KR101637114B1 - Knee joint of weight active type - Google Patents

Knee joint of weight active type Download PDF

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KR101637114B1
KR101637114B1 KR1020150022227A KR20150022227A KR101637114B1 KR 101637114 B1 KR101637114 B1 KR 101637114B1 KR 1020150022227 A KR1020150022227 A KR 1020150022227A KR 20150022227 A KR20150022227 A KR 20150022227A KR 101637114 B1 KR101637114 B1 KR 101637114B1
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South Korea
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bar
brake
knee
joint
artificial
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KR1020150022227A
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Korean (ko)
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김신기
김규석
김종권
박진국
문무성
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근로복지공단
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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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/601—Peg legs, e.g. wooden 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
    • A61F2/68—Operating or control means
    • A61F2002/6818—Operating or control means for braking

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  • 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 relates to a load-driven knee joint device for installing a knee braking brake on a joint part and operating the brake by pressing a brake bar through a load action generated when a user put his/her foot on the ground while walking. A bidirectional hydraulic brake knee joint device according to the present invention comprises: front and rear pressing bars (20, 30) for selectively pressing a brake bar (2) in front and rear sides of the knee from an upper end of an artificial reliance (10) supported by a joint part coupling axis (11) on a joint part (1) having a brake (3) geared with the brake bar (2); and a group of pressure transferring wires (60, 61) installed on the upper surface of an artificial leg joint (40) attached to a lower end of the artificial reliance (10) and the front and rear pressing bars (20, 30), and selectively transferring putting pressure of an artificial leg (50) to a front side or a rear side.

Description

양방향 유압 브레이크 무릎관절장치{Knee joint of weight active type}[0001] The present invention relates to a two-way hydraulic brake knee joint device,

본 발명은 양방향 유압 브레이크 무릎관절장치에 관한 것이다.The present invention relates to a bidirectional hydraulic brake knee joint device.

일반적으로 무릎제동 기능을 가지는 의족은 국내특허등록 제10-0563445호로 알려져 있으나, 구조가 복잡하여 고가인 단점이 있다.Generally, knee prostheses having a knee braking function are known as Korean Patent Registration No. 10-0563445, but they are disadvantageous in that they are complicated in structure and expensive.

또한 무릎제동브레이크를 유압식으로 구성하여 브레이크바를 푸시하여 관절상태를 고정하면서 보행하는 방식이 도 1 및 도 2와 같은 방식으로 알려졌다. 이는 발바닥을 지면에 디딜 경우, 관절부의 뒤쪽에 의지의 발바닥 뒷굽 부분에서 지면에서부터의 누름힘이 발생하고, 이러한 힘은 도 2의 브레이크바(2)를 위로 누르는 힘으로 작용하고, 누르는 힘은 브레이크작용을 하도록 기능하는 것이다. 그런데 이러한 방식은 발 뒷굽부분에서 힘을 받아 작용하는 방식이므로 굴곡각도가 큰 계단 보행이나 무릎을 굽힌 상태에서 절단환자의 체중이 전달되는 경우 무릎관절이 회전되어 대퇴절단자가 넘어지는 문제점을 가진다.In addition, a method in which the knee braking brakes are constructed in a hydraulic manner and the brake bars are pushed to move while fixing the joint state is known in the same manner as in Fig. 1 and Fig. When the soles stand on the ground, a pressing force is generated from the ground at the heel portion of the soles of the will at the back of the joint, and this force acts as a force to press the brake bar 2 upward in Fig. 2, Function. However, since this method works by receiving force from the heel of the foot, when the body weight of the cutting patient is transmitted in a state where the stairs are being walked with a great angle of flexion or the knee is bent, the knee joint is rotated and the femoral cutter falls.

본 발명은 이를 해결하고자 하는 것으로 본 발명의 목적은 인공의지의 무릎고정장치를 인공의지 상단에 브레이크바를 누름작용으로 관절상태를 고정하는 전후방 누름바로 구분하여 설치하고, 각 전후방 누름바는 전후방 압력전달외이어로 누름작용을 하도록 하고, 당기는 힘은 인공의족을 지지하는 의족조인트에서 당김 힘을 받아 작용하도록 하여 인공의족의 전방 및 뒷굽 부분에서 누르는 힘이 있을 경우 이를 인식하여 브레이크 작용하도록 함으로써 자연스럽게 보행을 가능토록 하는 전후방 작용 가능한 양방향 유압 브레이크 무릎관절장치를 제공하려는 것이다.It is an object of the present invention to solve the above-mentioned problems, and an object of the present invention is to provide a knee fastening device of an artificial limb, which is provided at the upper end of an artificial limb and is divided into front and rear pressing bars for fixing a joint state by a pressing action of a brake bar, And the pulling force acts on the leg joint supporting the artificial prosthesis with the pulling force so that when there is a force pressing on the anterior and posterior portions of the artificial prosthesis, To provide a bi-directional hydraulic brake knee joint device capable of operating in an anteroposterior direction.

본 발명의 다른 목적은 전방 과 후방의 압력전달와이어의 좌우측에는 탄성 복원을 위한 탄성판을 부가하여 좌우 뒤틀림 없이 작동하는 양방향 유압 브레이크 무릎관절장치를 제공하려는 것이다.Another object of the present invention is to provide a bidirectional hydraulic brake knee joint device which is provided with elastic plates for elastic restoration at left and right sides of front and rear pressure transmission wires, and operates without warpage.

이를 위하여 본원발명은 무릎제동 브레이크를 관절부에 설치하고, 사용자의 보행시 지면을 디딜 때 발생하는 하중작용으로 브레이크바를 눌러서 브레이크를 작동시키는 하중작용식 무릎관절장치에서,To this end, the present invention provides a load-operated knee joint device in which a knee braking brake is installed in a joint part, and a brake is actuated by pressing a brake bar by a load action generated when a user treads a ground,

브레이크바에 연동하는 브레이크를 가지는 관절부에 관절부결합축으로 지지된 인공의지 상단에서 상무릎 전방 및 후방위치에서 선택적으로 상기 브레이크바를 눌러주는 전,후방 누름바;A front and a rear pushbars selectively pressing the brake bars at the upper and lower positions of the upper knee at the upper end of the artificial limb supported by the articulation joint shaft in a joint having a brake interlocked with the brake bar;

인공의지 하단에 유착된 의족조인트 상면과 상기 전후방누름바에 설치되어 인공의족 디딤압력을 전방이나 후방에 선택적으로 전달하는 일조의 압력전달 와이어를 포함하는 양방향 유압 브레이크 무릎관절장치를 제공한다.There is provided a bi-directional hydraulic brake knee joint device including an upper surface of an artificial joint which is attached to a lower end of an artificial limb and a pressure transmitting wire provided on the front and rear push bars to selectively transmit the artificial prosthetic pressure forward or backward.

이상과 같이 본원 발명은 인공의지의 무릎고정장치를 인공의지 상단에 브레이크바를 누름작용으로 관절상태를 고정하는 전후방 누름바로 구분하여 설치하고, 각 전후방 누름바는 전후방 압력전달외이어로 누름작용을 하도록 하고, 당기는 힘은 인공의족을 지지하는 의족조인트에서 당김힘을 받아 작용하도로구 하여 인공의족의 전방 및 뒷굽 부분에서 누르는 힘이 있을 경우 이를 인식하여 브레이크 작용하도록 함으로써 자연스럽게 보행을 가능토록 한다.As described above, according to the present invention, the knee fixing device of artificial limb is divided into front and rear pressing bars for fixing the joint state by pressing action of a brake bar on the upper end of the artificial shoulder, and each of the front and rear pressing bars is pressed And the pulling force is obtained by pulling force from the leg joint supporting the artificial prosthesis, so that when there is a pressing force in the front and rear part of the artificial prosthesis, it is recognized that the force acts on the brakes.

본 발명은 전방 과 후방의 압력전달와이어의 좌우측에는 탄성 복원을 위한 탄성판을 부가하여 좌우 뒤틀림 없이 작동한다.In the present invention, elastic plates for elastic restoration are added to the left and right sides of the front and rear pressure transmission wires to operate without warpage.

도 1은 종래의 무릎관절창치의 사용상태 설명도,
도 2는 도 1의 관절부 요부 설명도,
도 3은 본 발명의 요부 사시도,
도 4는 본 발명의 일부 단면도,
도 5는 본 발명의 인공의족 전방으로 바닥을 누르도록 디디는 경우를 보인 설명도,
도 6은 본 발명의 인공의족 후방 뒷굽 부분으로 바닥을 누르도록 디디는 경우를 보인 설명도이다.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view of a use state of a conventional knee joint window,
Fig. 2 is an explanatory view of a joint part of Fig. 1,
Fig. 3 is a perspective view of the present invention,
Figure 4 is a partial cross-sectional view of the present invention,
FIG. 5 is an explanatory view showing a case where the floor is pushed forward in the artificial leg of the present invention,
FIG. 6 is an explanatory view showing a case where the user is instructed to press the floor with the rear leg portion of the artificial prosthesis of the present invention.

이하 본원발명의 실시예를 도면을 참조하여 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

본원발명은 무릎제동 브레이크를 관절부에 설치하고, 사용자의 보행시 지면을 디딜 때 발생하는 하중작용으로 브레이크바를 눌러서 브레이크를 작동시키는 하중작용식 무릎관절장치에서,The present invention relates to a load acting type knee joint device in which a knee braking brake is provided in a joint part and a brake is actuated by pressing a brake bar by a load action generated when a user treads a ground,

브레이크바(2)에 연동하는 브레이크(3)를 가지는 관절부(1)에 관절부결합축(11)으로 지지된 인공의지(10) 상단에서 상기 브레이크바(2)를 무릎 전방 및 후방위치에서 선택적으로 브레이크바(2)를 눌러주는 전,후방 누름바(20,30);The brake bar 2 is selectively placed at the upper and lower positions of the knee at the upper end of the artificial will 10 supported by the joint part coupling shaft 11 in the joint part 1 having the brake 3 interlocked with the brake bar 2 Front and rear push bars (20, 30) for pressing the brake bars (2);

인공의지(10) 하단에 유착된 의족조인트(40) 상면과 상기 전후방누름바(20,30)에 설치되어 인공의족(50) 디딤압력을 전방이나 후방에 선택적으로 전달하는 일조의 압력전달 와이어(60,61)를 포함하여 구성한다.A pair of pressure transmission wires installed on the upper surface of the leg joint 40 attached to the lower end of the artificial will 10 and the front and rear push bars 20 and 30 for selectively transmitting the artificial prosthetic 50's tread pressure forward or backward 60, 61).

상기, 전방누름바(20)는 브레이크바(2)에 후단부가 접하는 상면바(21)와, 상면바(21) 선단부에 수직으로 절곡되고 힌지축(24)에 유착된 수직바(22)와, 수직바(22)에 전방 수평으로 절곡되고 전방 선단에 압력전달와이어(60) 상단이 지지되는 하면바(23)로 이루어지고,The front push bar 20 includes a top bar 21 having a rear end tangent to the break bar 2 and a vertical bar 22 bent perpendicular to the front end of the top bar 21 and attached to the hinge shaft 24 And a bottom bar 23 which is bent forward and horizontally to the vertical bar 22 and whose upper end is supported by the upper end of the pressure transmission wire 60,

후방누름바(30)는 브레이크바(2)에 선단부가 접하는 상면바(31)와, 상면바(31) 후단부에 수직으로 절곡되고 힌지축(34)에 유착된 수직바(32)와, 수직바(32)에 후방 수평으로 절곡되고 후방 선단에 압력전달와이어(61) 상단이 지지되는 하면바(33)로 이루어진다.The rear pressing bar 30 includes a top bar 31 having a front end tangent to the brake bar 2, a vertical bar 32 bent perpendicularly to the rear end of the top bar 31 and attached to the hinge shaft 34, And a bottom bar 33 which is bent rearward horizontally to the vertical bar 32 and whose upper end of the pressure transmission wire 61 is supported at the rear end thereof.

상기, 무릎 전방측 압력전달와이어(60)의 의족조인트(40) 상단 좌우측에는 충격흡수용 탄성판(41,42)을 부가하고,Absorbing elastic plates 41 and 42 are attached to left and right upper ends of the leg-joints 40 of the knee-front side pressure transmission wire 60,

후방측 압력전달와이어(61)의 의족조인트(40) 상단 좌우측에는 충격흡수용 탄성판(43,44)을 부가한다.Shock absorbing elastic plates 43 and 44 are provided on the right and left upper ends of the leg joint 40 of the rear side pressure transmission wire 61.

이와같이 구성한 본원발명은 사용자가 인공의족(50)의 앞쪽을 디디면 의족조인트힌지(45)를 중심으로 시계방향으로 의족조인트(40)에 힘이 작용하고, 이는 후방측 압력전달와이어(61)가 도 5 화살표 방향으로 당기는 힘이 발생한다. In the present invention constructed as described above, a force acts on the ankle joint 40 in a clockwise direction about the proximal prosthesis hinge 45 when the user holds the front of the artificial prosthesis 50, A pulling force is generated in the direction of the arrow in Fig.

그러면 후방누름바(30)의 하면바(33)가 힌지축(34)을 중심으로 시계 방향으로 일정 각도로 회전하므로 상면바(31)가 브레이크바(2)를 위로 밀어주는 화살표 방향의 힘이 발생하게되어 브레이크(3)가 브레이크작동을 하여 관절의 회전을 막아주어 보행을 가능토록 한다.The lower bar 33 of the rear pressing bar 30 rotates clockwise around the hinge shaft 34 at a predetermined angle so that the force in the direction of the arrow that the upper bar 31 pushes the brake bar 2 upward So that the brake 3 acts on the brake 3 to prevent the rotation of the joint, thereby enabling walking.

한편 사용자가 도 6과 같이 인공의족(50)의 뒷굽부위를 디디면 의족조인트힌지(45)를 중심으로 반시계방향으로 의족조인트(40)에 힘이 작용하고, 이는 전방측 압력전달와이어(60)가 도 6 화살표 방향으로 당기는 힘이 발생한다. 6, the user applies a force to the leg joint 40 in a counterclockwise direction about the leg-rest portion of the artificial prosthesis 50 about the leg-augmented prosthetic joint hinge 45. This forces the front side pressure transmitting wire 60 In the direction of the arrow in Fig.

그러면 전방누름바(20)의 하면바(23)가 힌지축(24)을 중심으로 반시계 방향으로 일정 각도로 회전하므로 상면바(21)가 브레이크바(2)를 위로 밀어주는 화살표 방향의 힘이 발생하게 되어 브레이크(3)가 브레이크작동을 하여 관절의 회전을 막아주어 보행을 가능토록 한다.The lower bar 23 of the front pressing bar 20 rotates counterclockwise around the hinge axis 24 at a predetermined angle so that the force of the arrow bar in which the upper bar 21 pushes the brake bar 2 upward So that the brake 3 acts on the brake 3 to prevent the rotation of the joint, thereby enabling the walking.

결국 인공의지(10)에 결합하는 인공의족(50)의 발 앞쪽이나 뒷굽 어느 쪽으로 땅바닥에 디뎌도 안정적으로 브레이크 기능을 수행하여 의족이라할 지라도 보통사람과 같이 자연스런 보행을 가능토록 한다.As a result, even if the artificial prosthesis (50), which is connected to the artificial will (10), strikes the ground in front of the foot or the heel of the body, it can perform a braking function stably.

1;관절부 2;브레이크바 3;브레이크 10;인공의지 11;관절부결합축 20;전방누름바 21;상면바 22;수직바 23;하면바 24;힌지축 30;전방누름바 31;상면바 32;수직바 33;하면바 34;힌지축 40;의족조인트 41,42,43,44;탄성판 45;의족조인트힌지 50;인공의족 60,61;압력전달 와이어A front bar bar 21, an upper bar bar 22, a vertical bar bar 23, a bottom bar bar 24, a hinge bar 30, a front push bar 31, an upper bar bar 32, A vertical bar 33, a bottom bar 34, a hinge shaft 40, an athletic joint 41, 42, 43, 44, an elastic plate 45, an ankle joint hinge 50,

Claims (3)

무릎제동 브레이크를 관절부에 설치하고, 사용자의 보행시 지면을 디딜 때 발생하는 하중작용으로 브레이크바를 눌러서 브레이크를 작동시키는 무릎관절장치에서,
브레이크바(2)에 연동하는 브레이크(3)를 가지는 관절부(1)에 관절부결합축(11)으로 지지된 인공의지(10) 상단에서 상기 브레이크바(2)를 무릎 전방 및 후방위치에서 선택적으로 브레이크바(2)를 눌러주는 전,후방 누름바(20,30);
인공의지(10) 하단에 유착된 의족조인트(40) 상면과 상기 전후방누름바(20,30)에 설치되어 인공의족(50) 디딤압력을 전방이나 후방에 선택적으로 전달하는 일조의 압력전달 와이어(60,61)를 포함하는 양방향 유압 브레이크 무릎관절장치.
In a knee joint device in which a knee braking brake is provided in a joint part and a brake is actuated by pressing a brake bar by a load action generated when a user treads the ground,
The brake bar 2 is selectively placed at the upper and lower positions of the knee at the upper end of the artificial will 10 supported by the joint part coupling shaft 11 in the joint part 1 having the brake 3 interlocked with the brake bar 2 Front and rear push bars (20, 30) for pressing the brake bars (2);
A pair of pressure transmission wires installed on the upper surface of the leg joint 40 attached to the lower end of the artificial will 10 and the front and rear push bars 20 and 30 for selectively transmitting the artificial prosthetic 50's tread pressure forward or backward 60, 61). ≪ / RTI >
제 1항에 있어서, 전방누름바(20)는 브레이크바(2)에 후단부가 접하는 상면바(21)와, 상면바(21) 선단부에 수직으로 절곡되고 힌지축(24)에 유착된 수직바(22)와, 수직바(22)에 전방 수평으로 절곡되고 전방 선단에 압력전달와이어(60) 상단이 지지되는 하면바(23)로 이루어지고,
후방누름바(30)는 브레이크바(2)에 선단부가 접하는 상면바(31)와, 상면바(31) 후단부에 수직으로 절곡되고 힌지축(34)에 유착된 수직바(32)와, 수직바(32)에 후방 수평으로 절곡되고 후방 선단에 압력전달와이어(61) 상단이 지지되는 하면바(33)로 이루어진 것을 특징으로 하는 양방향 유압 브레이크 무릎관절장치.
The hinge device according to claim 1, wherein the front push bar (20) comprises a top bar (21) with its rear end abutting against the brake bar (2), a vertical bar bent perpendicularly to the front bar (22), and a bottom bar (23) bent forward and horizontally to the vertical bar (22) and supporting the upper end of the pressure transmission wire (60) at the front end thereof,
The rear pressing bar 30 includes a top bar 31 having a front end tangent to the brake bar 2, a vertical bar 32 bent perpendicularly to the rear end of the top bar 31 and attached to the hinge shaft 34, And a bottom bar (33) bent rearward horizontally to the vertical bar (32) and supporting the upper end of the pressure transmission wire (61) at the rear end thereof.
제 2항에 있어서, 무릎 전방측 압력전달와이어(60)의 의족조인트(40) 상단 좌우측에는 충격흡수용 탄성판(41,42)을 부가하고,
후방측 압력전달와이어(61)의 의족조인트(40) 상단 좌우측에는 충격흡수용 탄성판(43,44)을 부가한 것을 특징으로 하는 양방향 유압 브레이크 무릎관절장치.3. The knee-front side pressure transmission wire (60) according to claim 2, wherein shock absorbing elastic plates (41, 42) are attached to left and right upper ends of the leg-
Characterized in that shock absorbing elastic plates (43, 44) are added to left and right upper ends of the leg joint (40) of the rear side pressure transmission wire (61).
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180098960A (en) 2017-02-27 2018-09-05 인하대학교 산학협력단 Device for guiding human body joint motion
KR20230137009A (en) 2022-03-21 2023-10-04 한국기계연구원 Robot prosthetic leg having pulley and method for driving the same

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KR100363567B1 (en) * 1995-03-31 2004-09-01 오토 복 헬스케어 게엠베하 Brake knee joint for prosthesis
JP3772927B2 (en) * 1996-11-13 2006-05-10 株式会社松本義肢製作所 Prosthetic knee break prevention device
JP2008536614A (en) * 2005-04-19 2008-09-11 リサ、グラムネス Integrated active and passive prosthetic foot systems and methods for moving such systems
KR101237392B1 (en) * 2010-10-20 2013-02-26 하재철 Artificial knee joint for prosthetic leg user

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100363567B1 (en) * 1995-03-31 2004-09-01 오토 복 헬스케어 게엠베하 Brake knee joint for prosthesis
JP3772927B2 (en) * 1996-11-13 2006-05-10 株式会社松本義肢製作所 Prosthetic knee break prevention device
JP2008536614A (en) * 2005-04-19 2008-09-11 リサ、グラムネス Integrated active and passive prosthetic foot systems and methods for moving such systems
KR101237392B1 (en) * 2010-10-20 2013-02-26 하재철 Artificial knee joint for prosthetic leg user

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180098960A (en) 2017-02-27 2018-09-05 인하대학교 산학협력단 Device for guiding human body joint motion
KR20230137009A (en) 2022-03-21 2023-10-04 한국기계연구원 Robot prosthetic leg having pulley and method for driving the same

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