CN106361474B - Integrated intelligent electric elbow joint - Google Patents
Integrated intelligent electric elbow joint Download PDFInfo
- Publication number
- CN106361474B CN106361474B CN201610951786.4A CN201610951786A CN106361474B CN 106361474 B CN106361474 B CN 106361474B CN 201610951786 A CN201610951786 A CN 201610951786A CN 106361474 B CN106361474 B CN 106361474B
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- elbow joint
- gear
- box body
- stage
- rotator
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 79
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 20
- 230000009467 reduction Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 abstract description 12
- 210000000245 forearm Anatomy 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 208000032170 Congenital Abnormalities Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 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
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 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, wherein a driving structure of the joint and a false arm microprocessor control circuit are both arranged in an elbow joint box body, a thin self-locking driven upper arm rotator is arranged at the upper end of the box body, a micro-motor front-stage speed reducer arranged in parallel with an elbow joint shaft is subjected to two-stage speed reduction, the reduction ratio of a rear-stage speed reducer of the elbow is reduced, the elbow joint is shortened, the elbow joint is provided with an elbow joint rotation sensor, an elbow joint rotation position signal is input to the control circuit, the electric elbow joint can be timely stretched or bent to a specified angle according to a control instruction, and the electric elbow joint can be arranged on an upper arm or a forearm of an artificial limb.
Description
Technical Field
The invention relates to the technical field of artificial limbs, in particular to an elbow joint of an electric artificial limb.
Background
Due to various factors such as industrial injury, traffic accident, war, natural disaster and congenital defect, there are unavoidable a number of persons with upper limb deficiency, some of which are elbow disconnection or upper arm amputees. The technology of artificial limb has been developed for a long time, and the myoelectric control upper arm artificial limb with the electric elbow joint is widely used, but some foreign electric elbow joints are expensive and heavy, are not suitable for eastern human body types, and only a very small number of people select to install. The upper arm artificial elbow joint has the functions of extending and bending elbow, and if the upper arm artificial elbow joint has no self-locking upper arm rotating function, the artificial limb is inconvenient to install and the amputation is inconvenient to use. The elbow joint, the control circuit and the upper arm passive rotator occupy the artificial limb space respectively, which brings difficulty to the installation of the artificial limb for the long residual limb of the upper arm. The existing upper arm electric artificial limb does not have a sensor for feeding back the elbow joint rotation axis position, and the open loop control mode cannot achieve better control accuracy. In order to overcome the defects of the prior art in the points, a novel electric elbow joint needs to be developed.
Disclosure of Invention
In order to overcome the defects in the prior art, the novel intelligent electric elbow joint is provided, the electric elbow joint, the intelligent control system and the self-locking upper arm rotator are integrated, and particularly, the elbow joint sensor is arranged, so that the performance is remarkably improved, and the intelligent electric elbow joint has the advantages of simple structure, small size, light weight and excellent performance, and better meets the requirements of upper arm amputees.
In order to achieve the above object, the integrated combination electric elbow joint has the following structure:
the joint driving structure and the artificial arm control circuit are both arranged in an elbow joint box body, and a thin self-locking passive upper arm rotator is arranged at the upper end of the box body. To shorten the length of the elbow joint, a micro-motor driver is mounted parallel to the elbow joint axis. The front-stage speed reducer installed in the micro-motor driver shell has two-stage speed reduction, so that the speed reduction ratio of the rear-stage speed reducer is reduced, and the length of the rear-stage speed reducer is reduced. The first stage of the front stage of the speed reduction is a planetary gear speed reducer driven by friction, and the second stage is a gear planetary gear speed reducer. The rear-stage speed reducer is also provided with two stages, a driver output gear is meshed with a bull gear to form a first-stage speed reduction of the rear stage, the speed reducer is embedded into the wall of the box body, the space on two sides of the micro motor driver shell is reserved, a fake arm control circuit box is arranged in the space outside the speed reducer in the box body, and a fake arm intelligent control circuit is arranged in the box. The pinion gear coaxially fixed with the large gear is meshed with the gear arranged on the elbow joint shaft to form a second-stage reduction.
The sensor of the elbow joint is arranged beside the elbow joint shaft in the box body, and the other gear on the elbow joint shaft is meshed with the gear arranged on the sensor pulling shaft, so that the sensor detects the elbow joint rotation angle.
The thin self-locking passive upper arm rotator omits a lower connecting ring, the bottom of the rotator is directly arranged at the top of the elbow joint box body, and the rotator can be taken down from the top of the box body to install a circuit box. The upper connecting ring is provided with a self-locking gear, the outer wall of the passive rotator is provided with a button, a pin embedded in the self-locking gear can be released, and then the upper arm artificial limb can be rotated. The button is released, the pin is embedded into the gear by the spring, the upper arm driven rotator is locked, and the tail part of the button is the pin.
The box body penetrates out of two ends of the elbow joint shaft and is provided with a lower concave cavity in which a clockwork spring is arranged. The spring is fixed on the elbow joint shaft at the inner end and on the box body at the outer end, and when the elbow is electrically stretched, the spring is wound up for energy storage, and when the elbow is electrically bent, the spring releases the power.
The sensorless electric elbow joint only has the function of limiting by the micro switch when extending and bending the elbow to the limit position: cams are arranged on two sides of the elbow joint shaft in the box body, when the cams rotate to a set position along with the elbow joint shaft, the cams contact with a micro switch fixed on the box body, and generating a limit electric signal, wherein one micro switch generates an elbow bending limit control signal, and the other micro switch generates an elbow stretching limit control signal. When a limit signal exists, the control circuit cuts off the power supply of the micro motor, so that the elbow joint is limited.
Benefit of the invention
1. The utility model provides a novel intelligent electronic elbow joint, collection electronic elbow joint, intelligent control circuit, can be from locking upper arm rotator as an organic whole, the space that takes up shortens, has small light in weight, excellent performance's advantage, satisfies upper arm amputee's demand better.
2. The sensor is provided to feed back the rotation position information of the elbow joint, and can timely and accurately complete various actions of the elbow joint under the control of the microprocessor, so that the performance is obviously improved.
Drawings
Fig. 1: a structural schematic diagram of an integrated intelligent electric elbow joint.
Fig. 2: a structural schematic diagram of an integrated electric elbow joint.
Fig. 3: schematic of the position of the circuit box.
The reference numerals in the figures are illustrated as follows:
1. thin self-locking passive upper arm rotator
2. Push button
3. Spring
4. Spring seat
5. Motor cover pressing ring
6. Micro motor driver
7. Micro-motor driver shell
8. Pinion gear
9. Spring for spring
10. Cam
11. Housing shell
12. Elbow joint shaft
13. Screw hole for connecting upper arm cylinder
14. Screw
15. Cover plate
16. Upper connecting ring
17. Screw
18. Box body
19. Micro-motor driver output gear
20. Gear wheel
21. Elbow joint shaft gear
22. Spring for spring
23. Cam
24. Housing shell
25. Elbow joint output hinge
26. Micro-switch
27. Micro-switch
28. Circuit box
29. Self-locking gear
30. Gear wheel
31. Gear wheel
32. Sensor poking shaft
33. Sensor for detecting a position of a body
34. Sensor support
35. Micro-motor
Examples of the embodiments
The integrated intelligent electric elbow joint is shown in fig. 1, a driving structure and a false arm control circuit are arranged in an elbow joint box 18, and a thin self-locking passive upper arm rotator 1 is arranged at the upper end of the box. In order to shorten the length of the elbow joint, the micro-motor drive 6, which is mounted parallel to the elbow joint axis, has a two-stage reduction. The front-stage speed reducer arranged in the micro-motor driver shell 7 has two stages, wherein the first stage is a planetary gear speed reducer driven by friction, and the second stage is a gear planetary gear speed reducer; the rear-stage speed reducer is also provided with two stages, an output gear 19 of the micro-motor driver 6 is meshed with a large gear 20 to form a first-stage speed reduction of the rear stage, the first-stage speed reduction is embedded into the inner wall of the box 18, and a space at two sides of the micro-motor driver shell 7 is reserved for installing a control circuit box 28, and the intelligent control circuit of the false arm is arranged in the circuit box 28; pinion 8, which is coaxially fixed to the large gear 20, meshes with gear 21 attached to elbow joint shaft 12, and constitutes a second stage of reduction.
The thin self-locking upper arm passive rotator 1 is removable from the top of the housing 18 and is provided with a circuit box 28. The self-locking gear 29 is fixed with the upper connecting ring 16. The upper attachment ring 16 may be screwed onto the prosthesis upper socket. The outer wall of the passive rotator is provided with a button 2, the tail of the button 2 is a pin, and the self-locking gear 29 is embedded by the spring 3. Pressing the button 2 to compress the spring 3, releasing the self-locking gear 29, and then rotating the upper arm prosthesis; the button 2 is released, the tail of the button 2 is embedded into the self-locking gear 29 by the elasticity of the spring 3, and the upper arm passive rotator 1 is locked. Reference numeral 4 denotes a spring seat fixed to the bottom of the rotator 1, and the spring 3 is operated at a limited position. The button 2 is mounted at the bottom of the passive rotator 1. The bottom of the passive rotator 1 is mounted with a housing 18. Cover plate 15 and rotator 1 the bottoms are mounted together. Upon passive rotation of the elbow joint, the elbow joint housing 18 and the connecting ring 16 are rotated relative to each other.
The box 18 is penetrated at the two ends of the elbow joint shaft 12 and is provided with lower concave cavities for accommodating the clockwork springs 9 and 22. The inner ends of the clockwork springs 9, 22 are fixed on the elbow joint shaft 12, and the outer ends are fixed on the box body 18. When the elbow is electrically extended, the clockwork springs 9 and 22 are wound up for energy storage, and when the elbow is electrically bent, the clockwork springs 9 and 22 release the assistance force. The clockwork springs 9, 22 are covered by covers 11, 24 mounted on the casing 18.
The elbow sensor 33 is mounted by a bracket 34 to the housing 18 near the elbow axis 12. The gear 30 on the elbow joint 12 is meshed with the gear 31 on the sensor toggle shaft 32, when the elbow joint 12 rotates, the toggle shaft drives the input end of the sensor to rotate, and the sensor output circuit is connected with the microprocessor port in the circuit box 28 to continuously and timely feed back the elbow joint position to the microprocessor. The microprocessor is controlled by the electric signal or other control signals generated by the muscles of the residual limb, and the elbow joint is controlled to complete the required action after the processing according to the control signals and the position information fed back by the sensor.
The sensorless integrated electric elbow joint is shown in fig. 2, and has the limiting function only when the elbow is stretched and bent to the limit position:
cams 10 and 23 are mounted on both sides of the elbow joint shaft 12 in the case 18, and when the cams 10 and 23 rotate to a set position along with the elbow joint shaft, one of the cams 10 and 23 contacts one of the microswitches 26 and 27 fixed on the case to generate a limit electric signal. One pair of cams and micro-switches generates elbow bending limit control signals, and the other pair of cams and micro-switches generates elbow extending limit control signals. When a limit signal exists, the control circuit cuts off the power supply of the micro motor, so that the elbow joint is limited.
The micro-motor driver 6 is provided with a motor gland ring 5, and the micro-motor can be fixed in a micro-motor driver shell 7 by screwing the gland ring 5. The knuckle joint output hinges 25 are mounted on either side of the knuckle joint axis 12.
In this description, specific embodiments have been described. It will, however, be evident that various modifications and changes may be made thereto, and still be within the broader spirit and scope of the invention. Thus (2) the process comprises, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
Claims (4)
1. An electronic elbow joint of integration intelligence, its characterized in that:
the joint driving structure and the false arm intelligent microprocessor control circuit are both arranged in an elbow joint box body, the upper end of the box body is provided with a thin self-locking passive upper arm rotator, a micro-motor front-stage speed reducer arranged in parallel with an elbow joint shaft has two-stage speed reduction, so that the length of a rear-stage speed reducer is shortened, the elbow joint is provided with an elbow joint rotation sensor, an elbow joint rotation position signal is input into the control circuit, and the electric elbow joint can extend or bend to a specified angle in time according to a control instruction;
the rear-stage speed reducer is also provided with two stages, an output gear of the driver is meshed with the large gear to form a first-stage speed reduction of the rear stage, the speed reducer of the stage is embedded into the wall of the box body, a space on two sides of the micro motor driver is reserved, and a small gear coaxially fixed with the large gear is meshed with a gear arranged on the elbow joint shaft to form a second-stage speed reduction of the rear stage;
the sensor of the elbow joint is arranged beside an elbow joint shaft on the box body, and a gear on the elbow joint shaft is meshed with a gear arranged on a sensor pulling shaft, so that the sensor detects the elbow joint rotation angle due to the fact that the two gears are identical in size.
2. The method according to claim 1, characterized in that:
the first stage is a planetary gear reducer driven by friction, and the second stage is a gear planetary gear reducer.
3. The method according to claim 1, characterized in that:
in the elbow joint box body, the rest space at two sides of the micro motor driver is provided with a fake arm control circuit box, and a fake arm intelligent control circuit is arranged in the box.
4. The method according to claim 1, characterized in that:
the thin self-locking passive upper arm rotator omits a lower connecting ring, the bottom of the rotator is directly arranged at the top of an elbow joint box body, the rotator can be taken down from the top of the box body, a circuit box is arranged, a button is arranged on the outer wall of the passive rotator, a self-locking gear fixed with the upper connecting ring can be released, then the upper arm artificial limb can be rotated, the button is loosened, and under the action of a spring, the self-locking gear is pinned at the tail of the button to lock the upper arm passive rotator.
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 CN106361474A (en) | 2017-02-01 |
| CN106361474B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102454977B1 (en) | 2017-10-16 | 2022-10-14 | 삼성전자주식회사 | Actuator and motion assist apparatus including the same |
| 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 |
| CN110170986B (en) * | 2019-05-14 | 2022-11-01 | 北京铁甲钢拳科技有限公司 | Exoskeleton system |
Citations (9)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008080234A1 (en) * | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
-
2016
- 2016-10-28 CN CN201610951786.4A patent/CN106361474B/en active Active
Patent Citations (9)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106361474A (en) | 2017-02-01 |
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