CN105223010B - A kind of parallel bionical knee hip joint tester - Google Patents
A kind of parallel bionical knee hip joint tester Download PDFInfo
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- CN105223010B CN105223010B CN201510659168.8A CN201510659168A CN105223010B CN 105223010 B CN105223010 B CN 105223010B CN 201510659168 A CN201510659168 A CN 201510659168A CN 105223010 B CN105223010 B CN 105223010B
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 82
- 210000003127 knee Anatomy 0.000 title claims abstract description 8
- 210000000629 knee joint Anatomy 0.000 claims abstract description 119
- 238000012360 testing method Methods 0.000 claims abstract description 60
- 238000009434 installation Methods 0.000 claims abstract description 6
- 239000007788 liquid Substances 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 12
- 238000002474 experimental method Methods 0.000 claims description 11
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- 241001653121 Glenoides Species 0.000 claims description 5
- 210000001624 hip Anatomy 0.000 claims description 2
- 239000012530 fluid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
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- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
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- 210000003141 lower extremity Anatomy 0.000 description 1
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- Prostheses (AREA)
Abstract
The invention discloses the parallel bionical knee hip joint tester of one kind, including hip joint experimental rig and knee joint experimental rig, the hip joint experimental rig is located above knee joint experimental rig, and shares same moving platform between the two.The present invention is capable of the motion conditions and movement environment of more truly analogsimulation human body knee joint and hip joint, compact conformation, easy for installation, good test effect by the cooperation of mechanism.
Description
Technical field
The invention discloses the parallel bionical knee-hip joint tester of one kind, a kind of hydraulic system loading is relate to, it is in parallel
Parallel bionical knee-hip joint tester of type of drive.Friction-wear test to artificial knee joint material uses parallel connection
Type of drive, belongs to instrumental science or bio-robot field.
Background technology
Joint prosthesis is a kind of implantable prosthese for simulating human synovial, the joint impaired for substituting lesion, is recovered
Its normal function.It is most widely hip joint and knee joint to use now.The abrasion of joint prosthesis, which is that clinic one is important, asks
Topic.Recent domestic scholar is to hip joint and the successive developmental research of kneed simulation test device.Succeed in developing at present
Hip joint experimental provision uses pin-mill damage experiment, ring-mill damage experiment, four-ball wear test and block ring wear test etc.,
Focus on the research to the friction and wear behavior of material.Because the limitation of structure can not carry out the secondary fretting wear examination in full-scale joint
Test.Up to the present, the knee joint experimental rig succeeded in developing both at home and abroad is broadly divided into 3 classes：Sphere-contact type, prosthese power and fortune
Dynamic direct control type, knee joint muscular force rebuilding type.The disk of the uses such as ball test machine such as Wang and the testing machine of face contact
Rotated with vertical axial and replace in the past reciprocal forms of motion；Prosthese power and move direct control type testing machine it is main using foreign countries as
Main, the research such as Walker and Hsish is found, the transition assembling of shin bone ankle nest and femur ankle nest is only most rational collocation form；
The testing machine of the developments such as Pual realizes that femoral prosthesis is moved forward and backward using pneumatic double leval jib, and research direction turns to slight movement side
To, but still can only imitate componental movement；It is one kind motor, cylinder or hydraulic pressure to simulate knee joint muscular force group's testing machine
The type of drive such as cylinder simulate the muscle group of human body lower limbs and knee joint dependent interaction, try hard to more accurately to simulate knee joint true
Real stressing conditions and motion state.Wherein with the Kansas knee fan simulation test machine of Guess and Maletsky developments most
For typical case, the testing machine realizes motion using servo valve control hydraulic cylinder.Power on each axle can realize measurement and control.Stock
Musculus quadriceps controls the flexion angle of knee joint stress and motion and hip, while Patellar joint by hydraulic cylinder is come simulated implementation
Motion be also achieved.In order to more accurately and reliably test the performance of joint prosthesis.It must develop closer to human synovial
The secondary friction wear testing machine in the full-scale joint of actual motion characteristic and mechanical property.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of parallel bionical knee-hip and closed
Save testing machine, by the cooperation of mechanism, can more truly the motion conditions of analogsimulation human body knee joint and hip joint and
Movement environment, compact conformation, easy for installation, good test effect.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of parallel bionical knee-hip joint tester, including hip joint experimental rig and knee joint experimental rig, it is described
Hip joint experimental rig is located above knee joint experimental rig, and shares the second moving platform between the two；The hip joint
Experimental rig includes the first support column, the first upper backup pad, the second moving platform, the first intermediate studdle, the first moving platform, hip joint
Test component, hip joint hydraulic loading system and some hip joint active branched chains, one end of first support column is vertically fixed
On the second moving platform, the other end support of first support column is provided with the first upper backup pad, first upper backup pad
It is parallel with the second moving platform, it is provided with hip joint hydraulic loading system on first upper backup pad；First intermediate studdle
One end is fixedly installed on fixed platform through the second moving platform, and the first intermediate studdle other end is provided with hip joint bearing base
Hip joint test component is fixed with seat, hip joint bearing base, the hip joint hydraulic loading system tests structure with hip joint
Part loading connection；Some described hip joint active branched chain one end are set with the first moving platform ball pivot, the other end and the second moving platform
Ball pivot is set；Described hip joint test component is fixed on inside the first moving platform；The knee joint experimental rig includes
Second support column, the second upper backup pad, fixed platform, the second intermediate studdle, the second moving platform, knee joint test component, knee joint
Hydraulic loading system, knee joint active branched chain group and knee joint connection branch chain group, one end of second support column, which is fixed on, determines
On platform, the other end support of second support column is provided with the second upper backup pad, second upper backup pad and fixed platform
It is parallel, it is provided with knee joint hydraulic loading system on second upper backup pad；One end of second intermediate studdle is fixed
On fixed platform, the other end of second intermediate studdle, which is fixed with knee joint bearing base, knee joint bearing base, to be fixed
There is knee joint test component, the knee joint hydraulic loading system is connected with the loading of knee joint test component；The knee-joint active
Dynamic branch chain group includes a pair or more than a pair knee joint active branched chains being symmetrically distributed on fixed platform, each knee-joint active
One end of dynamic side chain is set with fixed platform ball pivot, and the other end of each knee joint active branched chain is set with the second moving platform ball pivot
Put, the knee joint connection branch chain group includes a pair be symmetrically distributed on fixed platform or more than a pair knee joint connection side chains,
One end of each knee joint connection side chain is fixedly installed with fixed platform, and the other end of each knee joint connection side chain and second moves flat
Table-hinges connects；Described knee joint test component is fixed on inside the second moving platform.
Further, it is chimeric inside second moving platform to be provided with double-row angular contact bal bearing, the double row angular contact
Connecting rod is provided through inside ball bearing, two ends of the knee joint connection side chain respectively with connecting rod are hinged described in each pair.
Further, the angle of the knee joint active branched chain and fixed platform plane normal is 3 °, and the hip joint is actively
The angle of side chain and the second moving platform plane normal is 8 °~10 °.
Further, first moving platform be by three equally distributed hip joint active branched chain parallel drives, it is described
Second moving platform is to be uniformly distributed parallel drive, and the knee by two knee joint active branched chains and two knee joint connection side chains
Joint active branched chain and knee joint connection side chain are linear-motion actuator.
Further, the hip joint hydraulic loading system includes first hydraulic cylinder, the first liquid presses piston pole, the first guiding
Set, the first guide pad and the first force snesor, the first hydraulic cylinder are fixed on the first upper backup pad, the first hydraulic cylinder
It is connected with the first liquid presses piston pole, first liquid presses piston pole is connected with the first guide pad in the first fairlead, described
One force snesor one end and the connection of the first guide pad；The first force snesor other end is connected with the first fossa glenoid, and described
One fossa glenoid and hip joint test component are fitting to connection, and the hip joint test component is fixed on hip joint bearing base, institute
Hip joint bearing base is stated on the first intermediate studdle.
Further, the knee joint hydraulic loading system includes second hydraulic cylinder, the second liquid presses piston pole, the second guiding
Set, the second guide pad, the second force snesor, the second hydraulic cylinder are fixed on the second upper backup pad, the second hydraulic cylinder
It is connected with the second liquid presses piston pole, second liquid presses piston pole is connected with the second guide pad in the second fairlead, described
Two force snesor one end and the connection of the second guide pad；The second force snesor other end is connected with second joint nest, and described
Two fossa glenoids and knee joint test component are fitting to connection, and the knee joint test component is fixed on knee joint bearing base, institute
Knee joint bearing base is stated on the second intermediate studdle.
Further, described hip joint bearing base can be rotated with the first moving platform, the hip joint bearing base
The centre of sphere overlapped with the first intermediate supports mast axis；The knee joint bearing base can be rotated with the second moving platform, the knee
The centre of sphere of oscillating bearing pedestal is overlapped with the second intermediate supports mast axis.
Beneficial effect：The present invention uses parallel structure type, and rigidity is big, and Stability Analysis of Structures is compact；Move link few, be not in
Accumulated error.Simultaneously using the secondary form in full-scale joint, human body truth is as a result more nearly.Using servo electricity in terms of driving
Machine drives the type of belt drive of ball-screw, and speed is more easy to control, high precision.
Brief description of the drawings
Fig. 1 is the front view of hip joint experimental rig of the present invention；
Fig. 2 is the top view of hip joint experimental rig of the present invention；
Fig. 3 is the front view of knee joint experimental rig of the present invention；
Fig. 4 is the side view of knee joint experimental rig of the present invention；
Fig. 5 is double-row angular contact bal bearing and the set-up mode structural representation of connecting rod in the present invention；
Fig. 6 is structural representation of the invention；
Fig. 7 is kinematic sketch of the invention.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of parallel bionical knee-hip joint tester, including hip joint experimental rig and knee joint examination as shown in Figure 6,7
Experiment device, the hip joint experimental rig is located above knee joint experimental rig, and shares the second moving platform between the two
17。
As shown in Fig. 1,2,3 and 4, the hip joint experimental rig includes the first support column 1, the first upper backup pad 3, second
Moving platform 17, the first intermediate studdle 14, the first moving platform 4, hip joint test component, hip joint hydraulic loading system and three phases
Same hip joint active branched chain 13, one end of first support column 1 is vertically fixed on the second moving platform 19, described first
The other end support of dagger 1 is provided with the first upper backup pad 3, and first upper backup pad 3 is parallel with the second moving platform 17, described
Hip joint hydraulic loading system is provided with first upper backup pad 3；The second moving platform is run through in described one end of first intermediate studdle 14
17 are fixedly installed on fixed platform 33, and the other end of the first intermediate studdle 14 is provided with hip joint bearing base 12, hip joint
Hip joint test component is fixed with bearing base 12, the hip joint hydraulic loading system is loaded with hip joint test component to be connected
Connect；Described one end of three identical hip joints active branched chain 13 is set with the ball pivot of the first moving platform 4, the other end and the second moving platform
17 ball pivots are set, and ball pivot connected mode is：First base 2 is respectively fixedly disposed on the first moving platform 4 and the second moving platform 17,
The two ends of hip joint active branched chain 13 are hinged by the first spherical hinge 15 and first base 2 respectively.Described hip joint test specimen 11
It is fixed in the ball cup in body lotion basin, body lotion basin is fixed to be connected with the first moving platform 4.
The hip joint hydraulic loading system includes first hydraulic cylinder 5, the first liquid presses piston pole 6, the first fairlead 7, the
One guide pad 8 and the first force snesor 9, the first hydraulic cylinder 5 are fixed on the first upper backup pad 3, the first hydraulic cylinder
Piston rod 6 is connected with the first guide pad 8 in the first fairlead 7, and described one end of first force snesor 9 and the first guide pad 8 connect
Connect；The other end of first force snesor 9 is connected with the first fossa glenoid 10, and the hip joint experiment test specimen 11 and its installation are fixed
Device be referred to as hip joint test component, hip joint test component is fixed on hip joint bearing base 12, the hip joint axle
Pedestal 12 is held on the first intermediate studdle 14.
The knee joint experimental rig includes the second support column 16, the second upper backup pad 18, the centre of fixed platform 33, second branch
Post 30, the second moving platform 17, knee joint test component, knee joint hydraulic loading system, knee joint active branched chain group and knee joint
Branch chain group is connected, one end of second support column 16 is fixed on fixed platform 33, the other end branch of second support column 16
Support is provided with the second upper backup pad 18, and second upper backup pad 18 is parallel with fixed platform 33, in second upper backup pad 18
On be provided with knee joint hydraulic loading system；One end of second intermediate studdle 30 is fixed on fixed platform 33, and described second
The other end of intermediate studdle 30, which is fixed with knee joint bearing base 27, knee joint bearing base 27, is fixed with knee joint experiment structure
Part, the knee joint hydraulic loading system is connected with the loading of knee joint test component；The knee joint active branched chain group include pair
Claim a pair or more than a pair knee joint active branched chains 28 being distributed on fixed platform 33, each knee joint active branched chain 28
One end is set with the ball pivot of fixed platform 33, and the other end of each knee joint active branched chain 28 is set with the ball pivot of the second moving platform 17
Put, the knee joint connection branch chain group includes a pair be symmetrically distributed on fixed platform 33 or more than a pair knee joint connection side chains
29, one end of each knee joint connection side chain 29 is fixedly installed with fixed platform 33, and each knee joint connects the other end of side chain 29
It is hinged with the second moving platform 17, ball pivot connected mode is：Second base 32 is fixedly installed on fixed platform 33, and knee joint is actively propped up
One end of chain 28 is hinged by the second spherical hinge 31 and second base 32.Described knee joint test specimen 26 is fixed in body lotion basin
In ball cup, body lotion basin is fixed to be connected with the second moving platform 19.
The knee joint hydraulic loading system include second hydraulic cylinder 20, the second liquid presses piston pole 21, the second fairlead 22,
Second guide pad 23, the second force snesor 24, the second hydraulic cylinder 20 are fixed on the second upper backup pad 18, second liquid
Pressure cylinder piston bar 21 is connected with the second guide pad 23 in the second fairlead 22, and described one end of second force snesor 24 and second is led
Connected to block 23；The other end of second force snesor 24 is connected with second joint nest 25, and the second joint nest 25 and knee are closed
Section test specimen 26 is fitting to connection, and knee joint experiment test specimen 26 and its fixed device of installation are referred to as knee joint test component, the knee
Joint test component is fixed on knee joint bearing base 27, and the knee joint bearing base 27 is arranged on the second intermediate studdle 30
On.
As shown in figure 5, the inside of the second moving platform 17 is chimeric to be provided with double-row angular contact bal bearing 34, the biserial angle
Connecting rod 19 is provided through inside contact ball bearing 34, knee joint described in each pair connects two of side chain 29 respectively with connecting rod 19
End is hinged.When second moving platform 17 simulates motion of knee joint angle, the connecting rod 19 through the second moving platform 17 can do second
The rotating fulcrum of moving platform 17 is used.
The axis of knee joint active branched chain 28 is 3 ° with the angle of the plane normal of fixed platform 33, and (i.e. second base 34 is with determining
Angle between platform 35 is 3 °), the angle of the axis of hip joint active branched chain 13 and the plane normal of the second moving platform 17 is
8 °~10 ° (angle i.e. between the moving platform 17 of first base 2 and second is 8 °~10 °).Above-mentioned angle is all by strict
Design calculating is obtained, and is obtained after optimization.
First moving platform 4 is moved by three equally distributed parallel drives of hip joint active branched chain 13, described second
Platform 17 is to be uniformly distributed parallel drive, and the knee by two knee joint active branched chains 28 and two knee joint connection side chains 29
Joint active branched chain 30 and knee joint connection side chain 31 are linear-motion actuator.Multiple side chain parallel drives can make experimental rig
With higher rigidity, and cooperation between side chain is also convenient in process of the test, can so reduce joint in experiment and try
Error between the movement locus and theory locus of part, makes result of the test relatively reliable.
Described hip joint bearing base 12 can be rotated with the first moving platform 4, the ball of the hip joint bearing base 12
The heart is overlapped with the axis of the first middle support column 14；The knee joint bearing base 27 can be rotated with the second moving platform 17, described
The centre of sphere of knee joint bearing base 27 is overlapped with the axis of the second middle support column 30.Design need moving platform have it is multiple rotate from
By spending, oscillating bearing pedestal also has multiple frees degree while moving platform is supported, and this point can be met well.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of parallel bionical knee-hip joint tester, it is characterised in that：Tested including hip joint experimental rig and knee joint
Device, the hip joint experimental rig is located above knee joint experimental rig, and shares the second moving platform between the two
(17)；
The hip joint experimental rig is included in the first support column (1), the first upper backup pad (3), the second moving platform (17), first
Between pillar (14), the first moving platform (4), hip joint test component, hip joint hydraulic loading system and some hip joints actively prop up
Chain (13), one end of first support column (1) is vertically fixed on the second moving platform (17), first support column (1)
Other end support is provided with the first upper backup pad (3), and first upper backup pad (3) is parallel with the second moving platform (17), described
First upper backup pad is provided with hip joint hydraulic loading system on (3)；Moved through second described first intermediate studdle (14) one end
Platform (17) is fixedly installed on fixed platform (33), and the first intermediate studdle (14) other end is provided with hip joint bearing base
(12) hip joint test component, the hip joint hydraulic loading system and hip joint, are fixed with hip joint bearing base (12)
Test component loading connection；Some described hip joint active branched chain (13) one end are set with the first moving platform (4) ball pivot, the other end
Set with the second moving platform (17) ball pivot；It is internal that described hip joint test component is fixed on the first moving platform (4)；
The knee joint experimental rig include the second support column (16), the second upper backup pad (18), fixed platform (33), in the middle of second
Pillar (30), the second moving platform (17), knee joint test component, knee joint hydraulic loading system, knee joint active branched chain group and
Knee joint connects branch chain group, and one end of second support column (16) is fixed on fixed platform (33), second support column
(16) other end support is provided with the second upper backup pad (18), and second upper backup pad (18) is parallel with fixed platform (33),
Knee joint hydraulic loading system is provided with second upper backup pad (18)；One end of second intermediate studdle (30) is consolidated
It is scheduled on fixed platform (33), the other end of second intermediate studdle (30) is fixed with knee joint bearing base (27), knee joint
Knee joint test component is fixed with bearing base (27), the knee joint hydraulic loading system is loaded with knee joint test component
Connection；The knee joint active branched chain group includes a pair be symmetrically distributed on fixed platform (33) or more than a pair knee joints actively
Side chain (28), one end and fixed platform (33) ball pivot of each knee joint active branched chain (28) are set, each knee joint
The other end and the second moving platform (17) ball pivot of active branched chain (28) are set, and the knee joint connection branch chain group includes symmetrical
A pair on fixed platform (33) or more than a pair knee joint connection side chains (29), one end of each knee joint connection side chain (29)
It is fixedly installed with fixed platform (33), the other end of each knee joint connection side chain (29) is hinged with connecting rod (19), and connecting rod is passed through
Wear the second moving platform (17) radial rotating；It is internal that described knee joint test component is fixed on the second moving platform (17).
2. a kind of parallel bionical knee-hip joint tester according to claim 1, it is characterised in that：Described second is dynamic flat
It is chimeric inside platform (17) to be provided with inside double-row angular contact bal bearing (34), the double-row angular contact bal bearing (34) through setting
There is connecting rod (19), two ends of the knee joint connection side chain (29) respectively with connecting rod (19) are hinged described in each pair.
3. a kind of parallel bionical knee-hip joint tester according to claim 1, it is characterised in that：The knee-joint active
The angle of dynamic side chain (28) axis and fixed platform (33) plane normal is 3 °, hip joint active branched chain (13) axis and second
The angle of moving platform (17) plane normal is 8 °~10 °.
4. a kind of parallel bionical knee-hip joint tester according to claim 1, it is characterised in that：Described first is dynamic flat
Platform (4) is that second moving platform (17) is by two by three equally distributed hip joint active branched chain (13) parallel drives
Knee joint active branched chain (28) and two knee joint connection side chains (29) are uniformly distributed parallel drive, and the knee joint is actively propped up
Chain (28) and knee joint connection side chain (29) are linear-motion actuator.
5. a kind of parallel bionical knee-hip joint tester according to claim 1, it is characterised in that：The hip joint liquid
Pressing loading system includes first hydraulic cylinder (5), the first liquid presses piston pole (6), the first fairlead (7), the first guide pad (8) and the
One force snesor (9), the first hydraulic cylinder (5) is fixed on the first upper backup pad (3), the first hydraulic cylinder (5) and the
One liquid presses piston pole (6) is connected, first liquid presses piston pole (6), first guide pad (8) phase inner with the first fairlead (7)
Even, described first force snesor (9) one end and the first guide pad (8) connection；First force snesor (9) other end and first
Fossa glenoid (10) is connected, and first fossa glenoid (10) and hip joint experiment test specimen (11) are fitting to connection, the hip joint experiment
Test specimen (11) and its fixed device of installation are referred to as hip joint test component, and hip joint test component is fixed on hip joint bearing base
On seat (12), the hip joint bearing base (12) is arranged on the first intermediate studdle (14).
6. a kind of parallel bionical knee-hip joint tester according to claim 1, it is characterised in that：The Knee Joint Fluid
Pressing loading system includes second hydraulic cylinder (20), the second fairlead (22), the second guide pad (23), the second force snesor (24),
The second hydraulic cylinder (20) is fixed on the second upper backup pad (18), and the second hydraulic cylinder piston rod (21) is oriented to second
Cover (22) inner second guide pad (23) to be connected, described second force snesor (24) one end and the second guide pad (23) connection；Institute
State the second force snesor (24) other end to be connected with second joint nest (25), the second joint nest (25) and knee joint experiment examination
Part (26) is fitting to connection, and the knee joint experiment test specimen (26) and its fixed device of installation are referred to as knee joint test component, institute
State knee joint test component component to be fixed on knee joint bearing base (27), the knee joint bearing base (27) is arranged on the
On two intermediate studdles (30).
7. a kind of parallel bionical knee-hip joint tester according to claim 5 or 6, it is characterised in that：Described hip is closed
Bearings pedestal (12) can be rotated with the first moving platform (4), in the middle of the centre of sphere and first of the hip joint bearing base (12)
Pillar (14) axis is overlapped；The knee joint bearing base (27) can rotate with the second moving platform (17), the knee axis
The centre of sphere for holding pedestal (27) is overlapped with the second intermediate studdle (30) axis.
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| CN201510659168.8A CN105223010B (en) | 2015-10-12 | 2015-10-12 | A kind of parallel bionical knee hip joint tester |
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| CN201510659168.8A CN105223010B (en) | 2015-10-12 | 2015-10-12 | A kind of parallel bionical knee hip joint tester |
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| CN106448400B (en) * | 2016-10-12 | 2022-09-20 | 中南大学 | Human knee joint bone friction simulation test device |
| CN106840642B (en) * | 2017-04-01 | 2023-04-21 | 中北大学 | Reconfigurable parallel/series-parallel mechanism experimental device component system |
| CN109925164B (en) * | 2019-02-28 | 2023-11-28 | 浙江工业大学 | Rope-driven inner foot mechanism for lower limb rehabilitation robot |
| CN109925165B (en) * | 2019-02-28 | 2023-11-28 | 浙江工业大学 | Rope-driven 4+2 type lower limb rehabilitation robot |
| CN110672287B (en) * | 2019-09-20 | 2021-07-13 | 北京精密机电控制设备研究所 | Rigidity measuring device of electric actuator |
| CN111618881B (en) * | 2020-06-12 | 2021-03-16 | 嘉兴学院 | Humanoid robot system based on pneumatics |
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| US6865954B2 (en) * | 2003-03-10 | 2005-03-15 | Spinecore, Inc. | Joint simulator testing machine |
| DE102006018868A1 (en) * | 2006-04-13 | 2007-10-18 | Universität Rostock | Joint endoprosthesis e.g. hip joint endoprosthesis, testing device, has retaining parts provided for different prosthesis parts, where retaining parts are pivotable relative to one another around different pivot axes |
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2015
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