1277 results about "Ankle" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

The invention belongs to the technical field of signal processing, and particularly relates to a lower limb motion intention recognition method and system based on electromyographic signals. The method comprises the following steps: S1, arranging electromyographic sensors on a hip key muscle group, a knee joint key muscle group and an ankle joint key muscle group in sequence, and collecting electromyographic signals; s2, performing time-frequency-space domain feature fusion and dimension reduction processing on the electromyographic signals acquired at the hip key muscle group and the knee joint key muscle group, and performing corresponding motion intention prediction by using a dynamic weight distribution method and a decoder based on an LSTM-attention mechanism; electromyographic signals collected at key muscle groups of ankle joints are processed through a muscle force distribution matrix, and meanwhile a time-varying weight adjustment strategy and impedance control are adopted for corresponding motion intention prediction; s3, according to the predicted motion intention, the system controls a direct-current brushless motor on rehabilitation training equipment, a fuzzy self-adaptive PID control method is adopted to regulate and control joint motion, and a walking posture is simulated.

The invention relates to the technical field of motion detection, in particular to an old people falling early warning system based on motion trail analysis, which comprises a gravity center identification module, a trend identification module, an inertia pushing module, a phase judgment module and a grade response module. According to the method, the vertical coordinates of the key points of the waist and the two feet in the image frame are acquired, and the height difference change is continuously tracked, so that the potential falling initial state can be identified from the static posture, the vector included angles among the three groups of bone points of the hip knee, the knee ankle and the shoulder pelvis are subjected to sequence analysis, and whether synchronous disintegration occurs in the coordination action is identified; the identified trend sequence is mapped according to the risk level, a differential response mechanism is applied, a high-density corresponding relation is constructed between the behavior trend and the alarm level, graded response and time sequence triggering of the falling risk are achieved, the accurate identification capability of the falling precursor action is enhanced, the sensitivity and discrimination of the alarm response are also improved, and the safety of the falling risk is improved. And misjudgment and missed judgment are effectively avoided.

The invention relates to a humanoid robot foot based on a human arch, and aims to solve the problems that a foot structure of a biped humanoid robot is insufficient in the aspects of stability, rigidity, flexibility, energy efficiency, diversity, ergonomics and the like. The five toes, the first metal vertical plate and the second metal vertical plate are fixed to the sole metal plate, the hallux toe sleeve is sleeved on the toes and connected with the toes through the first elastic metal driving rod, and the final toe sleeve is sleeved on the toes and connected with the toes through the second elastic metal driving rod. A first C-shaped connecting rod connected with a first elastic metal driving rod and a second elastic metal driving rod is inserted into the front portion of an ankle connecting block, the bottom of the ankle connecting block is connected with a heel metal plate through a plurality of spring columns, and a second C-shaped connecting rod is inserted into the rear portion of the ankle connecting block. And the second C-shaped connecting rod is fixed with the heel metal plate through the heel elastic metal driving rod. According to the scheme, the shoe sole has better adaptability and balance.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention discloses an orthopedic ankle joint trauma recovery exercise device in the technical field of medical apparatus and instruments, comprising a base, a support rod fixedly connected to the top of the base, an adjusting assembly fixedly connected to the bottom wall of the base, movement grooves symmetrically formed in the base, movement assemblies fixedly connected in the movement grooves, tibia fixing assemblies symmetrically hinged to the support rod, and tibia fixing assemblies symmetrically hinged to the tibia fixing assemblies. The top end of the supporting rod is further fixedly connected with a controller, and the adjusting assembly, the movement assembly and the tibia fixing assembly are all in signal connection with the controller. According to the device, the requirement of three-dimensional composite rehabilitation exercise of the ankle joint of a patient is met by constructing a multi-degree-of-freedom platform, the ankle joint force application and fatigue threshold value of the patient are calculated and predicted in combination with multi-source data, real-time following of force application of the patient by resistance is achieved, efficient rehabilitation exercise is achieved, and the rehabilitation effect is improved. Buffering is actively released according to the magnetorheological fluid damping principle after the ankles of the patient reach the movement angle threshold value, the burden of movement inertia on the ankle joints of the patient is reduced, and secondary ankle sprain injuries possibly caused by rehabilitation movement are avoided.

The invention is suitable for the technical field of medical instruments, and provides a pneumatic global self-adaptive ankle-foot artificial limb which comprises a rear sole and a front sole which are connected through a front and rear foot connecting piece. The pressure response assemblies are located at the bottoms of the rear sole and the front sole, and pressure changes after bearing; and the ankle self-adaption assembly is connected with the pressure response assembly through a valve communication assembly and drives the ankle to do eversion, centering and introversion motions based on pressure changes. According to the embodiment of the invention, an ankle joint inward and outward turning automatic adjusting mechanism directly driven by plantar pressure change can enable the artificial limb to adapt to complex terrains such as uneven road surfaces and lateral slopes in real time, an inward and outward turning motion mode of a physiological ankle joint in the walking process is simulated, and the gait of a user is smoother and more natural; the pure pneumatic control structure is relatively simple and light, and an external power supply pressure driving pump or a complex sensor is not needed.

The invention provides a skiing posture correction method and device, and relates to the technical field of skiing teaching, and the method comprises the steps: synchronously collecting plantar pressure distribution characteristic data and ankle joint inclination data of a skier; when the plantar pressure distribution data and / or the ankle inclination data meet the preset unbalance judgment condition, an unbalance adjusting signal is triggered; the imbalance adjustment signal includes at least one of a haptic alert signal related to a severity of the imbalance, a dynamic visual signal including a pressure distribution characteristic, and a sound indication signal having a joint angle quantitative indicator. According to the invention, the skiing posture of the skier can be intelligently and accurately corrected, and the correction efficiency of the skiing posture is improved.

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

The invention discloses a lower limb exoskeleton control system and method based on phase recognition and model prediction control. The system comprises a kinematics modeling module, a gait database module, a data processing and feature extraction module, a gait phase recognition module, a dynamics modeling module, a model prediction controller and an actuator control unit. By recognizing the gait phase and dynamically adjusting and controlling the target, precise assistance of the natural gait of the wearer is achieved. The system calculates the trajectory of the ankle joint relative to the hip joint in real time based on a kinematic model, and constructs a database in combination with gait data collected under multiple working conditions to provide an expected trajectory and reference parameters for control. In the dynamic modeling process, motor driving torque and man-machine interaction torque are introduced, a system dynamic model is established in a unified mode, and control characteristics under different gait phases are reflected.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

Footwear uppers include a footwear upper base formed from one or more component parts and including: (i) an instep region including at least one of a tongue base region or instep base region and (ii) a heel-containing region. A bladder is engaged with the footwear upper. The bladder includes: (i) at least a first instep chamber engaged with the instep region, (ii) at least a first heel and / or ankle support chamber engaged with the heel-containing region, and (iii) a first fluid line connecting the first instep chamber and the first heel and / or ankle support chamber and placing the first instep chamber in fluid communication with the first heel and / or ankle support chamber. Fluid moving from the first instep chamber to the first heel and / or ankle support chamber (e.g., under force applied by a footwear securing strap) provides further support for the wearer's heel and / or ankle.

The utility model discloses a bed body foot support of a digital fluoroscopy X-ray machine, which comprises a bottom plate, an examination bed arranged at the top of the bottom plate and a connecting frame arranged at one end of the examination bed, and further comprises a mounting plate arranged at one end of the connecting frame, a sliding opening is formed in the outer wall of the top of the mounting plate, and a sliding block is connected to the inner wall of the sliding opening in a sliding mode. According to the bed body foot support of the digital fluoroscopy X-ray machine, a patient can put two heels on the two foot supporting assemblies respectively, the fixing plate can be driven to ascend by a certain height through the lifting assembly when the legs need to be lifted, then the foot supporting assemblies and the feet of the patient are driven to ascend, the patient is helped to lift the legs, and therefore the patient can conveniently lift the legs. When the foot needs to be rotated to adjust the position of the ankle joint, the foot supporting assembly can be driven to rotate by a certain angle through the adjusting assembly, then the foot of a patient is driven to rotate by a certain angle, the position of the ankle joint is adjusted, the adjusted posture can be stably kept, and the shooting effect is ensured.

The invention relates to the technical field of medical health data analysis, in particular to a multi-modal data fusion abnormal behavior early warning system before falling of a high-risk patient. According to the method, for any patient, a plurality of gait cycles formed by time frames are obtained according to ankle coordinate distribution of different time frames; according to the ankle coordinate distribution of different time frames in each gait cycle, gait high risk of each gait cycle is obtained; according to the hip coordinate distribution of different time frames in each gait cycle, obtaining the center-of-gravity shift degree of each gait cycle, and obtaining the high-risk center-of-gravity shift reference degree of all patients in each gait cycle; for any patient, the falling probability in each sliding window is obtained according to the gravity center shift degrees of different gait cycles, the high-risk gravity center shift reference degree and various physiological parameter data at different moments; and early warning is carried out on abnormal falling behaviors. According to the invention, the accuracy of early warning of abnormal falling behaviors is improved by accurately analyzing the falling probability of the high-risk patient.

The invention discloses a sleep-aiding linkage system based on ankle recovery monitoring, and relates to the technical field of medical health and intelligent monitoring. According to the sleep-aiding linkage system based on ankle recovery monitoring, rich biomechanical parameters of an ankle area are collected in real time through a multi-mode sensor; the method comprises the steps that plantar pressure distribution, ankle joint motion trails, foot temperature and skin impedance are covered, the data are subjected to multi-dimensional fusion analysis, calculation is conducted in combination with a built-in neural network model, the ankle fatigue state and the recovery stage can be accurately analyzed, the method is different from a traditional fixed threshold value judgment mode, and the system can be dynamically adjusted according to individual differences of users and historical data; and furthermore, the sleep-aiding equipment linkage control module is used for finely adjusting operation parameters of mattress hardness, environment illumination intensity and sound wave frequency for sleep monitoring equipment and environment temperature control equipment according to an analysis result, so that an exclusive sleep environment matched with an ankle recovery process is created for a user.

The invention provides a unilateral parallel connecting rod type ankle structure and a robot, and belongs to the technical field of robots. The problems that due to the fact that an existing humanoid robot ankle mechanism adopts a symmetrical double-connecting-rod or direct-driving structure, the occupied transverse space is large, and the rotational inertia is high are solved. The device comprises a shank part, a long connecting rod, a short connecting rod and a sole plate, a first driver and a second driver are arranged on the shank part, the output end of the first driver is connected with a first output flange connecting rod, the output end of the second driver is connected with a second output flange connecting rod, and the first output flange connecting rod is connected with the long connecting rod. The second output flange connecting rod is connected with a short connecting rod, a sole plate connecting rod is installed on the sole plate and provided with two connecting ends, the two connecting ends are connected with a long connecting rod and a short connecting rod respectively, the long connecting rod and the short connecting rod are both arranged on the outer side of a shank part, and the lower portion of the shank part is connected with the sole plate through a cross bearing. The robot ankle structure is mainly used for robot ankle structures.

An exercise device is disclosed to enable a user to stretch the lower limbs, lower back, hamstrings, gluteal tendons and gluteal fasciae for pain relief. The stretching device includes a padded body rest having back and leg rest sections hingedly connected together and rotatable from an unfolded configuration to a compact folded configuration lying face-to-face. First and second pairs of leg lifting straps are connected to one another by respective cam jam buckles so as to extend between the body rest and cuffs that surround the user's ankles and feet. A pulling force applied to each leg lifting strap causes the user's legs to be raised off the body rest from a horizontal flat position to a vertical upstanding position. Force monitors are located between the pairs of the leg lifting straps and the user's legs to provide a visual indication of the pulling force.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.

The invention discloses a humanoid robot bionic foot with autonomous terrain testing capability, which comprises a front sole component and a rear sole component which are flexibly connected through a sole fascia, a support connecting frame is hinged with an arch component to form a space transmission structure, and the support connecting frame and the arch component cooperate with the fascia to form an arched composite support. The locust-imitating foot pad has the innovation points that the locust-imitating foot pad realizes segmented flexible and local fitting buffering; the pelma fascia and the arch-shaped arch absorb impact in the initial gait stage, and rigid body transmission is reduced; the dorsal muscle imitating elastic sheet and the achilles tendon imitating elastic sheet store and release energy in the second half of the gait, and the dynamic stability is improved; pressure sensors are arranged at three points of the front / rear sole and the ankle joint, a space stress model is constructed, distribution of the force center and the touchdown point of the sole is analyzed in real time, and the terrain state is judged. Through structure-sensing coupling, the foot can autonomously judge the terrain under the non-driving state, passive foot landing adaptation is achieved, environment dependence is simplified, and the application range is wide. And the walking robustness under the complex terrain is improved.

The invention discloses an ankle joint based on a differential structure, a bionic lower limb and a robot. The ankle joint comprises a lower limb connecting part; the differential assembly comprises an output shaft and a transmission shaft in transmission connection with the output shaft; the foot part is rotationally connected with the lower limb connecting part through an output shaft; the driving mechanism and the damping mechanism are in transmission connection with the transmission shaft through a first driving gear and a second driving gear respectively; the two mechanisms are configured to be switched among three motion states: in the first motion state, the driving mechanism is started, the damping mechanism is stopped, and the driving mechanism actively controls the output shaft to rotate; in the second motion state, the driving mechanism is stopped, the damping mechanism is started, and the damping mechanism adjusts the output shaft to rotate; in the third motion state, the driving mechanism and the damping mechanism are both started to cooperatively adjust rotation of the output shaft; the driving mechanism and the damping mechanism are integrated in the differential transmission system, can act on the same output shaft and can be flexibly switched or cooperatively work in different states, and multi-mode movement is achieved.

The invention relates to the field of robots, in particular to a humanoid robot. The humanoid robot comprises a foot module and a leg module. The foot module comprises a foot support, a protective cover and a protective bottom plate; the protective bottom plate comprises a buffer layer and a wear-resistant layer, the buffer layer is connected with the bottom of the foot support, and the wear-resistant layer is connected with the bottom of the buffer layer; the protective cover is connected with the protective bottom plate, and the protective cover covers the top of the foot support; the protective cover is provided with an opening, and the leg module penetrates through the opening to be connected with the foot support. According to the humanoid robot provided by the invention, the buffer layer is arranged at the bottom of the foot bracket to absorb vibration, so that the degree of upwards transmitting the vibration to ankle joints, shanks and even hip joints is reduced; the wear-resistant layer arranged at the bottom of the buffer layer has good wear resistance, so that the buffer layer is prevented from being damaged too early; and a protective cover arranged at the top of the buffer layer can protect the top surface of the foot bracket.

The invention relates to the technical field of intelligent control, and discloses a power-assisted control method of a lower limb pneumatic flexible exoskeleton and a lower limb pneumatic flexible exoskeleton system.The method comprises the steps that healthy side plantar pressure data are obtained, healthy side key gait event nodes are recognized, and the power-assisted control method of the lower limb pneumatic flexible exoskeleton is obtained according to the healthy side key gait event nodes and ankle joint angle data; estimating an uninjured side continuous gait phase, and calculating an affected side target gait phase according to the uninjured side continuous gait phase; according to the target gait phase of the affected side, auxiliary torque and tension are determined; according to the auxiliary torque and the pulling force, target air pressure for supporting the airbag and shrinking the airbag is determined, an electromagnetic valve is controlled to execute deflation or inflation operation according to the target air pressure, and the internal pressure of the airbag is controlled within a target range. The invention aims to provide flexible assistance conforming to the biomechanical characteristics of the ankle joint of a human body for people with ankle joint dysfunction, improve the walking ability and improve the safety and comfort of rehabilitation training.

An external ankle brace for restricting movement of an ankle in a first direction and permitting movement of the ankle in a second direction includes a rigid heel enclosure having a rear portion and a forward portion. A lateral upright extension is perpendicular to the rigid heel enclosure and is attached to the lateral sidewall. A medial upright extension is perpendicular to the rigid heel enclosure and is attached to the medial sidewall. At least a chosen one of the lateral and medial upright extensions is selectively pivotally attached to a corresponding lateral or medial sidewall and includes a pivot prevention feature configured to selectively prevent pivoting of the chosen one of the lateral and medial upright extensions with respect to the corresponding lateral or medial sidewall.

The invention relates to the related technical field of lower limb rehabilitation treatment, in particular to diabetes lower limb rehabilitation treatment equipment, which comprises a bed body, a lower limb rehabilitation treatment device, a lower limb rehabilitation treatment device and an upper limb rehabilitation treatment device, the first plate body is connected into the first cavity in a sliding mode; the first spring is arranged in the first cavity, and the first plate body is connected with the side face of the first cavity through the first spring; after locking of the second plate body is cancelled, the third plate body is rotated out of the second plate body and makes contact with the foot sole of a patient, the third plate body and the second plate body are pushed to move in the mode that the lower limbs bend and stretch forcibly, and bending and stretching exercise of the lower limbs is achieved; the ankles are exercised in the mode that the foot sole exerts force to push the third plate body to drive the fixing base to rotate on the rod body; during storage, after the third plate body and the fixing base are stored in the first groove body, one end of the second plate body is inserted into the left side of the first cavity and makes contact with the chamfer, then the second plate body is locked through the round head rod, simultaneous fixing is achieved, and normal use of the bed body is not affected.

The invention discloses a bionic ankle joint and an artificial limb, the bionic ankle joint comprises an ankle joint base and a sole mechanism, and the ankle joint base is used for being connected with a leg component; the sole mechanism comprises a front sole component, a rear sole component and at least one elastic piece, the rear sole component is rotationally connected with the ankle joint base, the front sole component is rotationally connected with the rear sole component, one end of the elastic piece is connected with the rear sole component, and the other end of the elastic piece is connected with the front sole component; the elastic component is used for providing elastic restoring force when the front sole component rotates relative to the rear sole component. The sole fitting degree is improved through multi-joint linkage, the gait stability is enhanced, the additional burden caused by uneven stress is avoided, energy recycling is achieved through the elastic piece, energy consumption is reduced, meanwhile, the pedaling effect is improved through elastic assistance in the pedaling stage, the motion characteristic of the bionic ankle joint is closer to the natural state of the human body, and the mechanical performance of the bionic ankle joint is improved. And the matching degree of equipment and human motion characteristics is improved.

The utility model discloses a massage chair leg and foot massage structure which comprises an L-shaped leg massage support, a vertical support portion is provided with a leg massage structure, a bottom transverse support portion is provided with a foot massage structure, and the foot massage structure is rotatably connected with the leg massage support. The rotating point is located in the middle of the foot massage structure, and an air bag assembly is installed between the foot massage structure and the leg massage support. The swing supporting plate can rotate around the axial direction of the hinged bolt to achieve the effect of a lever, when the air bag assembly is inflated and deflated, the swing supporting plate drives the foot sole and the heel of the foot massager to be lifted alternately, the movement of the ankle joint is achieved, and meanwhile the shank is stretched through the angle of the foot sole and the angle of the heel.

The invention relates to the technical field of medical instruments, in particular to an artificial ligament braided fabric. The artificial ligament braided fabric comprises a braided part, the braided part is formed by interweaving warp yarns and weft yarns, a mesh staggered structure is formed, the warp yarns extend in the width direction of the braided part, and the weft yarns extend in the length direction of the braided part. Compared with the prior art, by optimizing the weaving structure and the size design, the complex movement requirements of various joint parts such as the ankle joint and the acromioclavicular joint can be met, the stable fixing effect is provided, and the risks of loosening and shifting of the graft are reduced.

A hemostasis device configured to apply a compressive force to a puncture site of a patient's vessel, such as an artery of the foot, is disclosed. The hemostasis device may include a compression member having a plurality of tabs and an inflatable bladder. A plurality of bands may be used to position and maintain the compression member over the puncture site until hemostasis is achieved are releasably coupled to the plurality of tabs. A first band can wrap around the ankle, a second band can wrap around the foot, and a third band can extend between two toes or around a toe. The hemostasis device may also comprise an inflation port in fluid communication with the inflatable bladder.

A bone fixator as disclosed herein includes at least one removable portion, and is particularly suitable for external fixation of the bones of the femur and tibia (knee joint), the tibia to the foot (ankle joint), the lower leg, the lower thigh, or the forearm and hand. Embodiments allow multiaxial, multiplanar movement, as well as procurvatum and recurvatum, on the anatomy to achieve optimal placement. Embodiments of the fixator includes four fixator joints, each of which is articulating with multiple degrees of freedom. Some fixator joint(s) include a linkage bar connectable to a multi-pin clamp having a quick connect mechanism. The multi-pin clamp is configured for fixation to a bone. Other fixator joint(s) may be connected to the multi-pin clamp in a semi-permanent or non-detachable manner. A telescoping rod assembly allows adjustment of the length of the fixator by a single individual.

The utility model discloses a sole with a shock absorption function, which comprises a wear-resistant outer layer, a composite inner layer body is adhered to the top of the wear-resistant outer layer, and the composite inner layer body comprises a comfortable top layer, a microwell plate, a shock absorption middle layer, a stable supporting layer, a buffer air bag layer and an elastic memory layer which are sequentially arranged from top to bottom. The shock absorption middle layer comprises a first shock absorption plate, a second shock absorption plate, a third shock absorption plate and a fourth shock absorption plate which are sequentially arranged from top to bottom. The shock absorption middle layer is composed of four layers of EVA foam materials with different hardness and density, a unique gradient shock absorption structure is formed, the design can absorb and disperse impact force generated during walking or movement step by step, impact on knees and ankles is effectively relieved, joint health is protected, the wear-resistant outer layer is made of high-wear-resistant rubber materials, and the wear-resistant outer layer is made of high-wear-resistant rubber materials. And the anti-skidding grains are arranged, so that the wear resistance of the sole is enhanced, the road holding force on the wet and slippery ground is also improved, and the walking safety is ensured.