CN110226993A - A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function - Google Patents
A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function Download PDFInfo
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- CN110226993A CN110226993A CN201810181708.XA CN201810181708A CN110226993A CN 110226993 A CN110226993 A CN 110226993A CN 201810181708 A CN201810181708 A CN 201810181708A CN 110226993 A CN110226993 A CN 110226993A
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- Prior art keywords
- joint
- cylinder
- hydraulic
- knee
- artificial limb
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 45
- 238000013016 damping Methods 0.000 title claims abstract description 31
- 230000005484 gravity Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 16
- 210000003414 extremity Anatomy 0.000 claims abstract description 11
- 210000003127 knee Anatomy 0.000 claims abstract description 11
- 238000005452 bending Methods 0.000 claims abstract description 10
- 230000005021 gait Effects 0.000 claims abstract description 8
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 3
- 230000001105 regulatory effect Effects 0.000 claims abstract description 3
- 238000007789 sealing Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000004080 punching Methods 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 210000000689 upper leg Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000003447 amputation stump Anatomy 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (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)
- Prostheses (AREA)
Abstract
The present invention is more particularly directed to the uniaxial hydraulic knee joints of artificial limb that a kind of hydraulic cylinder has gravity automatic damping adjusting function.The hydraulic cylinder it is characterized in that；How small in size the hydraulic cylinder function is, the assembled hydraulic cylinder being made of multiple activity cylinder chambers, multiple movable plungers and the additional gravity drop hammer automatic damping adjusting function of independent bending knee stretching, extension regulating valve and related components, the artificial limb knee-joint feature further include the hydraulic knee joint of single shaft of connector on the single-axis knee joint for the cylinder design, lower connector and other joint assemblies composition.The upper end of the artificial limb knee-joint is connect with artificial limb receiving cavity, and lower end is connected by shank connecting rod, ankle-joint and sole.The present invention functionally can be realized speed faster, supporting & stablizing, gait be natural, technical functionality of its hydraulic device brings more locomitivities and wearing comfort to amputee.Easily can effectively replace downslope, stair activity etc., can free switching hydraulic cylinder damping mode for bike riding, row the boat, sports etc..
Description
Technical field
The invention belongs to biomedical engineerings and rehabilitation accessory technical field, are related to a kind of vacation with similar mechanical intelligence
The hydraulic knee joint of limb, the present invention is more particularly directed to the uniaxial hydraulic knees of artificial limb that a kind of hydraulic cylinder has gravity automatic damping adjusting function
Joint.
Background technique
Artificial thigh can be divided into two types according to driving method differentiation: one is using patients with amputation stump as power source
Passive type artificial thigh, one is by the active artificial thigh that bends and stretches of external power supply driving joint.Passive type thigh is false
Limb can be divided into plain edition and two kinds intelligent again.Plain edition passive type artificial thigh knee joint damping torque size is set during installation
It is fixed, it is difficult to adapt to the variation of the external environments such as leg speed.Intelligent passive type artificial thigh passes through the damping with adaptation function
Device has good dynamic following and gait symmetry, but is difficult to realize downslope simultaneously, alternately go downstairs.It is active
Artificial thigh provides flexible torque by external power supply for artificial limb knee-joint, controls bending and stretching for artificial limb knee-joint, therefore realize quilt
The function that dynamic formula artificial thigh is difficult to realize can not such as stand up by other strength, be gone upstairs with alternately paces, but its
Most of regulating valves will lean on electric energy to adjust to realize its function, thus artificial limb knee-joint be limited by electric energy number.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of vacations with similar mechanical intelligent damping automatic regulation function
Limb knee joint, it not only has passive type intelligence artificial thigh good gait symmetry and gait tracking in level walking
Property, also have active artificial limb knee-joint can alternately go downstairs, slope the advantages that.The present invention takes into account passive type and active vacation
The kneed functionality advantage of limb, can be realized speed faster, supporting & stablizing, gait are natural, easily can effectively replace downslope, building
Ladder is equal, can free switching hydraulic cylinder damping mode for bike riding, row the boat, sports etc..
In order to achieve the above object, the technical solution of use are as follows:
Hydraulic cylinder damping is divided into independent two dampings area (oil cylinder 2, oil cylinder 3 and oil cylinder 1, oil cylinder 5, oil cylinder 4) and the division of labor is bright
It is really non-interference.Oil cylinder 1, oil cylinder 5 and oil cylinder 4 are adjusted by gravity drop hammer and U-shaped ring adjusts the additional Y pre-set and damps and leads to
Road (see figure 6) realize jointly easily effectively alternately downslope, stair, bike riding, row the boat, sports etc..
The upper joint body upper end of the artificial limb knee-joint is connect with artificial limb receiving cavity, and hypozygal body passes through shank connecting tube, ankle
Joint is connect with sole, including having the hydraulic cylinder of damping automatic regulation function and artificial limb knee-joint associated component composition.
The hydraulic artificial limb knee-joint component of single shaft first will seal ZM2 and guide ring D2 and install in cylinder body, by plunger rod 3
Be put into plunger rod 1, include by small gravity drop hammer Z1 and big gravity drop hammer Z2 and associated component (adjusting screw, U-shaped ring, cam, X1,
The components such as X2, plunger 3, M3, T1, T3, connector) it is mounted on plunger rod 1, plunger rod 1 is being connected into plunger rod 2 and by plunger
1 is fixed on the both ends of plunger rod 2 with plunger 2 and plunger 3 and cylinder cap 2 is mounted on 5 position of oil cylinder, passes through spring T2, spring
T4 is allowed to move back and forth in cylinder body, so that oil cylinder 1, oil cylinder 2, oil cylinder 3, oil cylinder 4 and oil cylinder 5 are formed, by oil cylinder cylinder cap
And relevant group component include (components such as F1, D1, ZM3, M1, M2, M4, D3, Q1) be mounted on cylinder body, will connection pedestal and M5,
The components such as X4 are also mounted on cylinder body, by ball valve, spring, adjust screw, the adjusting components such as fixed frame and associated seal installation
On cylinder body, so formed bending knee stretch separately adjustable function and gravity drop hammer automatic damping adjusting hydraulic cylinder (see Fig. 2, Fig. 3,
Fig. 4, Fig. 5).
To there is the hydraulic artificial limb knee-joint of single shaft the hydraulic cylinder of damping automatic regulation function to pass through associated connecting member
It is connected to through connection pedestal and is allowed to form an oscillating motor on single axis gimbal hypozygal body, upper joint body is passed through into associated
Relay part connect with hypozygal body and is allowed to be formed uniaxial rotation, and hydraulic cylinder is passed through associated connecting member and upper pass by connector
Section body connection is allowed to form complete uniaxial hydraulic knee joint (see figure 7).
The invention has the benefit that
In the present invention, hydraulic cylinder is designed by dependency structure and Gravity changer makes the hydraulic uniaxial artificial limb of a mechanical intelligence
Knee joint.The technical functionality of the artificial limb knee-joint distinct characteristics, complete function, hydraulic device is brought more to amputee
Locomitivity and wearing comfort.Functionally can be realized speed faster, supporting & stablizing, gait are natural, easily can effectively hand over
For downslope, stair activity etc., can free switching hydraulic cylinder damping mode for bike riding, row the boat, sports etc..Take into account by
The functionality advantage of dynamic formula and active artificial limb knee-joint.
Detailed description of the invention:
Fig. 1 hydraulic cylinder body is to realize that bending knee stretches separately adjustable principle of work and power schematic diagram
Fig. 2 bending knee F and the stretching, extension separately adjustable valve schematic illustration of E
Fig. 3 hydraulic cylinder overall appearance schematic diagram
5 activity cylinder chamber distribution schematic diagrams in Fig. 4 hydraulic cylinder
Fig. 5 hydraulic cylinder internal structure and related components schematic diagram
Fig. 8 multifunctional hydraulic cylinder and single-axis knee joint combination diagram
Fig. 9 hydraulic cylinder functional schematic
Figure 10 hydraulic cylinder functional schematic
Figure 11 hydraulic cylinder functional schematic
Partial enlarged view
Fig. 6 gravity drop hammer operation principle schematic diagram
1 inside enlarged diagram of Fig. 7 plunger rod
Description of symbols:
Connector, adjusting screw, cam, U-shaped ring, cylinder cap 1, cylinder cap 2, cylinder body, connection pedestal, plunger 1, plunger 2, plunger 3, column
Stopper rod 1, plunger rod 2, plunger rod 3, adjust screw, adjust fixed frame, ball valve, spring, X1(pin), X2(pin), X3(pin
Nail), X4(pin), M1(sealing element), M2(sealing element), M3(sealing element), M4(sealing element), D1 (guide ring), D2 (guiding
Ring), D3 (cushion), F1 (dust guard), ZM1 (combination oil seal), ZM2 (combination oil seal), ZM3 (combination oil seal), ZM4 (combination
Oil sealing), Q1 (stop collar), Z1 (small gravity drop hammer), Z2 (big gravity drop hammer), Z3 (switch umbrella), T1 (spring), T2 (spring), T3 (bullet
Spring), T4 (spring) and related components composition.
Specific embodiment:
The uniaxial hydraulic knee joint of the artificial limb that the present invention provides a kind of with gravity automatic damping adjusting function, with reference to the accompanying drawing
The present invention is described in detail with specific embodiment.
Overall structure of the invention is as shown in figure 8, constitute uniaxial artificial limb by single-axis knee joint lower articular body, hydraulic cylinder
Knee components.
By the unique hole bit architecture design of hydraulic cylinder such as Fig. 1, can individually be adjusted by adjusting screw E, F left rotation and right rotation
Stretch size such as Fig. 2 of resistance and buckling resistance.
Hydraulic cylinder switchs umbrella to prevent joint from bending the knee suddenly, plays one and move by giving the opposite resistance of motion in one, joint
The effect of the support extended insurance of power.Joint passes through the effect excessively stretched and can cancel hydraulic cylinder support insurance, that is to say, that
The support safety effect of this Knee Joint Fluid cylinder pressure is effective when heel contacts to earth with knee joint slight bending.In support later period phase foot
It when pedaling ground, is excessively stretched by kneed, the effect of this support insurance is cancelled automatically.Therefore this function can make gait
It is more natural.
When knee joint slight bending, switch umbrella is in the position Figure 10 c, if joint is bent the knee suddenly switchs umbrella stress at this time
The oil-through hole for blocking plunger rod 3 upwards is in the position Figure 10 d, starts safety effect at this time, pass through the liquid of oil cylinder 4 can only
The channel Y (Fig. 6) slowly enters in oil cylinder 1 and oil cylinder 5.Play the functions such as support insurance and stair activity, slope.
When knee joint excessively stretches, Z1 is contacted when Z2 at this time is rotated clockwise to X3 with Q1 in the position Fig. 9 a, works as pass
Z3 is contacted with Z2 under force and Z2 is prevented to rotate (Fig. 9 b) counterclockwise when bent-segment, plays the role of opening insurance.When
The effect that Z3 loses power when joint operation stops on the way at this time cannot be at prevention Z2 be when rotating counterclockwise to X3 under Z1 cooperates
In the position Figure 10 c, at this moment safety device is in starting state at any time.
By using U-shaped ring, amputee can specifically support extended insurance state such as Figure 11 e, Figure 11 f with unrestricted choice.First
Knee joint is placed in normal condition, while moving U-shaped ring upwards, plunger rod 3 moves down under the action of cam is with X1, at this time
The oil-through hole that Z3 simultaneously blocks plunger rod 3 under the action of T3 is closed in the channel Y, and knee joint cannot be bent at this time, and joint is in
Lock state such as Figure 11 f.
Make knee joint overexertion by half sole with pedaling, Z1 contacts Z2 at this time with Q1 and is rotated clockwise to X3 at this time, simultaneously
U-shaped ring is moved upwards, and plunger rod 3 moves down under the action of cam is with X1, and the channel Y is closed at this time while Z3 is under T3 effect
It is in contact with Z2 and Z2 is prevented to rotate counterclockwise, 3 oilhole channel of plunger rod is unimpeded at this time, and knee joint is completely with out support at this time
Insurance, such as Figure 11 e.This function is particularly advantageous to riding a bicycle.
Control to support extended insurance, by rotating the adjusting screw (Fig. 5) being located on plunger rod 1, adjustable control
Support the resistance of motion of extended insurance.
Obviously, above-mentioned implementation of the invention is only a kind of combination made by the present invention, and is not to the present invention
The restriction of embodiment can also make on the basis of the above description for those of ordinary skill in the art
Other various forms of variations or variation such as are designed to stationary cylinder and single-shaft configuration frame or more using the hydraulic cylinder structure
Link mechanism framework composition etc. here can not be exhaustive all embodiments, all to belong to technical solution of the present invention
The obvious changes or variations extended out are still in the scope of protection of the present invention.
Claims (6)
1. a kind of hydraulic cylinder have damping automatic regulation function uniaxial artificial limb knee-joint, the hydraulic artificial limb knee-joint component by
Upper joint body, hypozygal body, automatic damping adjusting hydraulic cylinder and related components composition；Upper end is connect with artificial limb receiving cavity, under
End is connected by shank connecting rod, ankle-joint and sole, it is characterised in that；The hydraulic cylinder is by multiple activity cylinder chambers, multiple activities
The combination of plunger and the additional gravity drop hammer automatic damping adjusting function of independent bending knee stretching, extension regulating valve and related components composition
Hydraulic cylinder
The structure of the artificial limb knee-joint hydraulic cylinder is mainly by connector, adjusting screw, cam, U-shaped ring, cylinder cap 1, cylinder cap 2, cylinder
Body, plunger 1, plunger 2, plunger 3, plunger rod 1, plunger rod 2, plunger rod 3, adjusts screw, adjusts fixed frame, ball connection pedestal
Valve, spring, X1(pin), X2(pin), X3(pin), X4(pin), M1(sealing element), M2(sealing element), M3(sealing element),
M4(sealing element), D1 (guide ring), D2 (guide ring), D3 (cushion), F1 (dust guard), ZM1 (combination oil seal), ZM2 (combination
Oil sealing), ZM3 (combination oil seal), Q1 (stop collar), Z1 (small gravity drop hammer), Z2 (big gravity drop hammer), Z3 (switch umbrella), T1 (spring),
T2 (spring), T3 (spring), T4 (spring) and related components composition.
2. a kind of artificial limb knee-joint with hydraulic damping automatic regulation function according to claim 1, hydraulic cylinder is special
Sign is that oil cylinder 1, oil cylinder 5 and the hydraulic damping of oil cylinder 4 pass through gravity drop hammer and the position for switching umbrella to artificial limb knee-joint when walking
Set and change and change, start switch the effect of insurance, the hydraulic damping of oil cylinder 2 and oil cylinder 3 by adjust screw carry out it is in the wrong
Knee and stretching, extension are separately adjustable and do not influenced by oil cylinder 1, oil cylinder 5 and oil cylinder 4.
3. a kind of artificial limb knee-joint with hydraulic damping automatic regulation function according to claim 1 or 2, hydraulic cylinder
It is characterized in that, by the cooperation between gravity drop hammer Z1, Z2, Z3 and by moving U-shaped ring when knee joint different conditions to gravity
Additional reserved Y damp channel (see figure 6) is adjusted to between 1 oil cylinder 5 of oil cylinder 4 and oil cylinder in the position of hammer and switch umbrella
Hydraulic damping generate variation, hydraulic cylinder may be implemented locking state, unimpeded state, support extended insurance state etc., so as to
Realized speed faster, supporting & stablizing, gait are natural, easily can effectively replace downslope, stair activity etc., can free switching it is hydraulic
Cylinder damping mode for bike riding, row the boat, sports etc..
4. according to claim 1 or a kind of artificial limb knee-joint with hydraulic damping automatic regulation function described in 2,3, hydraulic
Cylinder is characterized in that, hydraulic cylinder exchanged by hole location the method i.e. hole 1 for intersecting punching and hole 3 by ball valve formed unidirectional oil circuit,
Hole 2 and hole 4, which form unidirectional oil circuit (see figure 1) by ball valve, can easily realize unidirectional valve action, have reached separately adjustable bending knee
Stretch function.
5. according to claim 1 or a kind of artificial limb knee-joint with hydraulic damping automatic regulation function, liquid described in 2,3,4
Cylinder pressure is characterized in that, is designed by the structure to hydraulic cylinder, hydraulic damping is successfully divided into independent two dampings area (oil cylinder
2, oil cylinder 3 and oil cylinder 1, oil cylinder 5, oil cylinder 4) and divide the work clearly non-interference.
6. according to claim 1 or a kind of artificial limb knee-joint with hydraulic damping automatic regulation function described in 2,3,4,5,
It is characterized in that hydraulic cylinder has carried out unique configuration design and for it uniaxial artificial limb knee-joint frame of matched design (on single shaft
Joint body and hypozygal body with pipe fitting function) it is composed the hydraulic artificial limb knee-joint of single shaft of complete set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810181708.XA CN110226993A (en) | 2018-03-06 | 2018-03-06 | A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810181708.XA CN110226993A (en) | 2018-03-06 | 2018-03-06 | A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110226993A true CN110226993A (en) | 2019-09-13 |
Family
ID=67862116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810181708.XA Pending CN110226993A (en) | 2018-03-06 | 2018-03-06 | A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110226993A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112245075A (en) * | 2020-10-16 | 2021-01-22 | 北京市康复辅具技术中心 | Transmission hydraulic knee joint |
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|---|---|---|---|---|
| DE102005029160A1 (en) * | 2005-06-23 | 2006-12-28 | Dr.Ing.H.C. F. Porsche Ag | Hydraulic knee joint prosthesis |
| CN200963208Y (en) * | 2006-09-27 | 2007-10-24 | 郑嘉宝 | Knee-joint structure adjusted by air pneumatic |
| CN201710500U (en) * | 2010-07-26 | 2011-01-19 | 东南大学 | Electrically controlled hydraulic pressure damping cylinder |
| CN102316828A (en) * | 2008-04-30 | 2012-01-11 | 瑞泽丽欧拓派迪亚公司 | Automatic prosthesis for above-knee amputees |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103800102A (en) * | 2012-11-07 | 2014-05-21 | 普霖国际股份有限公司 | Adjustable knee joint artificial limb |
| CN104602649A (en) * | 2012-07-03 | 2015-05-06 | 奥托·博克保健有限公司 | Method for controlling orthopedic joint device, and orthopedic joint device |
| CN105748178A (en) * | 2014-12-16 | 2016-07-13 | 麦迪假体有限公司 | Hydraulic Damping Cylinder, In Particular For Knee Prosthesis |
| US20170202686A1 (en) * | 2014-07-11 | 2017-07-20 | Otto Bock Healthcare Gmbh | Orthopedic joint system |
-
2018
- 2018-03-06 CN CN201810181708.XA patent/CN110226993A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005029160A1 (en) * | 2005-06-23 | 2006-12-28 | Dr.Ing.H.C. F. Porsche Ag | Hydraulic knee joint prosthesis |
| CN200963208Y (en) * | 2006-09-27 | 2007-10-24 | 郑嘉宝 | Knee-joint structure adjusted by air pneumatic |
| CN102316828A (en) * | 2008-04-30 | 2012-01-11 | 瑞泽丽欧拓派迪亚公司 | Automatic prosthesis for above-knee amputees |
| CN201710500U (en) * | 2010-07-26 | 2011-01-19 | 东南大学 | Electrically controlled hydraulic pressure damping cylinder |
| CN104602649A (en) * | 2012-07-03 | 2015-05-06 | 奥托·博克保健有限公司 | Method for controlling orthopedic joint device, and orthopedic joint device |
| CN103800102A (en) * | 2012-11-07 | 2014-05-21 | 普霖国际股份有限公司 | Adjustable knee joint artificial limb |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| US20170202686A1 (en) * | 2014-07-11 | 2017-07-20 | Otto Bock Healthcare Gmbh | Orthopedic joint system |
| CN105748178A (en) * | 2014-12-16 | 2016-07-13 | 麦迪假体有限公司 | Hydraulic Damping Cylinder, In Particular For Knee Prosthesis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112245075A (en) * | 2020-10-16 | 2021-01-22 | 北京市康复辅具技术中心 | Transmission hydraulic knee joint |
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Application publication date: 20190913 |
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