CN106361474A - Integrated intelligent electric elbow joint - Google Patents
Integrated intelligent electric elbow joint Download PDFInfo
- Publication number
- CN106361474A CN106361474A CN201610951786.4A CN201610951786A CN106361474A CN 106361474 A CN106361474 A CN 106361474A CN 201610951786 A CN201610951786 A CN 201610951786A CN 106361474 A CN106361474 A CN 106361474A
- Authority
- CN
- China
- Prior art keywords
- elbow joint
- elbow
- gear
- decelerator
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 66
- 230000009467 reduction Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 2
- 230000008602 contraction Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 abstract 3
- 210000003414 extremity Anatomy 0.000 abstract 1
- 210000000245 forearm Anatomy 0.000 abstract 1
- 238000002266 amputation Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 208000032170 Congenital Abnormalities Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000007698 birth defect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/582—Elbow joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6854—Operating or control means for locking or unlocking a joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an integrated intelligent electric elbow joint. A driving structure of the joint and an artificial arm microprocessor control circuit are installed in an elbow joint box body, a thin self-locking driven upper arm rotator is installed at the upper end of the box body, a micromotor preceding stage speed reducer installed parallel to an elbow joint axis is provided with a secondary speed reducer, the reduction ratio of an elbow later stage speed reducer is reduced, and the elbow joint is shortened. The elbow joint has an elbow joint rotation sensor, the elbow joint rotation sensor inputs elbow joint rotation position signals to the control circuit, so that the electric elbow joint can extend or be bent to a specified angle timely according to control instructions, and the electric elbow joint can be installed on an upper arm or a forearm of an artificial limb.
Description
Technical field
The present invention relates to prosthesis technique field, particularly to the elbow joint of electrical artificial limb.
Background technology
Due to various factors such as industrial injury, vehicle accident, war, natural disaster and birth defects, unavoidably produce number
Measure many upper deficiency of skeletal limb persons, wherein some is elbow detachment or AE amputation patient.Prosthesis technique through long-term development,
Have functional elbow unit myoelectricity control above elbow prosthesis be widely used, but some external functional elbow units expensive and
Heavier-weight, is not particularly suited for east human body type, and only few groups of people select to install.Above elbow prosthesis elbow joint, in the wrong except stretching
Outside elbow function, without can self-locking upper arm spinfunction, artificial limb and amputation are installed using all inconvenient.Elbow joint, control electricity
Road, three parts of the passive rotator of upper arm occupy artificial limb space respectively, install artificial limb to upper arm length deformed limb and bring difficulty.On existing
Arm electrical artificial limb, does not have sensor feedback elbow joint spin axis position, and it is accurate that this open loop type control mode does not reach preferable control
Really property.For overcoming some the deficiencies in the prior art above, need development of new functional elbow unit.
Content of the invention
In order to overcome above-mentioned shortcoming of the prior art, provide a kind of novel intelligent functional elbow unit, the electronic elbow of collection closes
Section, intelligence control system, self-locking upper arm rotator can be integrated, particularly loaded onto elbow joint sensor, performance significantly improves,
There is structure simple, small in volume, the advantage of function admirable, the demand of the person that preferably meets AE amputation.
In order to realize above-mentioned purpose, the electronic elbow joint of this integrated combination has a following structure:
This joint drive structure and arm prosthesis control circuit are all arranged on elbow joint box house, casing upper end equipped with slim can
Self-locking passive upper arm rotator.In order to shorten elbow joint length, the installation parallel with elbow joint axle of micro machine driver.It is arranged on micro-
In motor driver housing, prime decelerator has double reduction, so that the speed reducing ratio of rear class decelerator is reduced, thus reduce rear class subtracting
The length of fast device.The prime deceleration first order is the planet wheel decelerator with friction transmission, and the second level is gear planetary wheel decelerator.
Rear class decelerator also has two-stage, and driver output gear engages the first order deceleration forming rear class, this grade of decelerator with gear wheel
In embedded box body wall, reserve the space on micro machine actuator housing both sides, arm prosthesis is laid in the space beyond case inner reduction gear box
Control circuit box, arm prosthesis intelligent control circuit is contained in box.The little gear being coaxially fixed together with gear wheel, is closed with being contained in elbow
Gear engagement on nodal axisn, constitutes the rear class second level and slows down.
The sensor of elbow joint is arranged on elbow joint next to axis side in casing, by another gear on elbow joint axle and installation
Stir the gear engagement on axle in sensor, make sensor the elbow joint anglec of rotation is detected.
Slim can self-locking passive upper arm spigot, eliminate lower connection ring, rotator bottom is directly installed on elbow joint casing
Top, can take off from casing top, install circuit box.Self locking gears are had, this passive rotator outer wall has button in upper connection ring,
Releasably embed the pin of Self locking gears, then rotatable above elbow prosthesis.Release button, pin leans on spring to embed gear, pins
Upper arm passively rotates device, and the afterbody of button is exactly this pin.
Casing passes place at elbow joint axle two ends, has lower cavity, built-in clockwork spring.Clockwork spring the inner is fixed on elbow and closes
On nodal axisn, outer end is fixed on casing, and electronic spring is rolled tightly energy storage when stretching elbow, and during electronic elbow in the wrong, spring discharges power-assisted.
The functional elbow unit of no sensor, only has when stretching elbow and elbow in the wrong to extreme position, by the spacing work(of microswitch
Can: on the elbow joint axle in casing, equipped with cam, when cam rotates to setting position with elbow joint axle, cam contact arrives on both sides
It is fixed on the microswitch on casing, produces the spacing signal of telecommunication, a microswitch produces bends the spacing control signal of elbow, another
Microswitch produces stretches the spacing control signal of elbow.When limited location signal, control circuit cuts off micro-motor power supply, so that elbow joint is limited
Position.
The benefit of the present invention
1. provide a kind of novel intelligent functional elbow unit, collect functional elbow unit, intelligent control circuit, can self-locking upper arm revolve
Turn device to be integrated, taken up space shortening, there is small in volume, the advantage of function admirable, the person that preferably meets AE amputation
Demand.
2. there is sensor, feed back elbow joint rotary position information, can be accurately finished under micro-processor control in good time
The various action of elbow joint, performance significantly improves.
Brief description
Fig. 1: the structure principle chart of integral intelligent functional elbow unit.
Fig. 2: the structure principle chart of integrated electric elbow joint.
The position view of Fig. 3: circuit box.
In figure label declaration is as follows:
1 slim can self-locking passive upper arm rotator
2 buttons
3 springs
4 spring bases
5 motor pressing cover circles
6 micro machine drivers
7 micro machine actuator housings
8 little gears
9 clockwork springs
10 cams
11 cases
12 elbow joint axles
13 screws connecting upper arm cylinder
14 screws
15 cover plates
Connection ring on 16
17 screws
18 casings
19 micro machine driver output gears
20 gear wheels
21 elbow joint shaft gears
22 clockwork springs
23 cams
24 cases
25 elbow joint output hinges
26 microswitch
27 microswitch
28 circuit box
29 Self locking gears
30 gears
31 gears
32 sensor shifting shafts
33 sensors
34 sensor stands
35 micro machines
It is embodied as example
This integral intelligent functional elbow unit joint sees that Fig. 1, driving structure and arm prosthesis control circuit are all arranged on elbow joint
Inside casing 18, casing upper end equipped with slim can self-locking passive upper arm rotator 1.In order to shorten elbow joint length, with elbow joint
The micro machine driver 6 of the parallel installation of axle has double reduction.Being arranged on prime decelerator in micro machine actuator housing 7 has two
Level, the first order is the planet wheel decelerator with friction transmission, and the second level is gear planetary wheel decelerator；Rear class decelerator also has two
Level, the output gear 19 of micro machine driver 6 is engaged with gear wheel 20, and the first order forming rear class is slowed down, and this level is slowed down embedded
Casing 18 inwall, reserves the space on micro machine actuator housing 7 both sides, for installing control circuit box 28, arm prosthesis Based Intelligent Control
Circuit is contained in circuit box 28；The little gear 8 being coaxially fixed together with gear wheel 20, with the gear being contained on elbow joint axle 12
21 engagements, constitute the rear class second level and slow down.
Slim can the passive rotator of self-locking upper arm 1, can take off from casing 18 top, install circuit box 28.Self locking gears 29
It is fixed together with upper connection ring 16.Upper connection ring 16 can be connected with arm cylinder on artificial limb with screw.This passive rotator outer wall has
Button 2, button 2 afterbody is pin, embeds Self locking gears 29 by spring 3.Pressing button 2 makes spring 3 compress, releasable self-locking tooth
Wheel 29, then rotatable above elbow prosthesis；Release button 2, the afterbody of button 2 leans on the elastic force of spring 3 to embed Self locking gears 29, pins
The passive rotator of upper arm 1.4 spring bases being integrally fixed at rotator 1 bottom, make spring 3 work in defined position.Button 2 is contained in
The bottom of passive rotator 1.The bottom of passive rotator 1 is installed together with casing 18.The bottom peace of cover plate 15 and rotator 1
It is fitted together.During passive rotation elbow joint, elbow joint casing 18 is relative with connection ring 16 to rotate.
Casing 18 passes place at elbow joint axle 12 two ends, has recessed intracavity dress clockwork spring 9,22.In clockwork spring 9,22
End is fixed on elbow joint axle 12, and outer end is fixed on casing 18.Electronic clockwork spring 9,22 is rolled tightly energy storage when stretching elbow, electricity
During dynamic elbow in the wrong, clockwork spring 9,22 discharges power-assisted.The case 11,24 that clockwork spring 9,22 is installed on casing 18 covers.
Elbow joint sensor 33 is arranged on the position near elbow joint axle 12 for the casing 18 by support 34.Tooth on elbow joint 12
Wheel 30 is engaged with the gear 31 being contained on sensor shifting shaft 32, and when elbow joint 12 rotates, shifting shaft drives the defeated of sensor
Enter end rotation, sensor output circuit connects the microprocessor port in circuit box 28, elbow joint position is constantly fed back in good time
To microprocessor.The signal of telecommunication being produced by deformed limb muscle or other control signals, manipulate microprocessor, by microprocessor according to control
Signal processed and the positional information of sensor feedback, control elbow joint to complete required action after process.
The integrated electric elbow joint of no sensor is shown in Fig. 2, only has when stretching elbow and elbow in the wrong to extreme position, spacing work(
Can:
Elbow joint axle 12 both sides in casing 18 rotate to setting equipped with cam 10,23, cam 10,23 with elbow joint axle
During position, one of cam 10,23 touches one of microswitch 26,27 being fixed on casing, produces the spacing signal of telecommunication.A pair
Cam and microswitch produce and bend the spacing control signal of elbow, and another a pair of cams and microswitch produce and stretch the spacing control signal of elbow.
When limited location signal, control circuit cuts off micro-motor power supply, makes elbow joint spacing.
Micro machine driver 6 has motor pressing cover circle 5, screws gland circle 5 and micro machine can be fixed on micro machine drive shell
In body 7.Elbow joint output hinge 25 is arranged on elbow joint axle 12 both sides.
In here explanation, this is described with specific embodiment.But it is clear that still can be former by the present invention
Reason, makes various modifications and alterations, still in the range of the innovation of the present invention.Therefore, specification and drawings are considered as explanation
Property and nonrestrictive.
Claims (5)
1. a kind of integral intelligent functional elbow unit it is characterised in that: this joint drive structure and arm prosthesis intelligent microprocessor control
Circuit processed, is all arranged on elbow joint box house, casing upper end equipped with slim can self-locking passive upper arm rotator, with elbow joint axle
The micro machine prime decelerator of parallel installation has double reduction, makes rear class decelerator contraction in length, and this elbow joint has elbow joint
Turn-sensitive device, inputs elbow joint rotating position signal to control circuit, so that this functional elbow unit can be stretched by control instruction in good time
Elbow or elbow in the wrong are to specified angle.
2. according to claim 1 it is characterised in that: the sensor of this elbow joint is arranged on elbow joint next to axis side on casing, by elbow
Gear on joint shaft engages with being arranged on sensor and stirring the gear on axle, and two gear size are identical, so that sensor is detected
To the elbow joint anglec of rotation.
3. according to claim 1 it is characterised in that: be arranged on the prime decelerator in micro machine drive shell body, the first order is
With the planet wheel decelerator of friction transmission, the second level is gear planetary wheel decelerator, and rear class decelerator also has two-stage, and driver is defeated
Go out gear and engage the first order deceleration forming rear class with gear wheel, this grade of decelerator embeds box body wall, reserve micro machine driver
The space on both sides, the little gear being coaxially fixed together with gear wheel, is engaged with the gear being contained on elbow joint axle, constitutes rear class
Slow down in the second level.
4. according to claim 1 it is characterised in that: in elbow joint casing, the remaining space of micro machine driver both sides, lay
Arm prosthesis control circuit box, arm prosthesis intelligent control circuit is installed in this box.
5. according to claim 1 it is characterised in that: slim can self-locking passive upper arm rotator, eliminate lower connection ring, rotator
Bottom is directly installed on elbow joint casing top, can take off from casing top, install circuit box, this passive rotator outer wall have by
Button, the Self locking gears being releasably fixed together with upper connection ring, then rotatable above elbow prosthesis, release button, make in spring
With under, Self locking gears by button afterbody pinning, lock upper arm and passively rotate device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951786.4A CN106361474B (en) | 2016-10-28 | 2016-10-28 | Integrated intelligent electric elbow joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951786.4A CN106361474B (en) | 2016-10-28 | 2016-10-28 | Integrated intelligent electric elbow joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361474A true CN106361474A (en) | 2017-02-01 |
| CN106361474B CN106361474B (en) | 2024-04-16 |
Family
ID=57894632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951786.4A Active CN106361474B (en) | 2016-10-28 | 2016-10-28 | Integrated intelligent electric elbow joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106361474B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771107A (en) * | 2019-01-22 | 2019-05-21 | 唐山康义合纵科技有限公司 | It is placed in the worm-gear self-locking formula artificial limb elbow joint of large arm cavity |
| CN110170986A (en) * | 2019-05-14 | 2019-08-27 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
| US11020249B2 (en) | 2017-10-16 | 2021-06-01 | Samsung Electronics Co., Ltd. | Actuator and motion assistance apparatus including the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB596206A (en) * | 1945-09-28 | 1947-12-30 | Joyce Otterman | Improvements in artificial arms |
| CN2083918U (en) * | 1991-02-06 | 1991-09-04 | 江苏省伤残人康复中心 | Electric elbow joint |
| CN2668076Y (en) * | 2003-12-24 | 2005-01-05 | 上海科生假肢有限公司 | Limited shoulder joint |
| CN1957862A (en) * | 2006-11-06 | 2007-05-09 | 上海理工大学 | Intelligent lap artificial limb system controlled to follow pace of health leg |
| US20090299480A1 (en) * | 2007-01-05 | 2009-12-03 | Victhom Human Bionics Inc. | Joint Actuation Mechanism for a Prosthetic and/or Orthotic Device Having a Compliant Transmission |
| JP4987148B1 (en) * | 2011-07-22 | 2012-07-25 | 圭治郎 山本 | Joint motion assist device |
| CN202751475U (en) * | 2012-08-23 | 2013-02-27 | 丹阳精博假肢矫形器技术有限公司 | Myoelectrical artificial lime elbow joint component |
| KR101478102B1 (en) * | 2013-07-17 | 2015-01-02 | 서울과학기술대학교 산학협력단 | Measurement of biceps brachii muscular strength and elbow muscle strength reinforcing wearable robot for elbow movement |
| JP2016067636A (en) * | 2014-09-30 | 2016-05-09 | 独立行政法人国立高等専門学校機構 | Non-electric body-powered upper extremity prosthesis |
| CN207545275U (en) * | 2016-10-28 | 2018-06-29 | 上海科生假肢有限公司 | Integral intelligent functional elbow unit |
-
2016
- 2016-10-28 CN CN201610951786.4A patent/CN106361474B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB596206A (en) * | 1945-09-28 | 1947-12-30 | Joyce Otterman | Improvements in artificial arms |
| CN2083918U (en) * | 1991-02-06 | 1991-09-04 | 江苏省伤残人康复中心 | Electric elbow joint |
| CN2668076Y (en) * | 2003-12-24 | 2005-01-05 | 上海科生假肢有限公司 | Limited shoulder joint |
| CN1957862A (en) * | 2006-11-06 | 2007-05-09 | 上海理工大学 | Intelligent lap artificial limb system controlled to follow pace of health leg |
| US20090299480A1 (en) * | 2007-01-05 | 2009-12-03 | Victhom Human Bionics Inc. | Joint Actuation Mechanism for a Prosthetic and/or Orthotic Device Having a Compliant Transmission |
| JP4987148B1 (en) * | 2011-07-22 | 2012-07-25 | 圭治郎 山本 | Joint motion assist device |
| CN202751475U (en) * | 2012-08-23 | 2013-02-27 | 丹阳精博假肢矫形器技术有限公司 | Myoelectrical artificial lime elbow joint component |
| KR101478102B1 (en) * | 2013-07-17 | 2015-01-02 | 서울과학기술대학교 산학협력단 | Measurement of biceps brachii muscular strength and elbow muscle strength reinforcing wearable robot for elbow movement |
| JP2016067636A (en) * | 2014-09-30 | 2016-05-09 | 独立行政法人国立高等専門学校機構 | Non-electric body-powered upper extremity prosthesis |
| CN207545275U (en) * | 2016-10-28 | 2018-06-29 | 上海科生假肢有限公司 | Integral intelligent functional elbow unit |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11020249B2 (en) | 2017-10-16 | 2021-06-01 | Samsung Electronics Co., Ltd. | Actuator and motion assistance apparatus including the same |
| US12023264B2 (en) | 2017-10-16 | 2024-07-02 | Samsung Electronics Co., Ltd. | Actuator and motion assistance apparatus including the same |
| CN109771107A (en) * | 2019-01-22 | 2019-05-21 | 唐山康义合纵科技有限公司 | It is placed in the worm-gear self-locking formula artificial limb elbow joint of large arm cavity |
| CN109771107B (en) * | 2019-01-22 | 2024-02-23 | 温岭市大翰弘知智能科技有限公司 | Worm wheel self-locking artificial limb elbow joint arranged in large arm cavity |
| CN110170986A (en) * | 2019-05-14 | 2019-08-27 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106361474B (en) | 2024-04-16 |
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