94 results about "Bowden cable" patented technology

The invention discloses a flexible knee joint exoskeleton for maintaining dynamic stability of knee joints in the technical field of lower limb rehabilitation, and the flexible knee joint exoskeleton comprises a control box, a control module and a power supply unit are integrated in the control box, and one side of the control box is fixed to the waist of a user through a bandage. The device further comprises a sensing unit, a tibia anterior movement limiting assembly and a support fixing assembly, the output end of the sensing unit is electrically connected with the input end of the control box, and the sensing unit is used for obtaining first movement information of a user and sending the first movement information to the control box; the control box identifies the walking trend and the knee joint state of the user based on the first motion information and an artificial intelligence algorithm, wherein the knee joint state is a six-degree-of-freedom kinematics state. According to the flexible knee joint exoskeleton, the Bowden cable and the tibia forward movement limiting assembly are cooperatively driven, human body lower limb kinematics information is collected in real time through the sensing unit, and the forward movement amplitude of the tibia of a user can be limited.

A flap device (10) for a motor vehicle, comprising a cover element (16) pivotably mounted between a closed position (18) and an open position, a drive device (32) by means of which the cover element (16) can be driven, a locking device (36) comprising a locking element (38) movable between a locking position (40), in which the cover element (16) is secured against pivoting from the closed position (18) by means of the locking element (38), and a release position (42), and an actuation element (48) movable between an actuation position (50), in which the cover element (16) is acted upon at a contact point (54) by the actuation element (48) to pivot from the closed position (18), and a rest position (52), wherein the locking element (38) is trained as a Bowden cable (58),first coupling device (60) is coupled to the drive device (32) and the actuation element (48) is coupled to the drive device (32) via a second coupling device (64) designed as a Bowden cable (62).

The invention provides a self-adaptive assistance system and method for adjusting an exoskeleton based on a sweat sensor, and the system comprises a sweat amount detection chip which is embedded into the surface of wearable flexible clothes, is in contact with the skin of a human body, and is used for converting the detected sweat amount into an electric signal, and further converting the electric signal into a control signal; the knapsack comprises a control system, a driving system and a sensing system, and is worn on the trunk of the human body after being connected with the wearable flexible clothing; the power assisting device comprises a power assisting boot which is worn on the foot of the human body and connected with the driving system through a Bowden cable; and the specific output value of the power assisting device is controlled through the control signal. Dynamic matching of exercise intensity and mechanical assistance is achieved through an amplification control mechanism driven by sweat amount, gait phase compensation fed back by plantar pressure is combined, the energy utilization efficiency is improved by 20% or above, the problem that a traditional exoskeleton physiological-physical interface is disjointed is effectively solved, and the energy utilization rate is increased by 20% or above. The assisting synchronism is improved, and meanwhile the wearing comfort degree and the motion freedom degree are remarkably improved.

A hip joint exoskeleton robot belongs to the technical field of robots and comprises a waist binding piece, leg binding pieces, driving mechanisms and executing mechanisms, the two driving mechanisms are installed on the front portion of the waist binding piece, and the executing mechanisms are installed on the two sides of the waist binding piece respectively; each driving mechanism controls the corresponding executing mechanism through a steel wire rope arranged in the Bowden cable pipe. Each actuating mechanism comprises a shell, an outer connecting disc, a rope wheel, a connecting plate and two transition wheels; the connecting plate is rotationally connected with the waist binding piece; the rope wheel and the two transition wheels are rotatably arranged on the same side face of the connecting plate respectively, the two transition wheels are connected into a whole, the outer connecting disc is installed on the side face of the rope wheel, the shell is installed on the connecting plate and provided with a space enabling the outer connecting disc to rotate, and a steel wire rope is wound around a wheel groove of the rope wheel and wheel grooves of the two transition wheels. According to the invention, collaborative optimization of topological configuration and high power density driving is realized, and balance of light weight and large torque output is realized.

The invention belongs to the field of rehabilitation medical instruments, and particularly relates to a finger rehabilitation robot based on rope driving and a control method.The finger rehabilitation robot mainly comprises a base, a thumb assembly and a four-finger assembly, the thumb assembly is installed on the base through a torsional spring installation shaft, and the four-finger assembly is installed on the base through a rotating support and a switching hinge; the hand back is fixed to the base through the palm supporting strip, the fingers are worn in the four-finger assembly and the thumb assembly respectively, multi-dimensional driving modes such as a motor, an electric cylinder and a Bowden cable are fused, all the freedom degrees of motion of the fingers are covered, and multiple humanoid actions such as five-finger bending and stretching and finger adduction and abduction can be completed; multi-degree-of-freedom rehabilitation training aiming at fingers is accurately realized, and sufficient rehabilitation treatment is provided; meanwhile, a limiting block is arranged on the metacarpophalangeal joint support, so that injury caused by excessive bending or reverse bending of fingers in the rehabilitation process is avoided, and the safety of rehabilitation training is guaranteed.

The lower limb exoskeleton leg structure based on Bowden cable driving and modular layout comprises hip joint motors and knee joint motors, the hip joint motors are installed on hip joint motor fixing plates through hip joint motor fixing pieces, and the hip joint motor fixing plates are connected with hip joint upper connecting plates and hip joint lower connecting plates; a motor flange is mounted at the output end of the hip joint motor; a motor output shaft is fixed on the motor flange; the other end of the motor output shaft is connected with a knee joint motor, and meanwhile, the motor output shaft transmits power to a thigh rod connecting piece through a transmission bolt; the thigh rod connecting piece is connected with the upper thigh rod, and the upper thigh rod is connected with the lower thigh rod; the other end of the lower thigh rod is connected with a knee joint fixing part, the knee joint fixing part is rotationally connected with a knee joint moving part, the tail end of the knee joint moving part is connected with an upper shank rod, an output shaft of the knee joint motor is fixedly provided with a Bowden cable driving wheel, and the Bowden cable driving wheel drives the knee joint moving part to rotate through a Bowden cable.

The invention belongs to the technical field of bionic exoskeletons, and particularly relates to a pneumatic-electric hybrid driven flexible exoskeleton robot system and a control method thereof.The pneumatic-electric hybrid driven flexible exoskeleton robot system comprises a flexible exoskeleton body which is bound to the lower limbs of the human body and comprises a plurality of pneumatic muscles arranged around the shanks and Bowden cables located between the pneumatic muscles; a power source module; the control center is configured to dynamically switch a pneumatic driving mode and a motor driving mode according to the rehabilitation stage and the environment scene of the wearer; the sensor module is used for collecting motion data in real time; the control center is based on sensor data, a bionic multi-muscle self-adaptive control strategy and a force-position mixed control strategy are adopted, accurate assistance of multi-dimensional movement of the ankle joint is achieved, and dual protection is formed through a pneumatic muscle constant-pressure locking mechanism and a Bowden cable active force unloading mechanism. According to the device, through pneumatic-electric hybrid driving, an intelligent control strategy and innovative protection design, the problems that traditional exoskeleton driving is single, the degree of freedom is insufficient, and safety is low are solved.

The application relates to an apparatus for assisting a human torso, comprising a torso link (1) connected to the upper back of a user by a back strap (2), two thigh links (3) each coupled to the left and right thigh of the user by a leg strap (4), two hip joint hinges (5) each placed in alignment with the left and right hip joints of the user and configured to rotatably connect the torso link (1) and the two thigh links (3), and a torque generator (6) coupled to the two hip joint hinges (5) by Bowden cables (7) and configured to generate an assisting torque to reduce the moment load of the user.

A device (1) for unlocking of a vehicle door for a vehicle, the device having an actuation element (2) comprising an actuation portion (27) and a flexible deployable strap portion (28), the strap portion being connected to a Bowden cable (11), wherein the Bowden cable (11) and the actuation element (2) are arranged on a floor panel (9) and / or a vehicle door, and the actuation element (2) is connected to a rotatably arranged ring lever (5) such that the Bowden cable (11) connected to the ring lever (5) is movable when the ring lever (5) is rotated by the actuation element (2), characterized in that the ring lever (5) comprises a preferably circular ring lever portion (8) against which the actuation element (2) partly abuts.

The invention relates to an electromotive drive unit for motor vehicle applications, in particular a closing drive for a motor vehicle lock, preferably a motor vehicle door lock. For this purpose, the drive unit is provided with an electromotive drive (4) and a Bowden cable (5, 6). The Bowden cable (5, 6) couples the electromotive drive (4) to an actuating element (2; 9, 10, 11) acted upon thereby. The Bowden cable (5, 6) is supported with its sheath (5) on a housing (1) accommodating the actuating element (2; 9, 10, 11) and works with its core (6) on the actuating element (2; 9, 10, 11). According to the invention, the core (6) has a front hook (7, 8) which engages over a bevel (11a) of the actuating element (2; 9, 10, 11). In this way, in order to interrupt a pulling action on the actuating element (2; 9, 10, 11), the hook (7, 8) only has to be released from the bevel (11a).

The application discloses a wearable flexible lower limb gravity balance exoskeleton and relates to the field of exoskeleton robots.The exoskeleton robot comprises a flexible garment, a knee joint binding mechanism, a Bowden cable transmission mechanism and a gravity balance device.The flexible garment is worn on the upper body of a human body, provides a stress anchor point for the gravity balance device and guarantees the stability of wearing.The knee joint binding mechanism is installed at the knee joint of the lower limb of the human body and connects the gravity balance device with the knee joint.The Bowden cable transmission mechanism is distributed on the front side of the thigh and provides assistance for the flexion of the hip joint.The Bowden cable transmission mechanism is connected with the knee joint binding mechanism.The gravity balance device is installed on the front side of the flexible garment and assists the flexion of the hip joint.The gravity balance mechanism is combined with the Bowden cable transmission mechanism and adopts a bionic driving mode to simulate the force line direction of the hip flexor muscle of the lower limb.The application adopts a variable stiffness design, and elastic elements and flexible mechanisms are matched with the motion change of the human body, so that the fitting degree of the exoskeleton with the human body is higher, and the assistance and safety are improved.

The application discloses a flexible variable stiffness knee joint rehabilitation exoskeleton and a motion control method thereof. The flexible variable stiffness knee joint rehabilitation exoskeleton comprises a back fixing assembly, a thigh fixing assembly and a shank fixing assembly. The thigh fixing assembly and the shank fixing assembly are hingedly connected through a knee joint shaft group and are provided with a pose detection assembly at the hinge connection. An output wheel and an input wheel are connected through a Bowden cable group. The back fixing assembly is respectively provided with a controller, a driving mechanism, a nonlinear variable stiffness mechanism and an energy recovery mechanism. The device uses magnetic repulsion between a permanent magnet and a power coil to construct a nonlinear stiffness adjusting mechanism. The actuator is fixed on the human back through a bandage. The Bowden cable is used to realize remote transmission of the torque to the knee joint, thereby effectively reducing the load bearing burden of the lower limbs. In the swing phase of the gait cycle, the system uses the principle of permanent magnet cutting magnetic induction lines to realize energy feedback, thereby improving the overall energy efficiency of the assisting process.

The utility model discloses a kind of multi-posture lower limbs exoskeleton rehabilitation training devices, including bed-chair conversion mechanism, double scissor lifting mechanism, hip plate support mechanism, flexible lower limbs exoskeleton mechanism and power device.Bed-chair conversion mechanism is matched with tripod through electric push rod, realizes the conversion of lying, sitting posture and standing posture;Double scissor lifting mechanism adopts scissor structure and electric push rod to realize lifting, bottom is equipped with trundle;Hip plate support mechanism is matched with support rod by spring shaft, provides stable support under different postures;Flexible lower limbs exoskeleton mechanism includes hip joint and knee joint structure, hip joint is driven in parallel by Bowden cable and spring, knee joint is driven by electric push rod.The device is also provided with control handle, integrated rocker, OLED display, voice control and STM32 single-chip microcomputer, to facilitate patient flexible control.The utility model can realize the switching of multiple rehabilitation postures, improve rehabilitation training effect.

The present invention discloses a control method for an exoskeleton manipulator, including: constructing a hand biomechanical model, defining the degrees of freedom of finger joints, and performing joint-by-joint modeling based on the driving dynamics equation of the Bowden cable; deploying high-density sensors on the hand; S3: improving the hand-specific Bouc-Wen model, introducing an interphalangeal coupling term to correct the hysteresis state equation, and identifying the micro-hysteresis parameters through a hierarchical identification algorithm; S4: designing an adaptive cooperative control strategy to achieve a fuzzy mapping from electromyogram signals to joint torques, and optimizing the cooperative tracking error through a multi-joint parameter coupling adaptive law; S5: using a modified dual Kalman filter to dynamically compensate for the mechanical resistance of the hand; S6: optimizing the closed-loop execution and safety strategy. The control method for the exoskeleton manipulator of the present invention can effectively process the mapping relationship between electromyogram signals and the actions of the manipulator and adapt to different operating environments through the improved Bouc-Wen model and the adaptive cooperative control strategy.

Bowden cable for transmitting compressive and / or tensile forces and / or mechanical movements, comprising a core (1) which is surrounded by a guide tube (2) except for its two end regions, wherein the guide tube (2) has a guide tube end piece (3) at at least one of its two ends, to which a sealing element (6) is assigned, wherein the sealing element (6) is arranged in the end of the guide tube end piece (3) facing away from the guide tube (2), and wherein the sealing element (6) surrounding the core (1) is positioned visibly from outside the guide tube end piece (3) at the end of the guide tube end piece (3) facing away from the guide tube (2), characterized in that an additional guide device (5) for the core (1) of the Bowden cable is held on the guide tube end piece (3) at an outer distance from an end of the guide tube end piece (3), which end faces away from the guide tube (2).

The embodiment of the invention provides a leg spiral self-adaptive binding device adaptive to a human body and a robot and wearable equipment. The binding device comprises a driving unit, a binding unit and a control unit, the spiral binding unit is in transmission connection with the driving unit, and the spiral binding unit comprises spiral binding elements which are distributed in the circumferential direction of the leg and symmetrically arranged in the length direction of the leg in a logarithmic spiral track mode; the Bowden cable group is arranged between two adjacent spiral binding elements and between the driving unit and the spiral binding elements in a penetrating manner; the pressure sensing assembly is arranged on the side, close to the leg, of the spiral binding unit; wherein the driving unit is used for driving and adjusting the winding and unwinding of the Bowden wire group according to the contact pressure between the spiral binding unit and the legs, which is detected by the pressure sensing assembly, so as to adjust the bending radian and the tightness of the spiral binding unit.

The object of the invention is a connection assembly for a motor vehicle lock and, in particular, a Bowden cable connection assembly for a motor vehicle door lock. In its basic construction, this is equipped with a main body inserted into a lock housing and with a sealing body made from an elastic plastic for sealing the main body against the lock housing, and / or an actuating element for at least one lock component. According to the invention, the main body is produced from rigid plastic, and the sealing body is formed in two parts. In addition, the sealing body is connected to the main body. Furthermore, the sealing body is formed in two parts with a housing sealing body for sealing against the lock housing and an actuating sealing body functionally and locally separated therefrom for sealing against the actuating element.

The present disclosure relates to a valve for an application system for a liquid medium, comprising: a valve needle, a valve seat with an opening for the flow of the medium, the valve needle having a first position in which the valve needle releases the opening and a second position in which the valve needle closes the opening, and at least one Bowden cable configured to move the valve needle from the first to the second position to close the valve, and / or to move the valve needle from the second position to the first position to open the valve. The present disclosure further relates to a valve circuit and an application system with at least one such valve.

The present invention relates to a wearable active-passive hybrid assistance mechanism and an assistance method, belonging to the technical field of assistance mechanisms, and solves the problem that the existing assistance mechanisms have a single assistance form and cannot provide assistance to the upper limb arms. The wearable active-passive hybrid assistance mechanism of the present invention includes a back frame, an upper limb assistance component and a waist assistance component, and the upper limb assistance component and the waist assistance component are fixed on the back frame; the upper limb assistance component includes a rotating shaft, a clockwork spring and a Bowden cable, one end of the Bowden cable is connected to the clockwork spring through the rotating shaft, and the other end is connected to an end effector for carrying items; the waist assistance component includes a thigh support rod, a chest support rod and a driving unit, and the thigh support rod is connected to the output shaft of the reducer of the driving unit. The present invention combines active waist assistance with passive upper limb assistance, and can provide assistance to the waist and upper limbs simultaneously.

A device for door unlocking for a vehicle, having an actuating element, including an actuating portion and a flexibly unwindable band portion, which is connected to a Bowden cable. The Bowden cable and the actuating element are arranged on a base plate and / or a door, and the actuating element is connected to a rotatably arranged loop lever in such a way that, when the loop lever is rotated by the actuating element, the Bowden cable connected to the loop lever is movable. The loop lever includes a (preferably) circular loop lever portion, against which the actuating element partially abuts.

This invention discloses a flexible cable-driven upper limb exoskeleton device and its control method for over-the-shoulder harvesting in agriculture. It employs a back-mounted drive and Bowden cable distal transmission architecture, and introduces a bidirectional cable chain mechanism to adaptively compensate for the instantaneous rotational center drift of the shoulder joint, eliminating human-machine kinematic interference. The perception layer uses a dual-node pure IMU scheme for the upper and lower arms, combined with a lightweight LSTM network and a majority-voting smoothing strategy to achieve low-latency, highly robust four-state action intention recognition. The control layer constructs a finite state machine scheduling architecture, mapping intention adaptive gravity compensation, position impedance, and zero-force following modes. Implicit state alignment and torque cross-gradient achieve non-disruptive switching between multiple modes. The underlying servo integrates fuzzy PID online tuning to suppress transmission nonlinearity. This invention significantly reduces the activation load on the deltoid and biceps muscles under lightweight design, making it suitable for long-duration over-the-shoulder harvesting operations in orchards.

This invention provides a main chord tube and its manufacturing method, relating to the field of marine engineering equipment. The main chord tube provided by this invention includes a rack plate and a main body. The main body includes two tube bodies, which are symmetrically arranged on both sides of the rack plate. The interior of each tube body has a porous structure, which is connected to the inner wall of the tube body. The main chord tube of this invention can reduce the amount of steel used, reduce its own weight, and save construction costs.

The invention belongs to the technical field of motorized tools, and particularly relates to a Bowden cable power-assisted flexible lower limb multi-joint exoskeleton robot and a control method. The robot can assist the hip and knee joints of the lower limbs when a human body walks; a reversing bevel gear set, a two-way wire spool and an electromagnetic clutch are adopted, so that a single motor assists hip joint extension and knee joint bending in the left leg and the right leg of the lower limb; the prediction of the walking gait position and the gait period is realized through inertial measurement units mounted on the two sides of the left leg and the right leg; in the control system, an upper computer drives a motor through dspace to drive hip and knee joints of lower limbs to move, an inertial measurement unit performs angle feedback, and normalized gait prediction is realized. Through a designed dynamic model, PD iterative control and fuzzy PID control, the tracking of the hip and knee joint expected power-assisted curve is realized.

A firearm (10) designed and modified for use in a weapons simulator for training purposes, comprising a bolt (12) movable back and forth between a forward starting position and a rearward end position, and a device for simulating recoil of the firearm (10) with means (14, 15, 16) for actuating the bolt (12), wherein the firearm (10) has a bolt catch (18) to hold the bolt (12) in or near the end position when required, characterized in that the bolt catch (18) comprises a movable bolt catch lever (20) movable into a range of motion of the bolt (12), an actuating element (22) arranged at a distance therefrom, and means (21) for mechanically transmitting a movement (25) of the actuating element (22) to the bolt catch lever (20).and that the means (21) for the mechanical transmission of the movement (25) of the actuating element (22) to the locking catch lever (20) comprise a Bowden cable.

Coupling device (1) for force-transmitting connection of a first Bowden cable (3) with a second Bowden cable (4), wherein the coupling device (1) comprises a first coupling part (9) to which a sheath (5) and a core (6) of the first Bowden cable (3) can be attached, and a second coupling part (10) to which a sheath (7) and a core (8) of the second Bowden cable (4) can be attached, wherein the first of the coupling parts (9) comprises a first housing (11) connectable to the sheath (5) of the first Bowden cable (3) and a first slide (12) connectable to the core (6) of the first Bowden cable (3) and longitudinally displaceable within the housing (11), and wherein the coupling parts (9, 10) are positively interlocking or joined together.wherein the second of the coupling parts (10) has a second housing (21) connectable to the sheath (7) of the second Bowden cable (4) and a second slide (22) connectable to the inner tube (8) of the second Bowden cable (4) and longitudinally displaceable within the second housing (21), wherein the housings (11, 21) of the coupling parts (9, 10) on the one hand and the slides (12, 22) of the coupling parts (9, 10) on the other hand are each positively interlocking or joined to one another in a joining direction transverse to the force transmission direction of the Bowden cables (3, 4), and wherein at least one of the slides (22) has at least one guide surface (33) inclined to the joining direction for the other of the slides (12), which interacts with the other of the slides (12) when the coupling parts (9, 10) are joined in the joining direction such that at least one of the slides (22) is displaced in the direction of power transmission,wherein the second slide (22) has several guide surfaces (33) arranged at intervals from each other in the direction of force transmission, wherein the first slide (12) has at least one drive element (31) which interacts with at least one of the guide surfaces (33), characterized in that the drive element (31) is a drive bolt or cylinder oriented transversely to the direction of force transmission.

A robotic training device, system and method duplicates and guides a golfer through a perfect golf swing in several modes. The exoskeleton-like robotis device, and system utilizes a training method that employs a combination of either pneumatic, electrics or Bowden cables with small motors and actuators, which embraces the golfer so he / she can experience the “feel” and body movements that make a perfect golf swing and learn to perform the motion without the training device. Similarly, the robot training device, system may assist patients in rehabilitation from injuries, stroke, chronic illness or other conditions involving muscular atrophy.

The invention discloses an autonomous moving off-board driving platform for rehabilitation of an exoskeleton, the exoskeleton and a method, solves the problem that a driving device of the exoskeleton in the prior art needs to be worn by a patient, so that the load burden is large, and has the beneficial effects that the load of the patient is reduced, and the use safety and usability are improved. According to the specific scheme, the autonomous moving off-machine driving platform for rehabilitation of the exoskeleton comprises a bearing component, the bearing component is used for bearing a driving unit of the exoskeleton, and the driving unit of the exoskeleton is connected with the exoskeleton through a Bowden cable; the bearing component is installed at the position of the shell, a self-adaptive compensation mechanism is arranged between the bearing component and the shell, the self-adaptive compensation mechanism can move in the set direction so as to conduct displacement compensation on a driving unit of the exoskeleton, and / or the self-adaptive compensation mechanism can drive the bearing component to rotate so as to conduct rotation compensation on the driving unit of the exoskeleton. The shell is provided with a controller.

The invention discloses a multifunctional operating rod. Adjustment of any length is achieved through stretching and retracting of a telescopic rod. The angle and the direction of the actuator can be adjusted at will based on the universal adjuster; a lever-Bowden cable labor-saving transmission mechanism is formed based on the telescopic rod, the inhaul cable and the controller, and acting force is effectively transmitted to the actuator.

A Bowden cable coupling for releasably coupling a first Bowden cable to a second Bowden cable is configured and operable to transmit mechanical forces from an activation element to a functional element. The Bowden cable coupling has a first coupling unit which is connected to the first Bowden cable, a second coupling unit which is connected to the second Bowden cable, and a coupling sleeve for connecting the first coupling unit and the second coupling unit together, wherein the first coupling unit and the coupling sleeve are releasably connected to one another by way of a bayonet closure.