A humanoid thoracic-back joint system based on pneumatic muscles
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A technology of pneumatic muscles and joints, applied in the field of bionic robots, can solve problems such as chest and back joint strain, achieve high power/mass ratio, good flexibility, and compact structure
Inactive Publication Date: 2020-03-03
JIAXING UNIV
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[0002] The human chest-back is mainly composed of ribs, vertebrae and intricate muscles. In production and life, due to problems in machine design and labor intensity, it may cause strains, diseases, and even hemiplegia on the chest-back joints. Therefore, it is necessary to Shoulder joints and thoracic-back joints are studied. At the same time, pneumatic muscles have similar characteristics to human muscles, so the distribution of human muscles can be simulated by pneumatic muscles. However, there are few studies in this area at home and abroad.
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[0023] Such as Figure 1-3 As shown, a humanoid thoracic-back joint system based on pneumatic muscles, including the thoracic-back bone part, the left shoulder joint part, and the right shoulder joint part;
[0024] The chest and back bones include rib one 1, vertebra two 2, rib two 10, rib three 12, rib four 11, vertebra three 13, vertebra four 14, vertebra five 15, vertebra six 16, vertebra one 17, vertebra nine 18, ribs Five 19, rib six 20, rib eight 21, rib seven 22, vertebra ten 23, vertebra eleven 24, vertebra seven 25, vertebra eight 26 and pelvis 27;
[0025] Vertebra one 17, vertebra two 2, vertebra three 13, vertebra four 14, vertebra five 15, vertebra six 16, vertebra seven 25, vertebra eight 26 are rotatably connected in turn to form the rear end; vertebra nine 18, vertebra ten 23, vertebra ten One 24 is rotatably connected in turn to form the front end; the lower end of vertebra eight 26 is rotatably connected to the pelvis 27;
[0026] Both ends of rib one 1 an...
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Abstract
The invention discloses a human chest-back joint simulated system based on pneumatic muscle. The pneumatic muscle is used for simulating the human chest-back muscle to drive shoulder joints and chestand back joints to move, and the function of completely simulating motion of human shoulder joints and chest and back joints is achieved. The human chest-back joint simulated system is mainly composedof ribs, vertebras, shoulder blades, humerus, infraspinatus, musculus subscapularis, pectoralis major, pelvis, teres major, latissimus dorsi and thoracolumbar fascia. The ribs, the vertebras, the shoulder blades and the humerus form a basic support of the human skeleton, the pneumatic muscle simulating the infraspinatus, the musculus subscapularis, the pectoralis major, the pelvis, the teres major, the latissimus dorsi and the thoracolumbar fascia drive the shoulder joints and the chest and back joints to do bending and stretching motion, folding and unfolding motion and rotation motion. Thehuman chest-back joint simulated system is driven by the pneumatic muscle, has the beneficial effects of being compact in structure, clean and good in anti-explosion performance, and can be used for teaching demonstration, medical diagnosis and exoskeleton recovery simulated training.
Description
technical field [0001] The invention relates to the technical field of bionic robots, in particular to a humanoid chest-back joint system based on pneumatic muscles. Background technique [0002] The human chest-back is mainly composed of ribs, vertebrae and intricate muscles. In production and life, due to problems in machine design and labor intensity, it may cause strains, diseases, and even hemiplegia on the chest-back joints. Therefore, it is necessary to Shoulder joints and thoracic-back joints are studied. At the same time, pneumatic muscles have similar characteristics to human muscles, so the distribution of human muscles can be simulated by pneumatic muscles. However, there are few studies in this area at home and abroad. Contents of the invention [0003] Aiming at the deficiencies of the prior art, the present invention proposes a humanoid thorax-back joint system based on pneumatic muscles. In production and life, due to machine design problems and labor inte...
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