CN103655011B - Artificial limb - Google Patents
Artificial limb Download PDFInfo
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- CN103655011B CN103655011B CN201310674876.XA CN201310674876A CN103655011B CN 103655011 B CN103655011 B CN 103655011B CN 201310674876 A CN201310674876 A CN 201310674876A CN 103655011 B CN103655011 B CN 103655011B
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- gripper shoe
- receptive cavity
- driving device
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- artificial limb
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Abstract
A kind of artificial limb, comprise receptive cavity, the first gripper shoe, bandage, the second gripper shoe, driving shaft, driving device, sensor and control system, receptive cavity is the leakage head housing of stub end and the equal opening of little head end; One end of first gripper shoe is connected with the stub end of described receptive cavity; Bandage and described receptive cavity interval are arranged, and the stub end of close described receptive cavity; One end of second gripper shoe is fixedly connected with described bandage; The two ends of driving shaft are rotationally connected away from one end of described receptive cavity and described second gripper shoe one end away from described bandage with described first gripper shoe respectively; Driving device and described driving shaft are electrically connected, for driving described drive shaft turns; Sensor is for gathering electromyographic signal; Control system and described driving device and described sensor are all electrically connected, and by the described electromyographic signal of described sensor acquisition by being converted to drive singal after signal processing, to control the running of described driving device.Above-mentioned artificial limb difficult drop-off and there is good heavy burden ability.
Description
[technical field]
The present invention relates to a kind of artificial limb.
[background technology]
The amputee that various disaster causes is innumerable, particularly arm amputee.As everyone knows, hands is our creation of value and the most basic tool solving personal daily life, and many upper limb amputees can select to install artificial limb, realize simple arm and hand motion, auxiliaryly solves daily life demand.But prosthetic socket and the direct fitting area of 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 then easily causes the prosthetic socket of amputee to come off or loosens, and severe one then can cause the chronic blood circulatory disturbance 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 to be connected with receptive cavity by connector assembly, receptive cavity and amputee's stump close contact.Well imagine, receptive cavity affects the key factor that patient installs artificial limb comfort level and functional rehabilitation, and it is the pedestal of whole upper extremity prosthesis, plays while carrying own weight of doing evil through another person, and also bearing the weight that crawl object of doing evil through another person transmits.But traditional artificial limb still exists and easily 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.
A kind of artificial limb, comprising:
Receptive cavity is the leakage head housing of stub end and the equal opening of little head end;
First gripper shoe, one end is connected with the stub end of described receptive cavity;
Bandage, and described receptive cavity interval is arranged, and the stub end of close described receptive cavity;
Second gripper shoe, one end is fixedly connected with described bandage;
Driving shaft, two ends are rotationally connected away from one end of described receptive cavity and described second gripper shoe one end away from described bandage with described first gripper shoe respectively;
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 drive singal, to control the running of described driving device.
Further, also comprise fixed cover and be located at connecting ring on the stub end of described receptive cavity, described first gripper shoe is connected with described connecting ring away from one end of described driving shaft.
Further, described 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, one end and one end be fixedly connected with, the other end with described drive shaft turns be connected the fixed bar of described first gripper shoe away from described receptive cavity is also comprised.
Further, also comprise that one end is connected with described drive shaft turns, shaft-like fixture that the other end and described second gripper shoe are fixedly connected with away from one end of described bandage.
Further, also comprise and be fixed on the fixing band of described first gripper shoe away from one end of described receptive cavity.
Further, described bandage is two, and described two bandages are individually fixed in the two ends of described second gripper shoe.
Further, described first gripper shoe is arc.
Further, described 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 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 being 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 process, and described signal is converted to drive singal, to control the running of described driving device.
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 by the angle of operation of described driving device and torque feedback to described main control module.
Further, described main control module is provided with power-assisted threshold value, described control system also comprises the adjustment display module be electrically connected with described main control module, and described adjustment display module is for the electromyographic signal after showing described main control module process with for regulating the power-assisted threshold value of described main control module.
Above-mentioned artificial limb, when forearm amputee uses, the stub end of receptive cavity is enclosed within 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 second gripper shoe is fixedly connected with bandage, bandage is fixed on the upper arm of amputee, thus is held together by the upper arm of receptive cavity and amputee, effectively prevent coming off of artificial limb; When carrying weight, because the upper arm of receptive cavity and amputee is held together, upper arm can share 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, be electrically connected by driving device and driving shaft, control system and driving device and sensor are all electrically connected, and the electromyographic signal of sensor acquisition is converted to drive singal, operate with accessory drive, be conducive to realizing amputee to control to do evil through another person by consciousness, make to do evil through another person more flexible, ensure that the stability of prosthetic wearing on stump and comfortableness.
[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;
The functional schematic of the sensor that Fig. 3 is the artificial limb shown in Fig. 1, driving device and control system.
[detailed description of the invention]
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, for forearm amputee, the artificial limb 100 of an embodiment, comprises receptive cavity 110, first gripper shoe 120, bandage 130, second gripper shoe 140, driving shaft 150, driving device 160, sensor 170 and control system 180.
Receptive cavity 110 is the leakage head housing of stub end and the equal opening of little head end.Wherein, forearm 300 stump of BE amputation person is contained in the stub end of receptive cavity 110.The little head end of receptive cavity 110 forms jointing 112, and this jointing 112 is fixedly connected with (not shown) of doing evil through another person.Such as, jointing 112 is threaded with doing evil through another person, thus makes to do evil through another person with receptive cavity 110 for be removably fixedly connected with, and such amputee can configure different doing evil through another person according to the economic capability of oneself or practical use.Wherein, doing evil through another person can be i-limb bionic hand (TouchBionics company), also can be common doing evil through another person.
One end of first gripper shoe 120 is connected with the stub end of receptive cavity 110.First gripper shoe 120 fits with the forearm 300 of amputee.Wherein, the first gripper shoe 120 is arc, and arc can be fitted with the forearm 300 of amputee better, thus 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 resin material or the carbon fibre material of high strength.Thus the wearing weight of amputee can be alleviated.
Bandage 130 and receptive cavity 110 interval are arranged, and the stub end of close receptive cavity 110.Bandage 130 is for tying up at forearm 300.Bandage 130 is similar to VELCRO, can manual adjustments binding degree of tightness.
One end of second gripper shoe 140 is fixedly connected with bandage 130.Second gripper shoe 140 fits with the upper arm 400 of amputee.Second gripper shoe 140 is arc, and arc can be fitted with the upper arm 400 of amputee better, thus 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 resin material or the carbon fibre material of high strength.Thus the wearing weight of amputee can be alleviated.
In the particular 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.
The two ends of driving shaft 150 are rotationally connected away from one end of receptive cavity 110 and the second gripper shoe 140 one end away from bandage 130 with the first gripper shoe 120 respectively.
In order to make artificial limb 100 stablize, the fixed bar 190 that artificial limb 100 also comprises that one end and the first gripper shoe 120 are fixedly connected with away from one end of receptive cavity 110, the other end and driving shaft 150 are rotationally connected.Wherein, fixed bar 190 is metallic rod.
In order to increase the stability of artificial limb 100 further, 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 and driving shaft 150 are electrically connected, and rotate for driving driving shaft 150.Driving device 160 is for driving reducing motor.Reducing motor is driven to be preferably servo deceleration motor.
Sensor 170 is for gathering electromyographic signal.Wherein, what sensor 170 was connected to amputee's upper arm 400 bends and stretches on muscle epidermis, for gathering the first electromyographic signal and the second electromyographic signal.
Control system 180 is all electrically connected with driving device 160 and sensor 170, and the electromyographic signal that sensor 170 gathers is converted to drive singal, operates with accessory drive 160.Concrete, control system 180 comprises electromyographic signal collection module 182, main control module 184 and driver module 186.Electromyographic signal collection module 182 and sensor 180 are electrically connected, and the electromyographic signal that sensor 170 gathers are processed.Such as, electromyographic signal is carried out cushion, enlarge leadingly, low-pass filtering, high-pass filtering, trap process and rear class processing and amplifying, remove various noise.Main control module 184 and electromyographic signal collection module 182 are electrically connected, and process for the electromyographic signal after electromyographic signal collection module 182 being processed.Concrete, main control module 184 comprises a main control chip (not shown) and power supply (not shown), power supply realizes the normal work of main control chip, main control chip completes signal processing and the data-transformation facilities such as initialization, signal-obtaining, feature identification, then the drive singal after conversion is passed to driver module 186 in real time.Driver module 186 is electrically connected with main control module 184 and driving device 160, and receives the drive singal after main control module 184 process, operates with accessory drive 160.Concrete, the drive singal of driver module 186 primary recipient main control module 184, realizes the start and stop to driving device 160 and course changing control, automatically can also regulate the rotating speed of driving device 160 according to the power of drive singal.
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 by the angle of operation of driving device 160 and torque feedback to main control module 184.Be appreciated that torque is mainly converted by the electric current of servo drive motor to obtain, can Real-time Feedback on adjustment display module, regulate on the one hand power-assisted threshold value and coach, can allow the working condition of user Real Time Observation motor on the other hand.Concrete, feedback module 187 comprises limit switch (not shown), displacement transducer (not shown), limit switch is arranged near driving shaft 150, main by the movement limit of limbs at security standpoint, by spacing information feed back to main control module 184, thus stop the motion of driving device 160.Limit switch is arranged near driving shaft 150, makes driving device 160 in rotary course, for ensureing amputee's safety, extreme position is fed back main control module 184, and then stops the rotation of driving device 160.Displacement transducer is arranged in driving device 160 rotating shaft, mainly detects elbow joint rotational angle, Real-time Feedback to driving device 160, the steady running of accessory drive 160.In driving device 160 rotating shaft, installation position displacement sensor Real-time Feedback displacement is to main control module 184, ensures the steady of rotation.
Further, described main control module 184 is provided with power-assisted threshold value, control system 180 also comprises the adjustment display module 188 be electrically connected with main control module 184, regulate display module 188 for show main control module 184 process after electromyographic signal and for regulating the power-assisted threshold value of main control module 184.Concrete, regulate display module 188 can be arranged near the elbow joint of amputee, mainly the power-assisted threshold value of main control module 184 initial setting is shown in real time, preferential employing color screen display, the size of power-assisted threshold value can be regulated by button (not shown) simultaneously, when the electromyographic signal amplitude of acquisition process is converted to force parameter (force parameter here changes power referred to as electromyographic signal) by certain process, when electromyographic signal conversion power is less than power-assisted threshold value, driving device 160 is in the state of freely unclamping, the arm of amputee can be freely movable, when the electromyographic signal conversion power of acquisition process is greater than power-assisted threshold value, driving device 160 is locked immediately and is received the control of electromyographic signal, realize power-assisted, the number exceeding power-assisted can be presented on color screen in real time by imitate cartoon, the optional different mode of imitate cartoon.Due to power-assisted threshold might be set, therefore also can realize the entry evaluation of upper arm muscle force recovering.
Further, artificial limb 100 also comprises fixed cover and is located at connecting ring 220, first gripper shoe 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, thus can regulate the size of connecting ring 220 according to the peripheral degree of receptive cavity 110.The material of connecting ring 220 is metalwork.Further, connecting ring 220 can be one or more.Wherein, connecting ring 220 is removably fixedly connected with receptive cavity 110.When being disassembled from receptive cavity 110 by connecting ring 220, only realize the function of conventional prosthesis.
Practical situation for the ease of amputee regulates the length of forearm, and 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 identical also can not be identical.
Further, artificial limb 100 also comprises and is fixed on the fixing band 230 of the first gripper shoe 120 away from one end of receptive cavity 110.Fixing band 230 is fixed on the upper arm of amputee.Be appreciated that fixing band 230 can for one or more.And not only can fixing band 230 be fixed on upper arm, can also add fixing band 230 is fixed on shoulder simultaneously, makes artificial limb 100 more firm, difficult drop-off.
Above-mentioned artificial limb 100 practical function operation is specific as follows:
When 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 according to the setting of 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 does not work, driving device 160 jackshaft is in releasing orientation, amputee's freely-movable, receptive cavity 110 and stump fit tightly, stressed less.
When 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 to work, realize power-assisted, such as servomotor jackshaft is locked, the control of driving device 160 is realized by control system 180, the receptive cavity 110 of amputee is held up, and the stump of amputee by larger oppressive force, can not have and alleviate effect on the contrary.When amputee do evil through another person lift object time, first electromyographic signal play Main Function, servomotor positive direction rotate, i.e. the ectoskeleton part forward power-assisted of artificial limb; When amputee do evil through another person put down object time, the second electromyographic signal accounts for mainly, and servomotor rotates backward, and namely the driving shaft 150 of artificial limb rotates backward, and provides power-assisted; After putting down object, amputee's muscle is in relaxed state, and the driving shaft 150 of artificial limb quits work automatically, and servomotor is in free state, lifts restrictions, and artificial limb can exercise the function the same with existing artificial limb, and it is freely movable to realize.Special instruction, what amputee did evil through another person lift and put down action and amputee self action of doing agrees with substantially completely, meet human body conventional action custom, namely amputee self electromyographic signal produced of raising one's hand is done evil through another person lift action for being controlled, and the electromyographic signal that amputee self puts down generation puts down action for controlling to do evil through another person.
When not wishing assistance exoskeleton part, also can be unloaded, only being realized conventional prosthesis function.
Above-mentioned artificial limb 100, when forearm amputee uses, the stub end of receptive cavity 110 is enclosed within forearm 300 deformed limb, bandage 130 is tied up on forearm 300 stump, one end of 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 second gripper shoe 140 is fixedly connected with bandage 130, bandage 130 is fixed on the upper arm 400 of amputee, thus the upper arm 400 of receptive cavity 110 with amputee is held together, effectively prevent coming off of artificial limb 100; When carrying weight, because receptive cavity 110 upper arm 400 with amputee is held together, upper arm can share 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-off and there is good heavy burden ability; In addition, be electrically connected by driving device 160 and driving shaft 150, control system 180 is all electrically connected with driving device 160 and sensor 170, and the electromyographic signal that sensor 170 gathers is converted to drive singal, operate with accessory drive 160, be conducive to realizing amputee to control to do evil through another person by consciousness, make to do evil through another person more flexible, ensure that artificial limb 100 is worn on stability on stump and comfortableness.
And above-mentioned artificial limb 100 is at the normal traditional function playing artificial limb, also improves the function of conventional prosthesis further, alleviate amputee on the one hand when dressing artificial limb 100, the compressing of receptive cavity 110 pairs of stumps, is distributed to upper arm and shoulder by compressing; Widen the scope of application of artificial limb 100 on the other hand, speed and vigor has promoted all to some extent, adds the job opportunity of amputee.And above-mentioned artificial limb 100 structure is simple, 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) structure simple, dress firm.Artificial limb 100 has merged ectoskeletal feature, adopt light material processing arc can 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, ensure that the fixing that structure is dressed.
(2) easy to operate.The operation of dressing: adopt bandage to realize the wearing of upper limb assistance 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; Display and the operation regulated: by push-botton operation, realize the setting of power-assisted threshold value, carry out display threshold size, optional different animation display mode by imitate cartoon.
(3) control to meet the operation of human body custom, comparatively hommization.When amputee realizes raising one's hand action, the electromyographic signal of generation controls artificial limb 100 and realizes raising one's hand; When amputee carries out putting down action, the electromyographic signal of generation controls artificial limb 100 and is put down by object.If when strength is less than threshold value setting, directly itself carry out execution by receptive cavity 110 with doing evil through another person, there is not power-assisted interference.
(4) rehabilitation assessment can be realized.Artificial limb 100 can be applicable to the more weak amputee of muscular strength, regulates display module 188 can set power-assisted threshold value, when muscular strength is less, less power-assisted threshold value can be set, through rehabilitation training after a while, by the known muscular strength increment of imitate cartoon, re-starting the setting of power-assisted threshold value.Medical personnel and amputee or family members can carry out entry evaluation to amputee's Myodynamia recovery degree.
And above-mentioned artificial limb 100 is not only for BE amputation person, can also be used for AE amputation; Equally, this power-assisted thought can also be diffused into lower limb power-assisted.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not 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 (5)
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;
First gripper shoe, it is arc and is light-high-strength organic plates, and one end is connected with the stub end of described receptive cavity, which is provided with gathering sill;
Bandage, and described receptive cavity interval is arranged, and the stub end of close described receptive cavity;
Second gripper shoe, it is arc and is light-high-strength organic plates, and one end is fixedly connected with described bandage;
Driving shaft, two ends are rotationally connected away from one end of described receptive cavity and described second gripper shoe one end away from described bandage with described first gripper shoe respectively;
Connecting ring, it is open loop structure, and fixed cover is located on the stub end of described receptive cavity, described first gripper shoe is connected with described connecting ring away from one end of described driving shaft, described connecting ring is provided with slide protrusion, and described slide protrusion is arranged in described gathering sill, and along described gathering sill slidably;
Driving device, it, for driving reducing motor, 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 drive singal, and to control the running of described driving device, 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 preliminary treatment;
Main control module, is electrically connected with described electromyographic signal collection module, and for the described electromyographic signal after described electromyographic signal collection resume module being further processed, described main control module is provided with power-assisted threshold value; And
Driver module, is electrically connected with described main control module and described driving device, and receives the signal after described main control module process, and described signal is converted to drive singal, to control the running of described driving device;
Feedback module, is all electrically connected with described main control module and described driving device, and by the angle of operation of described driving device and torque feedback extremely described main control module;
Regulate display module, be electrically connected with described main control module, described adjustment display module is for the electromyographic signal after showing described main control module process with for regulating the power-assisted threshold value of described main control module.
2. artificial limb as claimed in claim 1, is characterized in that, also comprise one end and one end be fixedly connected with, the other end with described drive shaft turns be connected the fixed bar of described first gripper shoe away from described receptive cavity.
3. artificial limb as claimed in claim 1, is characterized in that, also comprises that one end is connected with described drive shaft turns, shaft-like fixture that the other end and described second gripper shoe are fixedly connected with away from one end of described bandage.
4. artificial limb as claimed in claim 1, is characterized in that, also comprise and be fixed on the fixing band of described first gripper shoe away from one end of described receptive cavity.
5. artificial limb as claimed in claim 1, it is characterized in that, described bandage is two, and described two bandages are individually fixed in the two ends of described second gripper shoe.
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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 true CN103655011B (en) | 2016-04-13 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| DE102016108046B4 (en) * | 2016-04-29 | 2017-11-30 | Otto Bock Healthcare Products Gmbh | Prosthetic shaft system and prosthesis shaft and liner |
| CN106880427B (en) * | 2017-04-10 | 2018-09-07 | 泰山医学院 | 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 |
| CN108145751B (en) * | 2017-12-07 | 2020-10-13 | 山东科技大学 | Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm |
| 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 |
| CN110123496B (en) * | 2019-05-20 | 2021-02-12 | 上海交通大学 | Upper limb movement function compensation equipment |
| CN113367862B (en) * | 2021-06-07 | 2022-05-17 | 中国科学院深圳先进技术研究院 | Feedback joint |
| CN115708734B (en) * | 2022-11-30 | 2023-05-12 | 国家康复辅具研究中心 | Intelligent upper limb artificial limb with self-adaptive adjustment function |
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| CN2034048U (en) * | 1988-07-15 | 1989-03-15 | 上海交通大学 | Myoelectric artificial hand and arm sleeve |
| CN101636142A (en) * | 2007-03-22 | 2010-01-27 | 国立大学法人筑波大学 | Rehabilitation supporting device |
| CN202724050U (en) * | 2012-09-08 | 2013-02-13 | 陈福生 | Extendible forearm artificial limb |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7396337B2 (en) * | 2002-11-21 | 2008-07-08 | Massachusetts Institute Of Technology | Powered orthotic device |
| US9757266B2 (en) * | 2010-06-01 | 2017-09-12 | Saebo, Inc. | Orthotic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2034048U (en) * | 1988-07-15 | 1989-03-15 | 上海交通大学 | Myoelectric artificial hand and arm sleeve |
| CN101636142A (en) * | 2007-03-22 | 2010-01-27 | 国立大学法人筑波大学 | Rehabilitation supporting device |
| CN202724050U (en) * | 2012-09-08 | 2013-02-13 | 陈福生 | Extendible forearm artificial limb |
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