Fixing band 230 is fixed on amputee's upper arm.Be appreciated that fixing band 230 can be for one or more.And not only fixing band 230 can be fixed on upper arm, can also add fixing band 230 and be fixed on shoulder, make artificial limb 100 more firm, difficult drop-off simultaneously.
Above-mentioned artificial limb 100 practical function operations are specific as follows:
While capturing lighter object when doing evil through another person, the electromyographic signal that amputee produces is quite faint, the electromyographic signal conversion power that myoelectricity acquisition module 182 collects is less than the power-assisted threshold value of setting according to amputee's practical situation, be not enough to trigger artificial limb 100 and realize power-assisted, therefore the driving shaft 150 of artificial limb 100 is not worked, driving device 160 jackshafts are in releasing orientation, amputee's freely-movable, receptive cavity 110 fits tightly with stump, stressed less.
While capturing heavier object when doing evil through another person, the electromyographic signal that amputee produces is stronger, the electromyographic signal conversion power that myoelectricity acquisition module 182 collects is greater than power-assisted threshold value, trigger driving device 160 work, realize power-assisted, for example servomotor jackshaft is locked, by control system 180, realized the control of driving device 160, amputee's receptive cavity 110 is held up, and amputee's stump can not be subject to larger oppressive force, has on the contrary the effect of alleviating.When doing evil through another person of amputee lifted object, the first electromyographic signal performance Main Function, servomotor positive direction is rotated, i.e. the ectoskeleton part forward power-assisted of artificial limb; When amputee does evil through another person while putting down object, the second electromyographic signal accounts for mainly, and servomotor rotates backward, and the driving shaft 150 of artificial limb rotates backward, and power-assisted is provided; After putting down object, amputee's muscle is in relaxed state, and the driving shaft 150 of artificial limb quits work automatically, and servomotor, in free state, lifts restrictions, and artificial limb can be exercised the function the same with existing artificial limb, and it is freely movable to realize.Special instruction, the action of lifting and put down that amputee does evil through another person is moved and is agreed with substantially completely with amputee self, meet the conventional motor habit of human body, be that amputee self electromyographic signal producing of raising one's hand is lifted action for controlling to do evil through another person, amputee self puts down the electromyographic signal of generation and puts down action for controlling to do evil through another person.
When not wishing power-assisted ectoskeleton part, also can be unloaded, only realize conventional prosthesis function.
Above-mentioned artificial limb 100, when forearm amputee uses, the stub end of receptive cavity 110 is enclosed within on forearm 300 deformed limbs, bandage 130 is tied up on forearm 300 stumps, one end of the first gripper shoe 130 is fixedly connected with the stub end of receptive cavity 110, the other end and driving shaft 150 are rotationally connected, one end of the second gripper shoe 140 is fixedly connected with bandage 130, bandage 130 is fixed on amputee's upper arm 400, thereby receptive cavity 110 and amputee's upper arm 400 are held together, have effectively prevented coming off of artificial limb 100; When carrying weight, because receptive cavity 110 and amputee's upper arm 400 are held together, upper arm can be shared the heavy burden of a part for receptive cavity 110, improves the heavy burden ability of above-mentioned artificial limb 100, therefore, and above-mentioned artificial limb 100 difficult drop-offs and there is good heavy burden ability; In addition, by driving device 160 and driving shaft 150, be electrically connected, control system 180 is all electrically connected with driving device 160 and sensor 170, and the electromyographic signal that sensor 170 is gathered is converted to driving signal, with accessory drive 160 runnings, be conducive to realize amputee and control and do evil through another person by consciousness, make to do evil through another person more flexible, guaranteed that artificial limb 100 is worn on stability and the comfortableness on stump.
And above-mentioned artificial limb 100, at the traditional function of normal performance artificial limb, has also further promoted the function of conventional prosthesis, alleviated on the one hand amputee while dressing artificial limb 100, the compressing of 110 pairs of stumps of receptive cavity, is distributed to upper arm and shoulder by compressing; Widen on the other hand the scope of application of artificial limb 100, on speed and vigor, all promoted to some extent, increased amputee's job opportunity.And above-mentioned artificial limb 100 is simple in structure, easy to operate, light and handy, be convenient to dress and be also easy to carry.
And above-mentioned artificial limb 100 has the following advantages:
(1) simple in structure, dress firm.Artificial limb 100 has merged ectoskeletal feature, adopt the arc of light material processing can be closely and larger area be fitted in amputee's forearm and upper arm, and adopt the artificial limb connecting ring of high duty metal material to fix prosthetic socket, each element of artificial limb 100 is linked together, guaranteed the fixing that structure is dressed.
(2) easy to operate.The operation of dressing: adopt bandage to realize the wearing of upper limb power-assisted exoskeleton artificial limb simple and convenient, the gathering sill 122 in the second gripper shoe 120 can simple adjustment to realize elbow joint concentric with driving shaft 150; The operation that shows and regulate: by push-botton operation, realize power-assisted threshold setting, come display threshold size, optional different animation display mode by imitate cartoon.
(3) control and meet the operation of human body custom, compared with hommization.When action is raise one's hand in amputee's realization, the electromyographic signal of generation is controlled artificial limb 100 realizations and is raise one's hand; When amputee puts down action, the electromyographic signal of generation is controlled artificial limb 100 object is put down.When if strength is less than threshold setting, directly by receptive cavity 110, itself carry out execution with doing evil through another person, do not exist power-assisted to disturb.
(4) can realize rehabilitation assessment.Artificial limb 100 can be applicable to the weak amputee of muscular strength, regulates display module 188 can set power-assisted threshold value, when muscular strength hour, can set less power-assisted threshold value, through rehabilitation training after a while, by the known muscular strength increment of imitate cartoon, re-starting power-assisted threshold setting.Medical personnel and amputee or family members can carry out entry evaluation to amputee's Myodynamia recovery degree.
And above-mentioned artificial limb 100, can also be for AE amputation not only for BE amputation person; Equally, this power-assisted thought can also be diffused into lower limb power-assisted.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (14)
1. an artificial limb, is characterized in that, comprising:
Receptive cavity is the leakage head housing of stub end and the equal opening of little head end;
The first gripper shoe, one end is connected with the stub end of described receptive cavity;
Bandage, arranges with described receptive cavity interval, and the stub end of close described receptive cavity;
The second gripper shoe, one end is fixedly connected with described bandage;
Driving shaft, away from one end of described receptive cavity and described the second gripper shoe, the one end away from described bandage is rotationally connected with described the first gripper shoe respectively at two ends;
Driving device, is electrically connected with described driving shaft, for driving described drive shaft turns;
Sensor, for gathering electromyographic signal; And
Control system, is all electrically connected with described driving device and described sensor, and the described electromyographic signal of described sensor acquisition is converted to driving signal, to control described driving device running.
2. artificial limb as claimed in claim 1, is characterized in that, also comprises that fixed cover is located at the connecting ring on the stub end of described receptive cavity, and described the first gripper shoe is connected with described connecting ring away from one end of described driving shaft.
3. artificial limb as claimed in claim 2, is characterized in that, described the first gripper shoe is provided with gathering sill, and described connecting ring is provided with slide protrusion, and described slide protrusion is arranged in described gathering sill, and along described gathering sill slidably.
4. artificial limb as claimed in claim 2, is characterized in that, described connecting ring is open loop structure.
5. artificial limb as claimed in claim 1, is characterized in that, also comprises one end and the fixed bar that one end be fixedly connected with, the other end with described drive shaft turns be connected of described the first gripper shoe away from described receptive cavity.
6. artificial limb as claimed in claim 1, is characterized in that, the shaft-like fixture that also comprise that one end is connected with described drive shaft turns, the other end and described the second gripper shoe is fixedly connected with away from one end of described bandage.
7. artificial limb as claimed in claim 1, is characterized in that, also comprises and is fixed on described the first gripper shoe away from the fixing band of one end of described receptive cavity.
8. artificial limb as claimed in claim 1, is characterized in that, described bandage is two, and described two bandages are individually fixed in the two ends of described the second gripper shoe.
9. artificial limb as claimed in claim 1, is characterized in that, described the first gripper shoe is arc.
10. artificial limb as claimed in claim 1, is characterized in that, described the second gripper shoe is arc.
11. artificial limbs as claimed in claim 1, is characterized in that, described driving device is for driving reducing motor.
12. artificial limbs as claimed in claim 1, is characterized in that, described control system comprises:
Electromyographic signal collection module, is electrically connected with described sensor, and the described electromyographic signal of described sensor acquisition is carried out to preliminary treatment;
Main control module, is electrically connected with described electromyographic signal collection module, for the described electromyographic signal after described electromyographic signal collection resume module is further processed; And
Driver module, is electrically connected with described main control module and described driving device, and receives the signal after described main control module is processed, and described signal is converted to driving signal, to control described driving device running.
13. artificial limbs as claimed in claim 12, it is characterized in that, described control system also comprises feedback module, and described feedback module and described main control module and described driving device are all electrically connected, and the running angle of described driving device and torque are fed back to described main control module.
14. artificial limbs as claimed in claim 12, it is characterized in that, described main control module is provided with power-assisted threshold values, described control system also comprises the adjusting display module being electrically connected with described main control module, and described adjusting display module is for showing electromyographic signal after described main control module is processed and for regulating the power-assisted threshold values of described main control module.
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| CN201310674876.XA CN103655011B (en) | 2013-12-11 | 2013-12-11 | Artificial limb |
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| CN201310674876.XA CN103655011B (en) | 2013-12-11 | 2013-12-11 | Artificial limb |
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| CN103655011B CN103655011B (en) | 2016-04-13 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104306088A (en) * | 2014-10-30 | 2015-01-28 | 上海交通大学 | Upper arm prosthesis module with initiative shoulder joint |
| CN106880427A (en) * | 2017-04-10 | 2017-06-23 | 周佰利 | A kind of artificial limb machinery foot that can quickly walk |
| CN107411856A (en) * | 2017-05-25 | 2017-12-01 | 国家康复辅具研究中心 | Artificial limb and aid |
| CN108145751A (en) * | 2017-12-07 | 2018-06-12 | 山东科技大学 | Detachable mechanical arm auxiliary load carrier, help the disabled mechanical arm and its application method of helping the disabled |
| CN108261274A (en) * | 2018-03-16 | 2018-07-10 | 郭伟超 | A kind of two-way deformed limb interface system controlled for prosthetic hand with perceiving |
| CN109328045A (en) * | 2016-04-29 | 2019-02-12 | 奥托·博克保健产品有限公司 | Artificial limb cartridge system and prosthetic cylinder and lining |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
| CN113367862A (en) * | 2021-06-07 | 2021-09-10 | 中国科学院深圳先进技术研究院 | Feedback joint |
| CN115708734A (en) * | 2022-11-30 | 2023-02-24 | 国家康复辅具研究中心 | Intelligent upper limb prosthesis with self-adaptive adjustment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104306088B (en) * | 2014-10-30 | 2016-07-06 | 上海交通大学 | There is the above elbow prosthesis module of active shoulder joint |
| CN104306088A (en) * | 2014-10-30 | 2015-01-28 | 上海交通大学 | Upper arm prosthesis module with initiative shoulder joint |
| US11596531B2 (en) | 2016-04-29 | 2023-03-07 | Otto Bock Healthcare Products Gmbh | Prosthetic socket system, and prosthetic socket and liner |
| CN109328045A (en) * | 2016-04-29 | 2019-02-12 | 奥托·博克保健产品有限公司 | Artificial limb cartridge system and prosthetic cylinder and lining |
| CN106880427B (en) * | 2017-04-10 | 2018-09-07 | 泰山医学院 | A kind of artificial limb machinery foot that can quickly walk |
| CN106880427A (en) * | 2017-04-10 | 2017-06-23 | 周佰利 | A kind of artificial limb machinery foot that can quickly walk |
| CN107411856A (en) * | 2017-05-25 | 2017-12-01 | 国家康复辅具研究中心 | Artificial limb and aid |
| CN108145751A (en) * | 2017-12-07 | 2018-06-12 | 山东科技大学 | Detachable mechanical arm auxiliary load carrier, help the disabled mechanical arm and its application method of helping the disabled |
| CN108261274A (en) * | 2018-03-16 | 2018-07-10 | 郭伟超 | A kind of two-way deformed limb interface system controlled for prosthetic hand with perceiving |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
| CN113367862A (en) * | 2021-06-07 | 2021-09-10 | 中国科学院深圳先进技术研究院 | Feedback joint |
| CN113367862B (en) * | 2021-06-07 | 2022-05-17 | 中国科学院深圳先进技术研究院 | Feedback joint |
| CN115708734A (en) * | 2022-11-30 | 2023-02-24 | 国家康复辅具研究中心 | Intelligent upper limb prosthesis with self-adaptive adjustment |
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| CN103655011B (en) | 2016-04-13 |
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