63 results about "Artificial limbs" patented technology

The invention relates to the technical field of artificial intelligence, and discloses an artificial limb driving method based on a spiking neural network, which comprises the following steps: acquiring a multi-modal signal, and preprocessing the multi-modal signal; converting the preprocessed multi-mode signal into a pulse signal; inputting the pulse signal into a pulse neural network for sensing fusion processing, and outputting a control strategy; dynamically adjusting a control strategy based on pulse reinforcement learning according to the behavior feedback information through a reward function, and generating a learning result; and generating a bionic motion instruction according to the adjusted control strategy and the learning result, and driving an artificial limb execution mechanism to act according to the bionic motion instruction. According to the method, the electromyographic signals, the tactile pressure signals and the inertial measurement data are uniformly coded into the pulse sequence, the pulse neural network is utilized to realize multi-modal sensing fusion, the pulse reinforcement learning algorithm is introduced, the artificial limb control strategy is optimized in real time according to user behavior feedback, and the accurate control of the artificial limb joint is improved.

The invention provides a transient stage electromyographic signal gesture recognition method based on electromyographic activation intensity transfer characteristics and self-adaptive analysis window length. The invention aims to solve the problems of imbalance between spatial features and operation cost, imbalance between recognition accuracy and response speed and low algorithm generalization between individuals and between tasks in the traditional electromyographic signal processing technology when transient stage signals are utilized. The method comprises the following steps: firstly, performing signal acquisition and preprocessing, starting point detection, signal frame formatting, feature extraction and SVM classifier training in an offline mode; in the online mode, the preprocessed signals are collected, a starting point is detected, the signals are formatted, myoelectricity activation intensity transfer features are extracted and input into an offline SVM classifier, the length of an analysis window is dynamically adjusted according to the confidence coefficient, and finally the threshold value of the confidence coefficient is fed back and adjusted in real time. Practice verifies that the method can effectively give consideration to the spatial features and the operation cost, achieves the balance between the recognition accuracy and the response speed in different individuals and tasks, remarkably improves the generalization of the algorithm, and provides more efficient and accurate technical support for the fields of artificial limb control, exercise rehabilitation equipment and the like.

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.

The invention discloses disabled old people walking assisting equipment with elastic buffering and active stretching and retracting functions, and belongs to the technical field of rehabilitation assisting instruments. The walking aid aims at solving the problems that existing walking aid equipment is complex in structure, unnatural in gait and difficult to maintain. The device comprises an artificial limb body, a standard socket, a fixing piece of the standard socket, a parallel spring mechanism, a power transmission unit and a sensing control system. The sensing control system judges the gait phase (standing phase / swinging phase) of the user in real time based on data fusion of the six-axis force sensor and the IMU. The power transmission unit drives the parallel spring mechanism to execute telescopic actions according to a control instruction, wherein the parallel spring mechanism actively stretches in a standing phase and provides elastic support to buffer impact, and actively contracts in a swinging phase and assists swinging through stored elastic potential energy. Through closed-loop control of sensing-decision-execution, organic cooperation of driving and buffering is achieved, the walking aid has the advantages of being compact in structure, adaptive to gaits, comfortable to wear and easy and convenient to maintain, and the walking aid safety, naturalness and energy efficiency of the disabled and the old are remarkably improved.

According to the silicon rubber artificial limb neck bush, the designed textile sleeve wraps the artificial limb neck bush body to protect the artificial limb neck bush body and prevent the artificial limb neck bush body from being scratched, the artificial limb neck bush body is made of silicon rubber and is soft and comfortable to use, and the bottom of the artificial limb neck bush body is provided with a plurality of ventilation holes for ventilation. The artificial limb neck bush main body can be communicated with outside air, and the inner part of the artificial limb neck bush main body is prevented from being stuffy. The artificial limb neck bush is simple in structure, good in use effect and capable of meeting use requirements and comprises an artificial limb neck bush body, the artificial limb neck bush body is made of silicon rubber, an arc face is arranged on the inner wall of the bottom end of the artificial limb neck bush body, and a textile sleeve is arranged on the outer side of the artificial limb neck bush body in a sleeving mode and used for protecting the artificial limb neck bush body. A plurality of ventilation holes for ventilation are formed in the bottom of the artificial limb neck bush main body, and an internal thread cylinder is arranged at the bottom of the artificial limb neck bush main body and used for being connected with a bolt.

The invention belongs to the technical field of biological simulation, and relates to an analogue simulation method based on gait control data and related equipment thereof. Carrying out reinforcement learning on the gait simulation agent to obtain the gait simulation agent after reinforcement learning is completed and gait simulation continuous actions output by the gait simulation agent after reinforcement learning is completed; gait control data of the target object are collected; inputting the gait simulation intelligent body into the gait simulation intelligent body after reinforcement learning is completed, and obtaining a walking simulation continuous action corresponding to the target object; through comparison, identifying differential actions; and performing gait adjustment according to the gait control data corresponding to the differential actions. The method is applied to a medical biological simulation science and technology product optimization scene, product stress support adjustment can be carried out in combination with reinforcement learning and analogue simulation modes for an intelligent artificial limb user or an intelligent walking stick user, and a better product experience service is provided for related patients.

The present application relates to a kind of functional tubular composite fabrics of heat and moisture transfer, including the core layer of high modulus and heat insulation by high modulus heat insulation rigid composite material and heat insulation thermal cotton;Highly elastic cladding layer is formed by continuous silica gel, spiral structure yarn that can be filled with liquid and gas;Transport layer of liquid is formed by waterproof and moisture-permeable porous membrane that is engraved with micropore on surface, water delivery hose, heat conducting film, heating wire;Waterproof and moisture-permeable skin layer is formed by elastic woven fabric layer, hydrophobic porous film layer and porous nonwoven fabric layer.The tubular composite fabric of the present application can be used to make warm body dummy artificial limb, such as warm body dummy arm, warm body dummy leg, etc., simple to make, when used as warm body dummy artificial limb, it is more convenient to test by partition, can be used for silk stockings, jumpsuit, socks, gloves, ice sleeve and other clothing comfort test.

The invention discloses a bionic artificial limb, and belongs to the field of artificial limbs. The lower part of the leg bearing piece of the bionic artificial limb is connected with the upper part of the shank supporting piece; the sphere of the rotary joint is arranged in the spherical inner cavity, and the bottom is arranged on the base; the slip sheet is arranged on the surface of the ball body, is clamped in the through hole and can slide up and down in the through hole; the base is fixedly arranged on the foot supporting piece; the bottom of a first lifting mechanism of the first connecting part is connected with one end of a first connecting rod; the other end of the first connecting rod is in spherical hinge connection with the upper end of the second connecting rod; the lower end of the second connecting rod is in spherical hinge connection with the first spherical hinge seat; the bottom of a second lifting mechanism of the second connecting part is connected with one end of a third connecting rod; the other end of the third connecting rod is in spherical hinge connection with the upper end of the telescopic rod; the lower end of the telescopic rod is in spherical hinge connection with the second spherical hinge seat; the elastic piece sleeves the telescopic section, and two ends of the elastic piece are propped; the first spherical hinge seat and the second spherical hinge seat are arranged on the two sides of the foot supporting piece. According to the invention, complex and changeable motion states of human ankle joints can be truly simulated.

The invention discloses a lightweight high-rigidity damping energy feedback type artificial limb foot plate for children, belongs to the technical field of artificial limbs, and aims to solve the problems that an existing artificial limb foot plate for children is poor in adaptability, limited in damping effect, insufficient in ventilation and moisture removal and poor in structural stability. The artificial limb foot plate comprises an artificial limb receiving cavity, an upper mounting base, a lower mounting base, a lower plate, an upper plate and a functional assembly, the artificial limb receiving cavity is detachably connected with the upper mounting base through a connecting assembly, the connecting assembly can adjust the mounting height, the upper mounting base and the lower mounting base are matched through a main rotating shaft, and a buffering assembly is arranged at the top of the lower mounting base to achieve damping springback. The extension length of the upper plate and the lower plate is adjusted through multiple sets of threaded mounting holes, the exhaust assembly at the bottom of the upper plate can exhaust damp and hot gas in the receiving cavity, the upper mounting base is provided with the clamping plate to fix the gas inlet pipe, and the structure is optimized through cooperation of multiple assemblies, the child growth requirement is met, the damping and ventilation performance is improved, and the service life is prolonged; the device is suitable for being worn by children with disabled limbs in daily life.

The utility model belongs to the technical field of safety prostheses, and particularly relates to a double-hydraulic elastic buckling safety prosthetic knee joint which comprises a supporting body, a joint connector and a hydraulic sleeve, the joint connector is arranged at the lower end of the supporting body, and the hydraulic sleeve is arranged at the side end of the supporting body. Through the arrangement of the bent connecting frame, the supporting shaft, the pressure stabilizing connecting mechanism, the spring and the displacement telescopic column, the bent connecting frame and the knee joint protection shell at the front end rotate through the supporting of the supporting shaft and move under the driving of the hydraulic sleeve; the bending connecting frame pulls the pressure stabilizing connecting mechanism through the positioning column, the displacement telescopic column is promoted to move in the pressure stabilizing connecting mechanism, meanwhile, the spring connected to the side end of the pressure stabilizing connecting mechanism is stretched, and when the knee joint bends, the pressure stabilizing connecting mechanism connected with the bending connecting frame gets close to the other side, so that the knee joint is bent. And the displacement telescopic column slides in the pressure stabilizing connecting mechanism, and meanwhile, the spring rebounds and resets.

The application relates to the technical field of rubber, and discloses a carbon fiber-silicone rubber composite material, a preparation process and application in artificial limbs. The carbon fiber-silicone rubber composite material comprises 100 parts by weight of methyl vinyl silicone rubber, 3-5 parts by weight of a vulcanizing agent, 10-25 parts by weight of ABS resin, 3-6 parts by weight of carbon fiber and 0.8-2 parts by weight of a siloxane styrene-acrylonitrile copolymer. The siloxane styrene-acrylonitrile copolymer functions as a compatilizer, improves the compatibility between the ABS and the methyl vinyl silicone rubber, makes the composite material have better mechanical properties, shows higher tensile strength, elongation at break and tear strength, and the obtained silicone rubber composite material has better practical application in materials such as artificial limbs.

The application provides a self-adaptive motion cooperative underactuated variable-damping bionic manipulator and robot in the technical field of bionic artificial limb and robot, which comprises a palm plate, a damping screw rod transmission pair, a finger, a motor, a gear transmission pair and a bevel gear transmission pair, the finger is connected with the damping screw rod transmission pair, the damping screw rod transmission pair is connected with the gear transmission pair, the gear transmission pair is connected with the bevel gear transmission pair, the bevel gear transmission pair is connected with one motor, and the damping screw rod transmission pair, the motor, the gear transmission pair and the bevel gear transmission pair are connected with the palm plate respectively; the motor drives the bevel gear transmission pair to rotate, the bevel gear transmission pair drives the gear transmission pair to rotate, and the damping screw rod transmission pair drives the finger to do push-pull motion through the gear transmission pair. The application realizes the control of multi-finger parallel cooperative motion freedom under single driving force input, effectively improves the compliant grasping of the manipulator to objects with different shapes and the energy utilization efficiency, and widens the multi-target application scene of the manipulator.

The utility model relates to the technical field of artificial limb equipment, and discloses a carbon fiber hydraulic energy storage foot device for an artificial limb, which comprises a bottom plate and a hydraulic cylinder, a carbon fiber connecting piece is arranged at the top of the bottom plate, when the hydraulic cylinder is installed, an inserting end at one end of the hydraulic cylinder can be inserted into an inserting groove in a butt joint block, and the butt joint block is inserted into the carbon fiber connecting piece. A sliding block rotationally installed at the other end of the hydraulic cylinder slides in along a sliding groove of the bottom plate, after the sliding block slides to a proper position to complete adjustment of the angle of the hydraulic cylinder, a bolt is tightened to drive a movable locking block to move towards the sliding block, and meanwhile clamping teeth on the movable locking block are clamped into tooth grooves in the bottom of the bottom plate; according to the technical scheme, locking and positioning of the sliding block are achieved, so that installation of the hydraulic cylinder is completed, on the contrary, the hydraulic cylinder can be detached, the overall operation is simple and rapid, the hydraulic cylinder of the artificial limb can be replaced according to the needs of a user, the angle between the artificial limb and the bottom plate is adjusted, and the comfort of the user is improved.

The invention discloses an exoskeleton robot or active power artificial limb joint angle prediction device and method. According to the method, electromyographic signals carrying neural information and inertial motion unit data carrying kinematics information are fused, information transmitted by spinal nerve and speed information in multi-modal data are utilized, and feature fusion and decoding are carried out; finally, the output is used for controlling intelligent rehabilitation equipment such as a lower limb exoskeleton robot and an active artificial limb. According to the method, the speed adaptability of the existing lower limb motion angle prediction based on the human body surface electromyogram signals is remarkably improved, and the engineering practical performance of the method is remarkably improved.

The present application relates to the field of bionic artificial limbs and robotics, and particularly relates to a modular intelligent upper limb artificial limb and a system thereof, which comprises a socket assembly, a main skeleton connected with the socket assembly, a main control module installed on the main skeleton, a battery module for supplying power to the main control module, and at least one end execution module; the main skeleton is provided with at least one standard interface slot, a locking structure and a first electrical contact group are arranged in the standard interface slot, the end execution module is provided with a module shell, the module shell is provided with an elastic locking part, the end execution module can be inserted into the standard interface slot, and assembly positioning is realized by cooperation of the elastic locking part and the locking structure, and meanwhile, the two electrical contact groups are in contact with each other to form electrical connection. In the present application, when the end execution module is inserted into the standard interface slot, the elastic locking structure is fixed, the electrical contact groups are automatically connected and conducted, mechanical locking and electrical connection are completed synchronously, and the problems of step-by-step operation for disassembly and assembly of traditional artificial limbs and inability of users to replace modules by themselves are solved.

The invention discloses a body feeling myoelectricity artificial hand system fusing myoelectricity enhanced decoding and bionic electrical stimulation feedback. The system comprises a myoelectricity bracelet, a main controller, an electrical stimulator and an artificial hand. According to the system, an electromyographic bracelet is used for collecting residual limb side electromyographic signals, a main controller removes electrical stimulation artifacts in the signals in real time through a comb filtering and self-adaptive filtering series algorithm, gesture intentions are recognized online through a self-updating multi-class LDA algorithm, and the prosthetic hand is driven to execute corresponding actions. According to the system, a closed-loop feedback mechanism based on a muscle shuttle sensing model is constructed, the muscle shuttle sensing model simulates neural coding characteristics of a human body muscle shuttle, the real-time stroke of a micro servo electric cylinder of the prosthetic hand and stress information of a torque sensor are mapped into electrical stimulation frequency and voltage parameters respectively, and an electrical stimulator is controlled to apply bionic stimulation to the stump. According to the invention, closed-loop control of myoelectricity intention recognition, artificial limb action execution, state detection and electrical stimulation feedback is realized, the problems of lack of sensory feedback, serious electrical stimulation signal interference and the like of the existing myoelectricity artificial limb are effectively solved, a patient is helped to reconstruct ontology perception, and the accuracy and naturalness of artificial limb control are improved.

The invention relates to an intelligent artificial limb and a control method thereof, and belongs to the field of bionic equipment, the intelligent artificial limb comprises a receiving cavity, a first controller located in the receiving cavity, an artificial limb, a sensor located in the artificial limb, a second controller and signal acquisition equipment; the signal acquisition equipment acquires biological signals; the first controller decodes the biological signal to generate a control instruction and sends the control instruction to the second controller; the sensor collects feedback data of the artificial limb and sends the feedback data to the second controller; and under the condition that the second controller receives the real-time voice signal sent by the first controller, the second controller determines a feedback behavior of feedback data according to the real-time voice signal, the feedback behavior comprises the steps of sending the feedback data to the first controller or receiving the feedback data by the second controller, and controlling the artificial limb according to the feedback behavior, the feedback data and / or a control instruction. By dynamically distributing the feedback data of the sensor to the corresponding feedback path, the intelligent degree of the intelligent artificial limb is improved.

The utility model discloses a modularization ankle joint, a bionic lower limb and a robot, the modularization ankle joint comprises a main shell, a damper is arranged in the main shell, and the damper is provided with an output rod which reciprocates in the axial direction; the sole connecting part is positioned at the lower end of the main shell and is rotationally connected with the main shell; one end of the connecting rod is rotationally connected with the output rod, the other end of the connecting rod is fixed to the sole connecting part, and the connecting rod is used for converting the linear motion of the output rod into rotation of the sole connecting part; the damper arranged in the main shell is matched with the output rod, active driving control over the sole connecting part is achieved, the connecting rod converts linear motion of the output rod into rotary motion of the sole connecting part, and a buffering response process similar to the ankle joint of the human body is formed. Compared with a traditional artificial limb structure depending on deformation of elastic materials such as carbon fibers, the structure is compact, transmission is clear, and stable rotation resistance output can be achieved.

The utility model provides a buffer layer structure of an artificial limb socket, which comprises a net-shaped structure inner layer arranged in a surrounding manner and used for being connected with a flexible lining to form a receiving cavity, and the receiving cavity is used for being connected with a residual limb of a user; the at least one first negative Poisson's ratio supporting layer is connected to the outer side of the net-shaped structure; the net-shaped structure interlayer is arranged on the outer side of the first negative Poisson's ratio supporting layer in a surrounding mode; the at least one second negative Poisson's ratio supporting layer is arranged on the outer side of the net-shaped structure interlayer, and the outer side of the second negative Poisson's ratio supporting layer is used for being connected with a shell; when the residual limb of the user is pulled away from the receiving cavity, the first negative Poisson's ratio supporting layer and the second negative Poisson's ratio supporting layer both expand towards the inner side of the inner cavity. The problem that an artificial limb in the prior art slides frequently and falls off accidentally when bearing force in the direction away from the residual limb of a user is solved.

The invention discloses a self-adaptive brain control artificial limb method based on space-time diagram decoding and online reinforcement learning. The method comprises the steps that S1, electroencephalogram time sequence data collected through a multi-channel electroencephalogram electrode are obtained; s2, constructing an electroencephalogram spatial-temporal feature map corresponding to the target angle sequence according to the electroencephalogram time sequence data; s3, constructing a space-time diagram convolutional network model; s4, taking the electroencephalogram spatial-temporal feature map as an input feature, taking the target angle sequence as a feature tag, and performing model training on the constructed spatial-temporal map convolutional network model to obtain an optimal spatial-temporal map convolutional network model; and S5, constructing a reinforcement learning model, and realizing adaptive control of the brain-controlled intelligent artificial limb according to the output of the optimal space-time diagram convolutional network model. The problem that according to an existing method, control is simplified into discrete instruction classification, and a continuous and fine movement track cannot be generated is solved. Meanwhile, the spatial topological characteristics of the electroencephalogram signals are not sufficiently utilized, and the self-adaptive capability depends on heavy manual calibration.

The application discloses a waterproof light-weight artificial foot in the technical field of artificial limbs, which comprises an artificial foot outer layer, a foot core and a static ankle connecting disc, the artificial foot outer layer is wrapped outside the foot core, the device is provided with a keel and a weight-reducing groove on the foot core, and the two cooperate with each other, that is, the structural support strength of the foot core is effectively ensured, the self-weight of the artificial foot is effectively reduced, the residual limb load of a user is further reduced, the exercise amount of a wearer during walking is reduced, and the artificial foot is more labor-saving for a disabled person; the static ankle connecting disc is tightly covered on the top of the foot core and the artificial foot outer layer, the foot core is effectively waterproofed, the device is further provided with a central water groove and a side water groove, water on the top of the foot core can be drained away, water vapor can be volatilized, water accumulation between the foot core and the static ankle connecting disc is effectively avoided, the static ankle connecting disc and the butt joint bolt are effectively prevented from rusting, the overall structure of the foot core can be kept dry, the service life of the whole artificial limb is prolonged, and the artificial foot is more convenient to maintain and clean.

The invention discloses an anthropomorphic joint system of multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendons and a control method, and belongs to the technical field of bionic robots, intelligent mechanical joints and electromagnetic control. The technical problems that an existing robot joint is serious in mechanical abrasion, stiff in movement, poor in stability, low in bionic degree, rough in force control effect and the like are solved. The system comprises a multi-dimensional magnetic suspension normal-state stable supporting module, a telescopic bionic muscle tendon module, a multi-unit vector electromagnetic cooperative driving module, an electromagnetic polarity smooth switching and bidirectional driving module and a bionic self-learning gradual change type force control module. Non-contact and wear-free operation of the joints is achieved through multi-dimensional magnetic suspension, anthropomorphic movement is achieved through telescopic bionic muscle tendons, and precise and flexible control is achieved through vector electromagnetism and gradual change force control. The invention has the advantages of zero wear, long service life, multidimensional stability, high humanoid degree, soft force control, simple structure and the like, and is suitable for the fields of humanoid robots, medical rehabilitation robots, intelligent prostheses, humanoid interaction equipment and the like.

The invention discloses an artificial limb installation alignment device capable of adjusting the translation amount of a sliding block through a rotary knob, the artificial limb installation alignment device comprises a rectangular frame body, an X-axis adjusting device, a Y-axis adjusting device, an X-axis adjusting sliding block and a Y-axis adjusting sliding block, the X-axis adjusting device and the Y-axis adjusting device are arranged at the edges of the rectangular frame body respectively, the X-axis adjusting device is connected with the X-axis adjusting sliding block, and the Y-axis adjusting device is connected with the Y-axis adjusting sliding block. The Y-axis adjusting device is connected with the Y-axis adjusting sliding block, the X-axis adjusting sliding block is arranged above the Y-axis adjusting sliding block, the included angle between the X-axis adjusting device and the Y-axis adjusting device is 90 degrees, connecting structures are arranged on the X-axis adjusting sliding block and the Y-axis adjusting sliding block, and the X-axis adjusting sliding block and the Y-axis adjusting sliding block are connected with the quadrangular frustum pyramid connecting disc. According to the invention, a rotation motion mode is converted into a translation motion mode, so that an artificial limb technician can realize real-time alignment adjustment in the process that a patient wears an artificial limb more conveniently, and secondary fine adjustment is completed.

An electromyography (EMG) strap and a wearable electronic device are provided. The EMG strap includes a flexible strap body; a flexible printed circuit board (FPCB), housed within the flexible strap body; a surface electromyography (sEMG) sensor assembly, disposed on the FPCB, where the sEMG sensor assembly is exposed from the flexible strap body and is configured to collect an EMG signal and pre-process the EMG signal to obtain a pre-processed analog signal; and a board-to-board (BTB) connector, disposed on the FPCB and electrically connected to the sEMG sensor assembly. The EMG strap can not only help in diagnosing conditions like muscular dystrophy and motor neuron disease but also play a pivotal role in developing advanced prosthetic devices that respond to muscle signals.

The invention belongs to the technical field of medical instruments, and discloses an artificial limb control system and control method for driving a knee joint by a hip joint, and the control system comprises a hip joint curvature acquisition module, a wireless data transmission module, a knee joint driving device and a battery module, the hip joint curvature acquisition module is used for acquiring a bending angle signal of a hip joint in real time, the wireless data transmission module is used for wirelessly transmitting the hip joint angle signal, and the knee joint driving device is used for receiving the hip joint angle signal transmitted by the wireless data transmission module and controlling the movement of the knee joint according to a preset biomechanical model. The knee joint driving device is used for executing a control instruction sent by the knee joint driving device and driving the knee joint to move, and the battery module supplies power to other assemblies. Hip joint angle signals are collected in real time and wirelessly transmitted through the hip joint curvature acquisition module, knee joints are directly driven to move, signal instability and response lag are avoided, control precision and comfort are improved, and the service life of a battery is prolonged.

The invention relates to a poly-zwitterionic gel material and preparation and application thereof.The preparation method comprises the steps that firstly, a dielectric layer precursor solution is subjected to illumination forming, and a dielectric layer is obtained; the dielectric layer precursor solution comprises a first photo-initiation gelling component, water and glycerol; the sensing layer precursor solution is subjected to illumination forming on the two sides of the dielectric layer, and the non-contact gel sensor is obtained; the sensing layer precursor solution comprises a second photo-initiation gel forming component, [2-(methylacryloyloxy) ethyl] dimethyl-(3-sulfopropyl) ammonium hydroxide, water and glycerol. Compared with the prior art, the invention has the advantages of softness, stretchability and green and environment-friendly materials, has higher response when the distance is closer, and has application prospects in the fields of wearable electronics, soft robots, intelligent artificial limbs and the like.

The application belongs to the technical field of bionic skin material preparation, and specifically provides a TPE water-based polyurethane type bionic robot skin material and a preparation method thereof. The bionic skin material is composed of a water-based polyurethane synthetic leather skin layer, a thermoplastic elastomer TPE layer (foamed TPE layer) and a heating film. The epidermal water-based polyurethane material provides a baby skin touch, the middle layer TPE provides a soft and elastic meat feeling, and the lowermost layer heating film can endow the bionic skin material with a warm feeling. The bionic skin material preparation method of the application adopts a hot pressing process, solves the difficulty that the TPE surface energy is low and cannot be glued, and does not change the soft and elastic hand feeling of the TPE; the hot-pressed water-based polyurethane synthetic leather solves the problems that the traditional TPE material is prone to oil penetration and has an odor; the middle layer can adopt foamed TPE, and the lightweight function of the material can be realized; and the bionic skin material has a wide application prospect in the fields of artificial skin, soft robot, wearable device, soft toy and artificial limb skin, etc.

The utility model discloses an artificial limb heating device which comprises a base body and a cable connected with the base body. The base body wraps an artificial limb, a controller is arranged on the cable, and an electrifying connector is arranged at the end of the cable; the base body sequentially comprises an anti-skid layer, a heat preservation layer, a heating layer, a heat preservation layer and a protection layer in the direction from the artificial limb contact face to the non-contact face. The anti-skid layer, the heat preservation layer, the heating layer, the heat preservation layer and the protection layer are all made of flexible materials. An electric heating wire is arranged in the heating layer; and a connecting piece is arranged at the end part of the base body. The protection layer is made of waterproof materials, and heat preservation cotton is arranged in the heat preservation layer. The heating layer is designed in the base body, the heat preservation layer is designed for heat preservation, the base body is wrapped on the surface of the contact position of the artificial limb and a patient, heating is completed through the electric heating wire, then the artificial limb is heated, the situation that the temperature of the artificial limb and the body temperature of the patient differ greatly is avoided, and the use experience of a user is improved; and the influence of the matched artificial limb with large temperature difference on the amputation part of the patient is reduced.

The invention relates to an artificial limb protection plate knee joint collapse prevention device which is characterized in that bases are arranged on the two sides of an artificial limb knee joint respectively, each base is provided with two sliding grooves, each sliding groove is connected with a branch in a sliding mode, and the bottom ends of the two branches are connected with a connecting rod; the front and rear ends of the folding soft shell are respectively connected with the top ends of the four branches; the switch sliding block is connected with the connecting rod, and the switch sliding block is pushed to drag the branch to slide along the sliding groove through the connecting rod, so that the folding soft shell is folded or unfolded. The upper part of the connecting seat is connected with the two bases, and the lower part is connected with the artificial limb shank. According to the device, a folding structure is designed at the concave part of the knee joint between the artificial limb protection plate and the receiving cavity, so that the folding soft shell is unfolded and folded, the concave part is quickly filled, the problem that the knee joint collapses after a lower limb artificial limb wearer sits down is solved, and the wearing attractiveness of the lower limb artificial limb is improved.