744 results about "Ankle" patented technology

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 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.

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 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.

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 invention relates to a method and device for a biped robot to wear common sports shoes, and belongs to the technical field of robots. The method comprises the steps that a pre-planned gait track is initialized and generated; calculating the actual centroid position of the robot at each moment; a Kalman filtering algorithm is adopted to fuse multi-source data to update the normal stiffness and the friction coefficient of the sole in real time, and the rate is updated through adaptive gain adjustment parameters; adjusting a zero moment point constraint range, and generating a centroid reference position of a preset step number; establishing a sole characteristic database, training a machine learning model, inputting shoe parameters into the machine learning model, and outputting step length, step frequency and ankle joint rigidity by the machine learning model; an ankle joint target angle and a knee joint target angle are solved through inverse kinematics, and a joint motor is driven in combination with a PD control algorithm and a self-adaptive item; when the vertical acceleration of the IMU sensor is larger than a preset acceleration threshold value, the time period before grounding is judged, and a compliant mode is triggered to control the ankle joint rigidity and the torque borne by the joint.

The invention discloses a training mode determination method and system for a lower limb exoskeleton rehabilitation robot. The method comprises the steps that angle data, joint torque data and plantar pressure data when a patient executes multiple target actions are collected; according to the angle data and the joint torque data, calculating to obtain a joint motion range, and according to the angle data and the plantar pressure data, calculating a joint output torque; acquiring a pain score of the patient, and calculating a training mode score according to the joint motion range, the joint output torque and the pain score of the patient; and according to the training mode score, determining a training mode of the lower limb exoskeleton rehabilitation robot, wherein the training mode comprises a passive mode, an auxiliary mode and an anti-resistance mode. The motion range of the hip, knee and ankle joints can be accurately quantified, the joint motion range can be dynamically evaluated, the optimal training mode is dynamically recommended in combination with the training score calculated in real time, therefore, the rehabilitation efficiency can be improved, and the method can be widely applied to the technical field of rehabilitation training.

The invention provides a humanoid robot and a leg structure thereof. The leg structure comprises a hip joint module which comprises a hip joint pitching driving module and a hip joint turnover driving module; the thigh module comprises a thigh body; the knee joint module comprises a knee joint pitching driving module; the shank module comprises a shank body, a first ankle joint driving module, a second ankle joint driving module, a first connecting rod and a second connecting rod; and the ankle-foot module comprises an ankle supporting seat, an ankle cross shaft piece and a sole.

Some embodiments of a rotational atherectomy device can remove (partially or completely) stenotic lesions in blood vessels by rotating one or more abrasive elements in an orbital path to abrade and breakdown the lesion. In particular implementations, multiple abrasive elements are arranged along a distal portion of a drive shaft with an improved configuration so as to facilitate both efficient navigation into smaller blood vessels below the ankle or in the heart and effective orbital paths for abrading stenotic material in such smaller vessels.

The invention relates to a device (1) for holding an optical element (2), in particular an optical element of a mask inspection system or a lithography system, comprising a mounting point (3) for connection with the optical element (2), a support (4), and a support base (5). The mounting point (3) is connected to the support (4). The support (4) has at least one leg (6) and an ankle joint (7), wherein the ankle joint (7) pivotally connects a lower end (6a) of the leg (6), facing away from the mounting point (3), to the support base (5). According to the invention, the ankle joint (7) has a support joint (7a) and a transverse joint (7b), wherein the support joint (7a) pivotally connects the lower end (6a) of the leg (6) directly to the support base (5).

The invention provides an electrical stimulation and lower limb exoskeleton device fusion control method and system, and the method comprises the steps: driving an exoskeleton to move through bottom admittance control based on the actual human-computer interaction torque and expected torque of a knee joint and reference trajectory data of the knee joint in a gait cycle, and triggering ankle joint electrical stimulation through a fixed stimulation parameter group; after the gait cycle is finished, torque errors are calculated, and periodic iteration updating is conducted on the knee joint reference trajectory data through an iterative learning control algorithm till convergence is conducted to obtain target knee joint reference trajectory data; and then determining a target moment of a gait phase based on the target knee joint reference trajectory data, and obtaining a corresponding target stimulation parameter group from the set stimulation parameter time mapping library to replace the fixed stimulation parameter group for subsequent stimulation. According to the method, through single-cycle and cross-cycle trajectory iteration, the adaptation defect of a traditional fixed trajectory is avoided, the stimulation parameters are synchronously optimized, and the dorsiflexion assisting effect is indirectly improved.

A extremity offloading system including a body with an outer surface, an inner surface, and a thickness extending between the outer surface and the inner surface. The outer surface can be at least partially round. The inner surface can define an aperture. The aperture can be configured to accept insertion of a leg or an ankle of a patient. The extremity offloading system can also include a contraction adjustment support with a convex bottom surface and a concave top surface. The concave top surface can be configured to receive at least a portion of the body.

The utility model relates to a sole structure suitable for flatfoot, which comprises a sole main body with a low front end and a high rear end, the outer sole of the sole main body is sequentially divided into a metatarsophalangeal area, a waist area and a heel area from front to back, the inner side part of the metatarsophalangeal area is warped forwards and upwards, and the heel area is warped backwards and upwards; the inner waist part of the waist area is an arc surface, and the triangular pattern position of the inner waist part of the waist area shrinks inwards, so that the ground contact area of the inner side area of the waist is reduced; an elastic piece is arranged in the sole body and extends to the metatarsophalangeal area from the heel area. The utility model provides optimization and improvement aiming at the defects in the walking movement under the existing condition of standing on flat feet instead of changing the posture state of the feet during standing and walking, assists in improving the walking capability, is reasonable in design, and effectively solves the problems that the stability of ankle joints is reduced, the off-ground pedaling and stretching capability is reduced and the walking quality is poor during the walking of the flat feet. And the internal rotation angles and moments of ankle joints and knee joints are increased.

The application discloses an infant anti-slip dynamic foot-ankle fixing support, and relates to the technical field of orthopedic supports, which comprises a foot bottom fixing assembly for fixing the feet of infants, a lower leg orthopedic assembly and a suprapatellar dynamic suspension assembly are arranged above the foot bottom fixing assembly; one side of the suprapatellar dynamic suspension assembly is fixedly connected with a connecting plate, one end of the connecting plate is provided with a second rotating shaft, the connecting plate is rotatably connected with a connecting rod through the second rotating shaft, and one end of the connecting rod away from the second rotating shaft is rotatably connected with the foot bottom fixing assembly. In the application, the suprapatellar dynamic suspension assembly, the anti-slip convex block and the connecting rod suspension linkage structure are arranged, so that the industry pain points of traditional supports and orthopedic plaster easy to slip and displace are solved from three dimensions of anchoring from the upper end, friction anti-slip and overall suspension stress.

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The utility model relates to the technical field of rehabilitation medical equipment, in particular to an angle-adjustable pedal for rehabilitation training, which comprises a fixing frame, a mounting plate, a supporting piece, a trainer, a pedal and the like. A mounting plate is rotatably connected to one end of the fixing frame, a supporting piece is fixedly connected to the top of the mounting plate, a trainer is fixedly connected to the end, away from the mounting plate, of the supporting piece, a rotating shaft is arranged in the trainer, a connecting piece is fixedly connected to the rotating shaft of the trainer, a pedal is rotatably connected to the trainer through the connecting piece, and a movable groove is formed in the inner wall of the pedal. The movable plate is driven to move by adjusting the adjusting bolts at the heel and the half sole of the bottom of the pedal, so that the movable plate is flexibly adjusted according to the ankle joint state of a patient, stable support is provided for the patient, the ankle joint movement degrees of different patients are adapted, the training comfort and effect are improved, and secondary injury is avoided.

The utility model discloses a leg trainer, and relates to the technical field of training equipment. Comprising an elastic rope, one end of the elastic rope is provided with a hanging part, and the hanging part is used for being hung at the ankle position; the end, opposite to the hanging part, of the elastic rope is fixedly connected to the fixed end block, and a first fixing part is arranged on the fixed end block and used for fixing the fixed end block to the stool leg; and the movable end block is provided with a limiting hole for the elastic rope to pass through, and the movable end block is provided with a second fixing part for fixing the movable end block on the stool leg. The leg training device can be fixed on a stool leg of a stool used at home, so that a user can sit on the stool at any time to carry out leg training, and the leg training device is simple in structure, convenient to install and convenient to carry out knee joint load-bearing flexion and extension training at any time.

1. Name of the designed product: patch (for foot and ankle). 2. Use of the designed product: for patch use. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: front view. 5. The designed product is a thin product, and the left view, right view, bottom view and top view are omitted.

The utility model relates to a nursing ankle appliance for preventing foot drop, which belongs to the technical field of nursing appliances and comprises a bottom plate, the top of the bottom plate is provided with a limiting mechanism and a damping mechanism, the top of the limiting mechanism is provided with a mounting mechanism, and the mounting mechanism comprises a limiting plate. And the limiting mechanism comprises a mounting cylinder, a locking nut and a threaded rod. The leg angle adjusting device has the advantages that by arranging the limiting mechanism, when the angle of the device needs to be adjusted in use, the limiting plate can be rotated by adjusting the length of the threaded rod, then the angle of the device is adjusted, people can adjust the angle and position of the legs conveniently, and the leg angle adjusting device is fixed through the locking nut and is convenient to use. The device is simple in structure and convenient to use, fixing adjustment of the device is facilitated, leg training and movement are facilitated, convenience is achieved, meanwhile, the damping mechanism is adopted, impact and vibration are effectively absorbed, the influence of disturbance of environments and objects on the device is reduced, and therefore the device can be stably and stably used.

An ankle brace with a flexible splint that includes a stirrup shape fastened to the foot, a middle section formed as a partial helix shape that extends from the outside of the foot over the instep, and an upper end fastened to the leg at a point above the ankle and above the inside of the foot.

The embodiment of the utility model discloses a lower limb stepping training device, and relates to the technical field of rehabilitation medicines.The lower limb stepping training device comprises a rack, a left stepping assembly and a right stepping assembly, the left stepping assembly and the right stepping assembly are oppositely arranged on the rack in the first horizontal direction, and each of the left stepping assembly and the right stepping assembly comprises a transverse moving mechanism, a lifting mechanism and a pedal mechanism; the pedal mechanism is arranged at the driving end of the lifting mechanism and used for bearing the sole of a user and simulating the sole to do ankle joint movement, the lifting mechanism is arranged at the driving end of the transverse moving mechanism and used for driving the pedal mechanism to do lifting movement, and the transverse moving mechanism is arranged on the rack and used for driving the pedal mechanism to transversely move in the second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction. According to the lower limb stepping training device, comprehensive training of leg training and ankle joint training can be conducted on a user, and the rehabilitation training effect is improved.

This item is a holder for attaching sensors to measure human pulse and other vital signs. As shown in the reference diagram illustrating the usage, the sensor is held in this item and placed on the band, and the band is attached to a designated part of the human body, such as the wrist or ankle.

The object of the invention is to provide a riding aid that enables the correction of a horse's posture. The invention achieves this with a riding aid intended for use on the inside of the lower leg or ankle of a rider to exert pressure on the lower ribcage of a horse, wherein the riding aid comprises a base plate (1) from which a plurality of projections (2) extend.

1. The name of the design product: joint belt. 2. The use of the design product: acting on the bones around the knee joint, elbow joint and ankle joint, correcting the opening state of the body by tightening the joint, thereby adjusting the balance of the body. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

The invention discloses an active pneumatic buffering ankle joint artificial limb system and a control method thereof. The system comprises a sensing module, a control module and a pneumatic execution module. The pneumatic execution module adopts a closed loop composed of a miniature diaphragm air pump, an air storage tank and a damping air bag, and pre-storage and quick release of high-pressure air are achieved through the air storage tank. The control method is based on multi-sensor data fusion, high-strength impact can be pre-judged before the heel touches the ground, and the rigidity of the damping air bag can be adjusted in advance. The problems that a traditional artificial limb buffering system is lagged in response and fixed in parameter and an active motor system is high in energy consumption are solved, low-power-consumption, fast-response and self-adaptive intelligent buffering is achieved, and the walking comfort and safety of an amputee are remarkably improved.