CN114681261A - Knee joint movement energy storage mechanism with changeable instantaneous center of rotation - Google Patents
Knee joint movement energy storage mechanism with changeable instantaneous center of rotation Download PDFInfo
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- CN114681261A CN114681261A CN202011577478.2A CN202011577478A CN114681261A CN 114681261 A CN114681261 A CN 114681261A CN 202011577478 A CN202011577478 A CN 202011577478A CN 114681261 A CN114681261 A CN 114681261A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 94
- 238000004146 energy storage Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 210000002414 leg Anatomy 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 8
- 239000011664 nicotinic acid Substances 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 210000003484 anatomy Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000003041 ligament Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 230000008485 antagonism Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention provides a knee joint movement energy storage mechanism with a variable instantaneous center of rotation, which comprises: the leg connecting fixing piece comprises two upper connecting fixing pieces and two lower connecting fixing pieces which are arranged above and below the outer side of the knee joint; the two upper gears are respectively matched with the bulges on the first rotating shafts at the bottom ends of the two upper connecting fixing pieces; the two lower gears are respectively matched with the bulges on the second rotating shafts at the top ends of the two lower connecting fixing pieces, and both the two lower gears are meshed with the upper gear on the same side; two connecting pieces are respectively arranged on the outer sides of the upper gear and the lower gear which are meshed with each other, and screw holes for the first screws to pass through are formed in the two ends of each connecting piece, so that the first screws pass through the screw holes and are correspondingly connected to the upper connecting fixing piece and the lower connecting fixing piece through the gears, wherein a first sleeve is arranged between the two upper connecting fixing pieces, a second sleeve is arranged between the two lower connecting fixing pieces, and a spring is arranged between the first sleeve and the second sleeve.
Description
Technical Field
The invention belongs to the field of medical instrument rehabilitation, and particularly relates to a knee joint movement energy storage mechanism with a changeable instantaneous rotation center.
Background
From the analysis of kinematics, when the knee joint bends and extends, the distal end of the femur and the tibial plateau form a joint surface, so that the knee joint rotates in a sagittal plane, and meanwhile, the instant center of rotation can generate translational motion along with the increase of the bending and extending angle of the knee joint.
However, most of the existing bionic knee joint devices are rigid mechanisms rotating in a fixed axis mode, the motion principle of the existing bionic knee joint devices is not matched with the knee joint motion in the real human anatomy sense, and the fixed axis type knee joint devices cannot be matched with the human knee joints of users when in use, so that the existing bionic knee joint devices are not good in wearing performance.
In addition, under the normal walking state of people, the motion of the knee joint can generate kinetic energy, the kinetic energy is converted into the elastic potential energy of a spring in the mechanism when the knee joint is bent, and the elastic potential energy of the spring is converted into the kinetic energy when the knee joint is stretched again, so that the power assisting effect is generated.
Through searching and discovering the prior related technologies, the Chinese patent application numbers are as follows: 201910693712.9, the name is: a bionic mechanism for knee joint movement with changeable instantaneous center of rotation is composed of thigh connecting part, shank connecting part, joint connecting supporter and movement buffer unit. The design can realize that the instantaneous center of rotation is changeable when rotating, but because the motion buffer device has a complex structure, the motion buffer device is easy to generate antagonism with the knee joint when the lower limb normally moves, the structural complexity also causes high processing cost of each part, and the structure can not realize the energy storage function and can not play a power assisting effect in the movement of the knee joint. Therefore, it is desirable to design a mechanism that can solve the above problems.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a knee joint motion energy storage mechanism in which the instantaneous center of rotation is variable.
The invention provides a knee joint movement energy storage mechanism with variable instantaneous center of rotation, which is characterized by comprising: the leg connecting and fixing piece comprises an upper connecting and fixing piece and a lower connecting and fixing piece, wherein the upper connecting and fixing piece is arranged above and below the outer side of the knee joint, the top ends of the upper connecting and fixing piece and the lower connecting and fixing piece are provided with first small holes, and the bottom ends of the lower connecting and fixing piece are provided with second small holes; the two upper gears are respectively matched with the bulges on the first rotating shafts at the bottom ends of the two upper connecting fixing pieces; the two lower gears are respectively matched with the bulges on the second rotating shafts at the top ends of the two lower connecting fixing pieces, and the two lower gears are meshed with the upper gears on the same side, so that the upper gears and the lower gears are kept synchronous with the upper connecting fixing pieces and the lower connecting fixing pieces when rotating; and two connecting pieces which are respectively arranged at the outer sides of the two sets of meshed upper gears and lower gears, and screw holes for the first screws to pass through are arranged at the two ends of the connecting pieces, so that the first screws pass through the screw holes and are correspondingly connected to the upper connecting fixing piece and the lower connecting fixing piece through the gears, wherein a first sleeve is arranged between the two upper connecting fixing pieces, a second sleeve is arranged between the two lower connecting fixing pieces, and a spring is arranged between the first sleeve and the second sleeve and used for buffering and storing energy and limiting the further rotation of the knee joint when the knee joint rotates.
The knee joint motion energy storage mechanism with the variable instantaneous center of rotation provided by the invention can also have the following characteristics: the two upper connecting fixing pieces are connected through a second screw and a first rivet which penetrate through the first small hole and the first sleeve, so that the actions of the two upper connecting fixing pieces are kept consistent when the knee joint rotates.
The knee joint motion energy storage mechanism with the variable instantaneous center of rotation provided by the invention can also have the following characteristics: the two lower connecting fixing pieces are connected through the third screw and the rivet which penetrate through the first small hole and the second sleeve, so that the actions of the two lower connecting fixing pieces are kept consistent when the knee joint rotates.
The knee joint motion energy storage mechanism with the variable instantaneous center of rotation provided by the invention can also have the following characteristics: the cross sections of the top ends of the first rotating shaft and the second rotating shaft are circular and are used for being matched with the connecting piece, so that the connecting piece can rotate smoothly.
The knee joint motion energy storage mechanism with the variable instantaneous center of rotation provided by the invention can also have the following characteristics: the first rotating shaft and the second rotating shaft are internally provided with threads which are matched with first screws penetrating through gaskets arranged at two ends of the connecting piece, so that the upper gear, the lower gear and the connecting piece at two sides of the knee joint are fixed.
Action and Effect of the invention
According to the knee joint motion energy storage mechanism with the changeable instantaneous center of rotation, which is disclosed by the invention, because double gears are adopted for meshing, the translation and the rotation of the contact of the femoral condyle and the tibial platform surface in the rotation process of the knee joint are simulated, so that the rotation center of the knee joint motion energy storage mechanism is always attached to the actual rotation axis of the knee joint in human anatomy; because the spring is adopted, thereby the rigidity of the spring can be utilized to simulate the buffer of knee joint rotation and the limit of the angle of the femur and the tibia by ligaments and muscles around the knee joint, and the energy storage is carried out on the knee joint movement.
Therefore, the knee joint movement energy storage mechanism with the changeable instantaneous center of rotation can simultaneously realize rotation and translation movement on a sagittal plane, and the translation degree of the rotation axis can be dynamically adjusted by changing the size of the gear, so as to meet the characteristic of real human knee joint anatomical movement; in addition, a specific spring device is arranged in the mechanism, so that the function of elastic energy storage of the knee joint is realized.
Drawings
FIG. 1 is a perspective view of an extended state of a knee joint motion energy storage mechanism with variable instantaneous center of rotation in an embodiment of the present invention;
FIG. 2 is a schematic front view of a knee joint motion energy storage mechanism with variable instantaneous center of rotation in an embodiment of the present invention in a straightened state;
FIG. 3 is an exploded view of a knee joint motion energy storage mechanism with variable instantaneous center of rotation in an embodiment of the present invention;
FIG. 4 is a perspective view of the knee joint motion energy storage mechanism with variable instantaneous center of rotation in an embodiment of the present invention in a flexed state;
FIG. 5 is a side schematic view of the flexion of a knee motion energy storage mechanism with instantaneous center of rotation variable in an embodiment of the present invention;
FIG. 6 is a schematic representation of a leg attachment fixture of a knee joint motion energy storage mechanism with instant center of rotation variation in an embodiment of the present invention;
FIG. 7 is a schematic view of a first sleeve and a second sleeve of a knee joint motion energy storage mechanism with variable instant center of rotation in an embodiment of the present invention;
FIG. 8 is a schematic view of the upper and lower gears of a knee joint motion energy storage mechanism with variable instantaneous center of rotation in an embodiment of the present invention;
fig. 9 is a schematic view of the linkage of the knee joint motion energy storage mechanism with variable instant center of rotation in an embodiment of the present invention.
Detailed Description
In order to make the technical means and functions of the present invention easily understood, the present invention will be specifically described below with reference to the embodiments and the accompanying drawings.
Example (b):
as shown in fig. 1 and 5, a knee joint motion energy storage mechanism 100 with a variable instantaneous center of rotation according to the present embodiment is used for elastic energy storage of a knee joint, and includes: the leg is connected to the fixing member, the upper gear 10, the lower gear 11, and the connecting member 12.
As shown in fig. 6, the leg connecting and fixing member includes two upper connecting and fixing members 1 having first small holes 15 formed at top ends thereof and two lower connecting and fixing members 2 having second small holes 16 formed at bottom ends thereof, which are disposed above and below the outer side of the knee joint.
As shown in fig. 7, a first sleeve 3 is disposed between two upper connecting fixtures 1, a second sleeve 4 is disposed between two lower connecting fixtures, and a spring 5 is disposed between the first sleeve 3 and the second sleeve 4 for buffering and storing energy and limiting further rotation of the knee joint when the knee joint rotates.
Furthermore, the two ends of the spring 5 are respectively fixed on the first sleeve 3 and the second sleeve 4, when the 4 gears rotate, namely, when the gears synchronously rotate with the knee joint, as shown in fig. 4 and 5, the spring 5 bends to generate resilience force, store movement energy and limit the knee joint to further rotate, when the knee joint is straightened, the energy stored by the spring 5 is converted into kinetic energy during rotation to achieve the assistance effect, and in addition, the limiting protection and the movement energy storage capacity of the mechanism on the knee joint movement can be adjusted by selecting springs with different rigidity.
In addition, the two upper connecting and fixing pieces 1 are connected through the second screw 6 and the first rivet 7 which pass through the first small hole 15 and the first sleeve 3, so that when the knee joint rotates, the actions of the two upper connecting and fixing pieces 1 are kept consistent, wherein the first rivet 7 passes through the first sleeve 3 and connects the two upper connecting and fixing pieces 1 through the second screw 6, the top end of each upper connecting and fixing piece 1 comprises a pin and a positioning hole, so that the upper connecting and fixing pieces 1 keep synchronous positions when rotating, wherein the positioning hole is a third small hole 17, and the pin is a rod-shaped structure 18 on each upper connecting and fixing piece 1.
Further, the two lower connecting fixtures 2 are connected through a third screw 8 and a second rivet 9 which pass through the second small hole 16 and the second sleeve 4, so that when the knee joint rotates, the actions of the two lower connecting fixtures 2 are consistent, wherein the second rivet 9 passes through the second sleeve 4 and connects the two lower connecting fixtures 2 through the third screw 8, the bottom end of each lower connecting fixture 2 comprises a pin and a positioning hole, so that the lower connecting fixtures 2 maintain synchronous positions during rotation, wherein the positioning hole is a fourth small hole 19, and the pin is a rod-shaped structure 20 on the lower connecting fixture 2.
As shown in fig. 8, two upper gears 10 are respectively engaged with protrusions on the first rotating shaft at the bottom ends of the two upper connecting fixtures 1, wherein the protrusions are engaged with the central holes of the upper gears for fixing the upper gears 10.
The two lower gears 11 are respectively matched with the bulges on the second rotating shafts at the top ends of the two lower connecting fixing pieces 2, and the two lower gears 11 are both meshed with the upper gear 10 on the same side, so that the upper gear 10 and the lower gear 11 are kept synchronous with the upper connecting fixing piece 1 and the lower connecting fixing piece 2 when rotating, wherein the bulges are meshed with the central hole of the lower gear 11 and are used for fixing the lower gear 11.
In this embodiment, the cross-sections of the top ends of the first rotating shaft and the second rotating shaft are both circular, and are used for being matched with the connecting pieces 12, so that the two connecting pieces 12 can freely rotate around the first rotating shaft round and the second rotating shaft round respectively, and the connecting pieces 12 can smoothly rotate.
Further, the first and second rotation shafts each have a screw thread inside, which is engaged with a first screw 14 passing through a spacer 13 provided at both ends of the link 12, to fix the upper gear 10, the lower gear 11, and the link 12 at both sides of the knee joint.
The two connecting pieces 12 are respectively arranged at the outer sides of the two sets of meshed upper gears 10 and lower gears 11, and screw holes for the first screws 14 to pass through are formed at the two ends of the connecting pieces 12, so that the first screws 14 pass through the screw holes and the corresponding gears are connected to the upper connecting and fixing piece 1 and the lower connecting and fixing piece 2.
In this embodiment, by changing the length of the connecting member 12, it is possible to achieve load-free or partial load-free of the joint surface when the knee joint rotates, and the entire mechanism is connected in parallel with the knee joint to achieve the stress shielding effect.
The working process of the knee joint motion energy storage mechanism with the changeable instantaneous center of rotation of the embodiment is as follows:
when the knee joint movement energy storage mechanism 100 with the changeable instantaneous center of rotation works, the knee joint movement energy storage mechanism is firstly placed at the knee joint and connected with the knee joint in parallel, when a person is in a standing state and the lower limb is in a stretched state, the upper connecting and fixing part 1 and the lower connecting and fixing part 2 are kept in a vertical state, and the spring 5 is also kept in the same vertical state; when the knee joint is bent, the upper gear 10, the lower gear 11 and the knee joint rotate synchronously, the spring 5 is bent, the resilience force is generated and then the motion energy is stored, and when the knee joint is straightened again, the energy stored by the spring 5 is converted into the kinetic energy during rotation, so that the power assisting effect is achieved.
Effects and effects of the embodiments
According to the knee joint motion energy storage mechanism with the changeable instantaneous center of rotation, double gears are meshed, so that the translation and rotation of the contact of the femoral condyle and the tibial platform surface are simulated in the rotation process of the knee joint, and the rotation center of the knee joint motion energy storage mechanism is always attached to the actual rotation axis of the knee joint in human anatomy; because the spring is adopted, the rigidity of the spring can be utilized to simulate the buffer of the knee joint rotation and the limit of the angle of the femur and the tibia by ligaments and muscles around the knee joint, and the energy storage is carried out on the knee joint movement.
Therefore, the knee joint motion energy storage mechanism with the changeable instantaneous center of rotation can simultaneously realize rotation and translation motion on a sagittal plane, and the translation degree of the rotation axis can be dynamically adjusted by changing the size of the gear, so as to meet the characteristic of real human knee joint anatomical motion; in addition, a specific spring device is arranged in the mechanism, so that the function of elastic energy storage of the knee joint is realized.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (5)
1. A knee joint motion energy storage mechanism with a variable instantaneous center of rotation, which is used for elastic energy storage of a knee joint, and is characterized by comprising:
the leg connecting and fixing piece comprises an upper connecting and fixing piece and a lower connecting and fixing piece, wherein the upper connecting and fixing piece is arranged above and below the outer side of the knee joint, the top ends of the upper connecting and fixing piece and the lower connecting and fixing piece are provided with first small holes, and the bottom ends of the lower connecting and fixing piece are provided with second small holes;
the two upper gears are respectively matched with the bulges on the first rotating shafts at the bottom ends of the two upper connecting fixing pieces;
the two lower gears are respectively matched with the bulges on the second rotating shafts at the top ends of the two lower connecting fixing pieces, and the two lower gears are meshed with the upper gears on the same side, so that the upper gears and the lower gears are kept synchronous with the upper connecting fixing pieces and the lower connecting fixing pieces when rotating; and
two connecting pieces which are respectively arranged at the outer sides of the two groups of meshed upper gears and lower gears, and both ends of each connecting piece are provided with screw holes for first screws to pass through, so that the first screws pass through the screw holes and the corresponding gears are connected on the upper connecting fixing piece and the lower connecting fixing piece,
wherein a first sleeve is arranged between the two upper connecting and fixing pieces, a second sleeve is arranged between the two lower connecting and fixing pieces,
and a spring is arranged between the first sleeve and the second sleeve and is used for buffering and storing energy and limiting the further rotation of the knee joint when the knee joint rotates.
2. The energy storage mechanism for knee joint motion with variable instantaneous center of rotation as claimed in claim 1, wherein:
the two upper connecting and fixing pieces are connected through a second screw and a first rivet which penetrate through the first small hole and the first sleeve, so that the actions of the two upper connecting and fixing pieces are kept consistent when the knee joint rotates.
3. The energy storage mechanism for knee joint motion with variable instantaneous center of rotation as claimed in claim 1, wherein:
and the two lower connecting fixing pieces are connected through a third screw and a second rivet which penetrate through the second small hole and the second sleeve, so that the actions of the two lower connecting fixing pieces are kept consistent when the knee joint rotates.
4. The energy storage mechanism for knee joint motion with variable instantaneous center of rotation as claimed in claim 1, wherein:
the cross sections of the top ends of the first rotating shaft and the second rotating shaft are circular and are used for being matched with the connecting piece, so that the connecting piece can smoothly rotate.
5. The energy storage mechanism for knee joint motion with variable instantaneous center of rotation as claimed in claim 1, wherein:
wherein the first and second rotation shafts have threads inside thereof, and the threads are engaged with the first screws passing through spacers provided at both ends of the connecting member, thereby fixing the upper and lower gears and the connecting member at both sides of the knee joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011577478.2A CN114681261A (en) | 2020-12-28 | 2020-12-28 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011577478.2A CN114681261A (en) | 2020-12-28 | 2020-12-28 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
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| CN114681261A true CN114681261A (en) | 2022-07-01 |
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| CN202011577478.2A Pending CN114681261A (en) | 2020-12-28 | 2020-12-28 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
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| WO2015140352A1 (en) * | 2014-03-21 | 2015-09-24 | Wandercraft | Exoskeleton comprising a pelvis structure |
| CN105291132A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Humanoid robot knee joint capable of realizing active and semi-passive driving |
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| US20190254843A1 (en) * | 2016-11-02 | 2019-08-22 | University Of South Florida | Biomimetic transfemoral knee with gear mesh locking mechanism |
| CN110302036A (en) * | 2019-07-30 | 2019-10-08 | 上海理工大学 | A kind of motion of knee joint bio-mechanism that instant center of rotation is variable |
| CN111037540A (en) * | 2019-12-31 | 2020-04-21 | 复旦大学 | Accompanying chair with ratchet wheel type knee joint |
-
2020
- 2020-12-28 CN CN202011577478.2A patent/CN114681261A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060259153A1 (en) * | 2005-05-13 | 2006-11-16 | Chang-Yu Mechanical System Ltd. | Artificial knee with cushion function |
| CN102050157A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Energy storage and release device of hopping robot |
| CN103006357A (en) * | 2012-12-19 | 2013-04-03 | 南京工程学院 | Active-passive combined low-power-consumption ankle joint prosthesis |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
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| CN105291132A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Humanoid robot knee joint capable of realizing active and semi-passive driving |
| US20190254843A1 (en) * | 2016-11-02 | 2019-08-22 | University Of South Florida | Biomimetic transfemoral knee with gear mesh locking mechanism |
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| CN111037540A (en) * | 2019-12-31 | 2020-04-21 | 复旦大学 | Accompanying chair with ratchet wheel type knee joint |
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