DE102020004339B4 - Verfahren zur Steuerung einer Prothese oder Orthese - Google Patents

Verfahren zur Steuerung einer Prothese oder Orthese Download PDF

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Publication number
DE102020004339B4
DE102020004339B4 DE102020004339.9A DE102020004339A DE102020004339B4 DE 102020004339 B4 DE102020004339 B4 DE 102020004339B4 DE 102020004339 A DE102020004339 A DE 102020004339A DE 102020004339 B4 DE102020004339 B4 DE 102020004339B4
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Prior art keywords
flexion
resistance
ground
angle
walking
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DE102020004339.9A
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German (de)
English (en)
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DE102020004339A1 (de
Inventor
Thomas Hofmann
Dirk Seifert
Sven Zarling
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Otto Bock Healthcare Products GmbH
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Otto Bock Healthcare Products GmbH
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Priority to DE102020004339.9A priority Critical patent/DE102020004339B4/de
Priority to JP2023501287A priority patent/JP7739402B2/ja
Priority to CN202180051126.XA priority patent/CN115867234B/zh
Priority to EP21754712.4A priority patent/EP4181836B1/de
Priority to US18/016,829 priority patent/US20230270570A1/en
Priority to PCT/EP2021/070283 priority patent/WO2022018091A1/de
Publication of DE102020004339A1 publication Critical patent/DE102020004339A1/de
Application granted granted Critical
Publication of DE102020004339B4 publication Critical patent/DE102020004339B4/de
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    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/604—Joints for artificial legs
    • 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
    • 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
    • A61F2/66—Feet; Ankle joints
    • A61F2/6607—Ankle 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
    • A61F2002/5016—Prostheses not implantable in the body adjustable
    • A61F2002/503—Prostheses not implantable in the body adjustable for adjusting elasticity, flexibility, spring rate or mechanical tension
    • 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
    • A61F2002/607—Lower legs
    • 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
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • 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
    • A61F2002/6818—Operating or control means for braking
    • 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
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/763—Measuring means for measuring spatial position, e.g. global positioning system [GPS]
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (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)
DE102020004339.9A 2020-07-20 2020-07-20 Verfahren zur Steuerung einer Prothese oder Orthese Active DE102020004339B4 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE102020004339.9A DE102020004339B4 (de) 2020-07-20 2020-07-20 Verfahren zur Steuerung einer Prothese oder Orthese
JP2023501287A JP7739402B2 (ja) 2020-07-20 2021-07-20 義肢又は装具を制御する方法
CN202180051126.XA CN115867234B (zh) 2020-07-20 2021-07-20 用于控制假体或矫形器的方法
EP21754712.4A EP4181836B1 (de) 2020-07-20 2021-07-20 Verfahren zur steuerung einer prothese oder orthese
US18/016,829 US20230270570A1 (en) 2020-07-20 2021-07-20 Method for controlling a prosthesis or orthesis
PCT/EP2021/070283 WO2022018091A1 (de) 2020-07-20 2021-07-20 Verfahren zur steuerung einer prothese oder orthese

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102020004339.9A DE102020004339B4 (de) 2020-07-20 2020-07-20 Verfahren zur Steuerung einer Prothese oder Orthese

Publications (2)

Publication Number Publication Date
DE102020004339A1 DE102020004339A1 (de) 2022-01-20
DE102020004339B4 true DE102020004339B4 (de) 2022-03-03

Family

ID=77316981

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102020004339.9A Active DE102020004339B4 (de) 2020-07-20 2020-07-20 Verfahren zur Steuerung einer Prothese oder Orthese

Country Status (6)

Country Link
US (1) US20230270570A1 (enExample)
EP (1) EP4181836B1 (enExample)
JP (1) JP7739402B2 (enExample)
CN (1) CN115867234B (enExample)
DE (1) DE102020004339B4 (enExample)
WO (1) WO2022018091A1 (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12059383B2 (en) 2016-05-03 2024-08-13 Icarus Medical, LLC Assistive orthotic device with motors and sensors
CN115256340B (zh) * 2022-06-09 2024-06-25 天津理工大学 一种双助力柔性下肢外骨骼系统及控制方法
US12527673B2 (en) 2023-09-29 2026-01-20 The University Of Utah Research Foundation Unified controller for a powered knee prosthesis
US12465502B2 (en) 2023-09-29 2025-11-11 University Of Utah Research Foundation Volitional EMG controller for a powered knee prosthesis
US20250107907A1 (en) * 2023-09-29 2025-04-03 University Of Utah Research Foundation Powered knee and ankle prosthesis controller for adaptive ambulation
CN117357314B (zh) * 2023-12-08 2024-04-05 浙江强脑科技有限公司 坐下控制方法、装置、智能假腿、终端及存储介质
DE102024110270A1 (de) * 2024-04-12 2025-10-16 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Kniegelenks

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009030995A1 (de) 2009-06-30 2011-01-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Aktive Prothesenvorrichtung mit Terrainerfassung und Verfahren zum Steuern einer aktiven Prothesenvorrichtung
DE102013011080A1 (de) 2013-07-03 2015-01-08 Otto Bock Healthcare Gmbh Orthopädietechnische Gelenkeinrichtung und Verfahren zu deren Steuerung
WO2015101417A1 (de) 2014-01-03 2015-07-09 Otto Bock Healthcare Gmbh Prothesenkniegelenk
DE102015107783A1 (de) 2015-05-18 2016-11-24 Inventus Engineering Gmbh Prothesen- oder Exoskelettkomponente, Prothesen- oder Exoskelett und Verfahren

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GB2367753B (en) * 1997-08-15 2002-05-29 Blatchford & Sons Ltd A lower limb prosthesis
SE518726C2 (sv) * 1999-11-23 2002-11-12 Gramtec Innovation Ab Anordning vid knäledsprotes innefattande polycentrisk länkmekanism
US7637959B2 (en) * 2004-02-12 2009-12-29 össur hf Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle
SE528516C2 (sv) 2005-04-19 2006-12-05 Lisa Gramnaes Kombinerat aktivt och passivt benprotessystem samt en metod för att utföra en rörelsecykel med ett sådant system
EP1942843B1 (en) * 2005-09-01 2017-03-01 Össur hf System and method for determining terrain transitions
JP4351200B2 (ja) * 2005-09-05 2009-10-28 株式会社長崎かなえ 義足
DE102006021802A1 (de) * 2006-05-09 2007-11-15 Otto Bock Healthcare Ip Gmbh & Co. Kg Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung
US20090192619A1 (en) * 2007-11-23 2009-07-30 Orthocare Innovations Llc Passive electro-magnetically damped joint
KR20120107928A (ko) * 2009-08-31 2012-10-04 아이워크, 아이엔씨. 의족 보철 또는 지지대를 이용하는 기립 시퀀스의 구현
DE102009052887B4 (de) * 2009-11-13 2016-09-15 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines orthetischen oder prothetischen Gelenkes einer unteren Extremität
DE102009052888A1 (de) * 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052895A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Kniegelenkes
US9687377B2 (en) * 2011-01-21 2017-06-27 Bionx Medical Technologies, Inc. Terrain adaptive powered joint orthosis
WO2013067407A1 (en) * 2011-11-02 2013-05-10 Iwalk, Inc. Biomimetic transfemoral prosthesis
GB201121437D0 (en) 2011-12-13 2012-01-25 Blatchford & Sons Ltd A lower limb prothesis
DE102012003369A1 (de) 2012-02-22 2013-08-22 Otto Bock Healthcare Gmbh Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenks
DE102012013141A1 (de) * 2012-07-03 2014-05-08 Otto Bock Healthcare Gmbh Orthetische oder prothetische Gelenkeinrichtung und Verfahren zu dessen Steuerung
DE102013013810B3 (de) * 2013-08-22 2015-02-19 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes
DE102015106392B4 (de) 2015-04-24 2020-07-09 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks
DE102015106390B4 (de) 2015-04-24 2016-11-10 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung
DE102015106384B4 (de) 2015-04-24 2017-09-07 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung bei einem künstlichen Gelenk
DE102019115098A1 (de) * 2019-06-05 2020-12-10 Otto Bock Healthcare Products Gmbh Verfahren zum Steuern eines künstlichen Kniegelenks

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009030995A1 (de) 2009-06-30 2011-01-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Aktive Prothesenvorrichtung mit Terrainerfassung und Verfahren zum Steuern einer aktiven Prothesenvorrichtung
DE102013011080A1 (de) 2013-07-03 2015-01-08 Otto Bock Healthcare Gmbh Orthopädietechnische Gelenkeinrichtung und Verfahren zu deren Steuerung
WO2015101417A1 (de) 2014-01-03 2015-07-09 Otto Bock Healthcare Gmbh Prothesenkniegelenk
DE102015107783A1 (de) 2015-05-18 2016-11-24 Inventus Engineering Gmbh Prothesen- oder Exoskelettkomponente, Prothesen- oder Exoskelett und Verfahren

Also Published As

Publication number Publication date
EP4181836B1 (de) 2025-07-02
JP7739402B2 (ja) 2025-09-16
JP2023534427A (ja) 2023-08-09
CN115867234A (zh) 2023-03-28
EP4181836A1 (de) 2023-05-24
WO2022018091A1 (de) 2022-01-27
DE102020004339A1 (de) 2022-01-20
CN115867234B (zh) 2024-12-31
US20230270570A1 (en) 2023-08-31

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