264 results about "Bracing leg" patented technology

The invention discloses a motion planning method which prevents fore-and-after leaning of a humanoid robot and a device thereof, belonging to the technical field of the motion planning of the humanoid robot. The method comprises: compensation angles are arranged respectively for the rotor angles of an electric motors for the hip joint, the ankle joint and the knee joint of a supporting leg; the corresponding compensation angles are respectively added on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg. The device comprises a compensation angle setting module and an add module, wherein, the compensation angle setting module is used for respectively setting the compensation angle for the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; the add module is used for respectively adding the corresponding compensation angles on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; wherein, the electric motors for the hip joint, the ankle joint and the knee joint are the electric motors arranged along the left direction and the right direction of the humanoid robot in the axial direction. The invention can effectively reduce the fore-and-after leaning phenomenon when the humanoid robot is supported by a single leg, and improving the landing stability.

The present disclosure discloses a folding stool or a folding table and a folding frame thereof. The folding frame comprises a left frame, a right frame, and two middle support legs. A front end of an inner side of the left frame and a front end of an inner side of the right frame are provided with front hinge pieces that are hinged to each other, and a rear end of the inner side of the left frame and a rear end of the inner side of the right frame are provided with rear hinge pieces that are hinged to each other. Tops of the two middle support legs are respectively hinged with the front hinge pieces and the rear hinge pieces. Each of the two middle support legs is provided with a sliding sleeve.

The invention discloses a rehabilitation training device for knee joints. The rehabilitation training device comprises a support and supporting legs, supporting legs are installed at the four cornersof the lower end of the support. A back supporting plate is arranged at the upper end of the support; a head supporting block is arranged at the upper end of one side of the back supporting plate; a groove is formed in the middle of the head supporting block; the other end of the back supporting plate is rotationally connected with a waist supporting plate; the two sides of the waist supporting plate are fixedly connected with a fixing plate through bolts. The other end of the fixing plate is fixedly connected with the support through bolts; the other end of the waist supporting plate is rotationally connected with a leg supporting plate; when a patient lies on the back supporting plate, the waist supporting plate and the leg supporting plate, the patient's legs are fixed through binding bands, when the patient's legs exert force downwards, the leg supporting plate is pushed to rotate anticlockwise, springs are compressed, a second telescopic rod is shortened, and when the patient's legs are relaxed, the leg supporting plate resets under the action of the springs, so that knee joint rehabilitation of the patient is facilitated.

The invention discloses a man-machine interaction intelligent control method of a load maneuvering exoskeleton and an exoskeleton system. The method comprises the following steps: firstly, modeling a human body and the load maneuvering exoskeleton into a five-connecting-rod model consisting of a trunk, a left thigh, a right thigh, a left shank and a right shank; dividing the five-connecting-rod model into a supporting leg model and a swinging leg model, and respectively establishing kinetic equations of the two models by utilizing a Lagrange motion equation; and then designing a hybrid control method combining position control and AIA control based on a tracking differentiator, applying the position control to the supporting leg model in a gait period, enabling the joint angle of an exoskeleton to track the joint angle of the human body in real time, applying the AIA control based on the tracking differentiator to the swinging leg model, enabling the exoskeleton to adapt to the human body movement and environment of a wearer by self, achieving the two control methods alternately according to a supporting phase and a swinging phase of the gait cycle, so that the exoskeleton tracks the position of the human body in real time. Coordinated movement of the exoskeleton and the human body can be achieved.

The invention provides a method for planning and controlling gaits when a biped robot suffers from external thrust disturbance in the advancing direction. When the robot is provided with under-actuated ankles or the ankles are in a force control manner, external disturbance borne by the robot can be shown through the state change of the ankle joint freedom degree (or other variables relevant to the ankle joint freedom degree). Based on the thought, according to the method for planning and controlling the gaits, the force control manner is adopted for the ankle joints of the robot, then the included angles between connecting lines between the supporting leg ankles and supporting leg hip joints and the vertical direction are selected to serve as the state variables of the robot to representthe state of the robot, and the state of the robot is estimated and calculated in real time based on a simplified inverted pendulum model. Based on the method, external thrust information borne by therobot does not need to be measured, and real-time feedback and control can be achieved.

A ladder with supplementary support legs is an apparatus that provides increased stability when compared to traditional stepladders. The apparatus includes a left support mechanism, a right support mechanism, and a front set of rungs. The left support mechanism and the right support mechanism are identical halves of the apparatus. Each support mechanism includes a ladder rail, a bracing leg, and a pivoting outrigger. The ladder rail and bracing leg are hinged together and are able to move between an expanded and collapsed configuration. The outrigger pivots away from the ladder rail and bracing leg to create a tripod between the three legs. The front set of rungs functions as steps which are connected between the ladder rails of the left support mechanism and the right support mechanism.

The invention discloses a thoracentesis seat, comprising support legs, a support frame, a seat mounted on the support legs and a backrest mounted on the support frame; the backrest is arranged above one side of the seat. The thoracentesis seat also comprises a lifting carrier plate for lifting the jaw of a human body; the lifting carrier plate is arranged above the backrest in lifting manner. Whenin use, the thoracentesis seat can keep a patient to sit in fixed posture for long time, the position of the patient is kept unchanged, deviation of a focus positioning mark is avoided, surgery can be performed quickly, accurately and safely by medical staff, and surgical risk is lowered. The thoracentesis seat also has the advantages of simple structure, ease of manufacture and low cost.

The invention belongs to the technical field of medical equipment, and concretely relates to a nail taking device for orthopedics, existing screw taking modes are mostly used through screwdrivers, thescrews often fall off, during twisting, the screw is stressed unevenly and is capable of easily slipping, proposed now is the following scheme, the device comprises a transverse plate, a threaded rodis in threaded connection with the central position of the transverse plate; the bottom end of the threaded rod is connected with a screw head; two telescopic legs are symmetrically mounted at the bottom of the transverse plate in a sliding manner; supporting legs are slidably mounted on the outer sides of the two telescopic legs correspondingly, two welding rods are fixedly mounted at the bottomof the transverse plate, the same welding plate is fixedly mounted at the bottoms of the two welding rods correspondingly, the threaded rod is in threaded connection with the welding plate, two adjusting holes are symmetrically formed in the welding plate, and two transverse supporting rods are transversely and fixedly mounted in the two adjusting holes correspondingly. According to the screw taking device, screws can be clamped during screw taking, the screws are prevented from falling off, and the screw taking device can adapt to screws of different sizes.

The invention discloses a biped robot space domain gait planning and control method which comprises the following steps: setting the horizontal distance of a biped robot hip joint relative to a supporting leg ankle joint as a phase variable delta, and designing and optimizing a swing leg joint reference angle track based on the phase variable according to a current state, a reference step length and a reference speed; swinging leg gait planning in a space domain is completed; a second-order inverted pendulum model is established, and a support leg hip joint reference moment for speed control is optimized through nonlinear model prediction control; after the swing leg joint reference angle track and the supporting leg hip joint reference torque are obtained, the joint torque is optimized in a multi-target task through whole-body dynamics Quadratic Programming control, and then gait walking of the robot is controlled. According to the method, the motion of swinging the ankle joint is separated from the time, so that the ankle joint only depends on the own state, and the robustness is enhanced.

A mine avoidance and protection device has a frame adapted to be secured to a source of a load, such as the foot of a person. Attached to the frame are at least three support legs each extending from the frame. Each leg has a releasable joint between the leg and the frame. At least one detector is operable to provide a detection capability for each support leg, operable to detect a characteristic of a mine when at least a portion of the support leg is located proximate to the mine. An actuator operable to provide an actuation capability at the joint of each leg, to: constrain the joint to allow a load to be transmitted from the frame, through the joint and the support to the terrain. The actuator can also release the joint such that a load can not be transmitted from the frame through the joint. The joint between the plate and each leg may be a one degree-of-freedom prismatic joint or revolute joint.

A collapsible push-up bar comprises a hollow main shaft and a leg assembly. The collapsible push-up bar is, for example, a pair of push up bars which are modular and portable. The collapsible push-up bar is used for exercising, gymnastics and calisthenics. The hollow main shaft comprises one or more engagement devices that are disposed on a length of the hollow main shaft. The hollow main shaft is configured to be held by a user during a workout. The leg assembly comprises one or more support legs, insertable within the hollow main shaft and configured to be removably secured to the engagement device within the hollow main shaft.

The invention belongs to the technical field of medical instruments, in particular to a device with a leg exercise recovery function. The objective of the invention is to solve the problem that an existing device can only exercise leg flexor muscle strength, so that the movement range and the muscle strength of the extensor muscle of the joint cannot be effectively exercised. According to the invention, the device comprises a square tube base, supporting legs are arranged at the positions, close to the four corners, of the lower surface of the square pipe base. Two channel steel cross beams with opposite openings and parallel to each other are fixed to the right sides, close to the bottom ends, of the supporting legs through bolts, sliding frames are slidably connected into sliding groovesof the two channel steel cross beams correspondingly, and bearing seats are clamped to the portions, close to the bottom horizontal rod, of the opposite sides of the two sliding frames correspondingly. According to the device, an ejector rod can be driven to rhythmically eject upwards when an elliptical wheel rotates, and the ejector rod can drive an arc-shaped plate to continuously move up and down to drive a convex block to strike the lower part of a leg in cooperation with a compression spring, so that the effect of promoting blood circulation to remove blood stasis is achieved.

The invention provides a limb rehabilitation training device for the neurosurgery department. The limb rehabilitation training device comprises a bed board and supporting legs. An upper limb exercise mechanism and a lower limb exercise mechanism are arranged on the bed board, the upper limb exercise mechanism comprises a supporting frame, a main pulley and a guide pulley, a pull rope is arranged on the main pulley and the guide pulley, and the other end of the pull rope is connected with a first linkage mechanism; the lower limb exercising mechanism is detachably connected with the first linkage mechanism, and the leg supporting frame is driven by the pull rope and the first linkage mechanism to do leg lifting motion; a driving device used for driving the leg supporting frame to conduct leg buckling movement is arranged in the box body, a back lifting mechanism is arranged on the upper surface of the bed board, the lower end of the back lifting mechanism is connected with one end of a second linkage mechanism, and when the driving device drives the leg supporting frame to conduct buckling movement, the back lifting mechanism is lifted. And the back lifting mechanism is driven by the second linkage mechanism and the driving device to do back lifting motion. Upper and lower limbs can be exercised at the same time, and the limb coordination degree is increased; active and passive exercises are combined to be suitable for different patients; back massage is added, and interestingness is high.

The invention discloses a shank fixing device for puncture operation. The shank fixing device for the puncture operation comprises a leg supporting mechanism and a foot supporting mechanism, wherein the leg supporting mechanism for supporting legs is arranged on one side of the foot supporting mechanism for supporting feet. The shank fixing device for the puncture operation also comprises an adjusting mechanism, a telescopic fixing mechanism and a connecting mechanism, wherein the adjusting mechanism is used for fixing the angle between the foot supporting mechanism and the leg supporting mechanism; the telescopic fixing mechanism is used for supporting the height of the foot supporting mechanism; and the connecting mechanism is used for connecting a device and a bed. The angle between theleg supporting mechanism and the foot supporting mechanism can be fixed by the adjusting mechanism, so that influence on the treatment process of people by too fast rotation of the foot supporting mechanism relative to the leg supporting mechanism is avoided; the connecting mechanism can fix the device on a bed plate rapidly; and the telescopic fixing mechanism can fix the leg supporting mechanism and rapidly adjust and fix the height of the leg supporting mechanism, can adjust the position of a knee supporting shaft and can assist in supporting or fixing the other joint during knee joint orankle joint treatment.

A sport activity screen is disclosed for use in a selected sport to simulate the presence and position of actual players in that sport during training and practice exercises. A sports activity screen according to the present invention comprises a base unit which includes a main horizontal support bar and a plurality of bracing legs which are attached to the main horizontal support bar to support the main horizontal support bar. A sport activity screen according to the present invention also includes at least one frame structure where each said frame structure is operatively connected to the main horizontal support bar. In one embodiment, a sport activity screen according to the present invention comprises a plurality of frame structures which are operatively connected to the main horizontal support bar at spaced intervals along the length of the bar. Each frame structure comprises two spaced apart vertical members having two ends, where one end of each vertical member is operatively connected to the main horizontal support bar and where the other ends of each vertical member are joined together by a horizontal top member. Each frame structure may further comprise at least one horizontal cross member which is attached between the two vertical members at a point intermediate the two ends of those vertical members. A player simulation screen is attached to each frame structure.

The invention relates to the field of rehabilitation training equipment, in particular to a sitting type high-tension dorsal muscle rehabilitation training machine. Therehabilitation training machine comprises a support; a supporting leg is welded to one end of the support; a supporting frame is welded to the top of the support; an inclined frame is welded to the top end of the supporting frame; a fixed sleeve is welded to the top of the inclined frame; a rotating frame is rotationally connected inside the fixed sleeve; a handle is welded to one end of the rotating frame and sleeved with an anti-skid sleeve; a connecting frame is welded inside the rotating frame; a rotating seat I is welded to one side of the supporting frame; a rotating seat II is welded to the bottom of the connecting frame; and an electric cylinder is rotationally connected between the rotating seat I and the rotating seat II. The sitting type high-tension dorsal muscle rehabilitation training machine has the beneficial effects that the electric cylinder drives the limbs of the human body to move to achieve the rehabilitation purpose, the movement of the human body is not needed, a user only needs to hold the handle, the sitting type high-tension dorsal muscle rehabilitation training machine can be conveniently used by people with different heights, and the comfort degree of the user using the sitting type high-tension dorsal muscle rehabilitation training machine is improved.

The invention belongs to the technical field of robots, and particularly relates to a mass center pose estimation method and device, a computer-readable storage medium, and a robot. The method comprises: obtaining a waist measurement posture of the robot and all joint angles of supporting legs; calculating ankle postures of the supporting legs according to the waist measurement posture and the joint angles; compensating preset initial ankle positions according to the ankle postures to obtain ankle positions of the supporting legs; calculating a waist pose of the robot according to the ankle poses of the supporting legs and all the joint angles; and calculating a mass center pose of the robot according to the waist pose. According to the method, the ankle poses are fully considered in the calculation process of the mass center pose, so that the situation of sole overturning can be effectively processed, and the result accuracy is greatly improved.

A self-adapting three-foot parallel type TBM support with three-foot parallel supporting legs comprises a center bearing bracket (10), an upper supporting leg (1L), a left lower supporting leg (2L) and a right lower supporting leg (3L). A center supporting cylinder (1C) and two side-direction supporting cylinders (2C) are connected in parallel and then connected with a supporting boot (1G) in series to form the upper supporting leg, and after being driven, the upper supporting leg can drive the supporting boot to conduct telescopic movement in the radial direction; and the left lower supporting leg and the right lower supporting leg are the same as the upper supporting leg in structure. According to the self-adapting three-foot parallel type TBM support with the three-foot parallel supporting legs, the TBM support has a self-aligning ability, self-adaption can be achieved for shape position errors of a supporting surface, and the pressure center of an auxiliary support is easy to regulate, so that the force bearing of the auxiliary support is more reasonable; and a contact load of the supporting boot and the supporting surface can be distributed more evenly by adjusting the magnitude of the supporting force of the center supporting cylinder and the side-direction supporting cylinders. A differential driving mode is adopted under the working condition that large supporting force is not needed, the rigidity of the support is low, under the effect of a vibration load, the supporting boot is not prone to loosening in the working process, and supporting failure risks are reduced.

The invention belongs to the technical field of medical equipment, in particular to a head and neck suspension device for a department of cerebral surgery. Aiming at the problems that an existing headand neck suspension mechanism is high in production cost and the height of a suspension sling is inconvenient to adjust, the head and neck suspension device comprises two support legs, wherein the bottom of each support leg is welded with a stabilizer bar; two swivel casters are movably arranged at the bottom of each support leg; two first oblique beams are fixedly arranged between each support leg and the corresponding stabilizer bar through first bolts; a same top plate is fixedly arranged at the tops of the two support legs through second bolts; two second oblique beams are fixedly arranged between each support leg and the top plate through third bolts; a clamping mechanism is arranged on each support leg; and a placement plate is welded at one side of one support leg and a winding frame is arranged at the other side of the support leg. According to the head and neck suspension device for the department of cerebral surgery, the production cost of the head and neck suspension mechanism is reduced, the difficulty in height adjustment of the suspension sling is reduced, the overall use safety is improved, and the head and neck suspension device is simple in structure and high in practicability.