compound closed kinematic chain
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结合生物医学人体关节研究成果，研究了一种四连杆封闭链仿生关节；给出了一种由四连杆机构组成、智能MR阻尼器控制的多轴仿生膝关节机构；
Combining with the achievement of study on human-body joint of biologic medical science, a kind of four-bar link close-chained bionic joint was studied.
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