公开(公告)号：US4000564A

公开(公告)日：1977-01-04

申请号：US647317

申请日：1976-01-07

申请人： Mark P. Haffner ,  Robert S. Pizer

发明人： Mark P. Haffner ,  Robert S. Pizer

IPC分类号： G05B19/07 ,  G09B23/32

CPC分类号： G09B23/32 ,  G05B19/075

摘要： An anthropomorphic programmable joint joins two limb portions. The joint may simulate the knee joint and the portions may correspond to the upper and lower leg portions about the knee. A magnetic particle brake is attached to the upper portion with a shaft that carries the pinion gear of a bevel gear set located at the joint. The ring gear of the bevel gear set is fixed to the lower limb portion so that rotation of the lower limb portion about the joint causes the shaft to rotate the magnetic brake fixed to the upper portion. The brake resistance to this rotation, and therefore the resistance of the joint to rotation, may be programmed in correspondence to electrical current applied to the brake.

摘要翻译： 拟人化可编程接头连接两个肢体部分。 关节可以模拟膝关节，并且这些部分可以对应于围绕膝盖的上部和下部腿部。 磁性颗粒制动器通过承载位于接头处的锥齿轮组的小齿轮的轴连接到上部。 伞齿轮组的齿圈固定在下肢部分上，使得下肢部分绕关节的旋转使轴旋转固定在上部的磁性制动器。 可以根据施加到制动器的电流对该旋转的制动阻力以及因此关节旋转的阻力进行编程。