51 results about "Elbow block" patented technology

The invention provides an elbow joint DR image quality evaluation method and device, electronic equipment and a medium, and the method comprises the steps: obtaining elbow joint DR images at different irradiation angles, and determining the quality of the elbow joint DR images based on key points of the elbow joint DR images at different irradiation angles, the key points being determined based on a pre-trained key point detection model. On one hand, the multi-angle irradiated elbow joint DR image and the key point detection model are combined to obtain the key point of the elbow joint DR image, so that the evaluation efficiency is improved, and the workload of personnel is reduced; on the other hand, quality evaluation is carried out on key points of the elbow joint DR images at different irradiation angles, quality judgment of the elbow joint DR images is automatically completed, objective and quantitative evaluation results are provided for related workers, misdiagnosis and missed diagnosis caused by the quality problem of the elbow joint DR images are reduced, and therefore medical disputes and economic losses of medical institutions are reduced.

The invention discloses a home training rehabilitation device which comprises a plate body, two sliding rails are arranged on the plate body, sliding seats are arranged in the sliding rails in a sliding fit mode, matching grooves used for being matched with elbow joints of a user are formed in the sliding seats, clamping grooves are further formed in the side walls of the sliding rails at intervals, inserting plates are arranged in the clamping grooves in a matched mode, and the inserting plates are connected with the sliding rails in a matched mode. A touch button is arranged on the end face of the plug board, a notch groove is formed in the plug board, a containing groove is further formed in the portion, below the sliding rail, of the board body, the containing groove is provided with a swing arm and a swing block, one end of the swing arm is rotationally connected into the containing groove, the other end of the swing arm is rotationally connected with the swing block, and a connecting arm is rotationally connected to the side wall of the sliding seat. The other end of the connecting arm is rotationally connected to the end, away from the swing arm, of the swing block, and the connecting arm penetrates through the notch groove. The device is simple in structure and reasonable in design, can effectively guide children to perform rehabilitation exercise for improving humpback, and has a good use effect.

The utility model discloses a positionable angle adjusting connecting device which comprises a circular outer side plate, a circular inner side plate, two pairs of sliding grooves, a fixing shaft, two angle adjusting assemblies and an angle fixing assembly. A pair of fixed bulges are symmetrically arranged at the upper ends of one sides of the outer side plate and the inner side plate; the two pairs of sliding grooves are symmetrically embedded in the circumferential directions of the outer side plate and the inner side plate correspondingly. Two ends of the fixed shaft respectively penetrate through the centers of the outer side plate and the inner side plate; the two angle adjusting assemblies are located between the outer side plate and the inner side plate and can slide and be fixed to the different sliding grooves. The angle adjusting assemblies are used for limiting the movable angle range of the elbow joint brace. The angle fixing assembly comprises a sliding block and a sliding rod. The sliding blocks are embedded in the outer side faces of the outer side plates in a sliding mode. One end of the sliding rod penetrates through the outer side plate to be fixedly connected with the inner side of the sliding block, and the other end of the sliding rod is slidably embedded in the inner side plate. And the sliding rod between the outer side plate and the inner side plate is provided with a convex part towards the direction of the fixed shaft.

The invention relates to the technical field of mechanical arm control methods, and discloses a muscle force evaluation and self-adaptive control method for a household remote control upper limb intelligent rehabilitation mechanical arm, which comprises the following steps: initializing a system, guiding the first elbow flexion by voice, and judging the anti-gravity capability according to an elbow joint flexion angle. Secondary elbow bending is carried out after different reverse resistances are applied, the resistance resistance is judged according to the elbow joint bending angle, a scale is converted into clinical muscle force classification, a main control board calculates self-adaptive traction force and realizes closed-loop control, meanwhile, whole-course data are uploaded to a cloud side, and remote terminal monitoring and parameter adjustment are supported; according to the invention, the evaluation logic conforms to the clinical standard, the detection precision is high, the system integration level is good, quantitative muscle force evaluation, individualized adaptive training and remote professional supervision can be realized, the system is suitable for household upper limb rehabilitation of stroke, nerve injury and postoperative patients, and the technical problems of inaccurate evaluation, fixed control and lack of remote management of existing equipment are effectively solved.

The elbow joint supporting frame convenient to disassemble and assemble comprises a first supporting plate and a second supporting plate, the center of the surface of the first supporting plate is sleeved with a first sleeve plate, first telescopic bases are installed at the upper end and the lower end of the front face of the first sleeve plate, and first arc-shaped sleeve belts are arranged on the outer sides of the first telescopic bases; the first arc-shaped sleeve belt is in sliding connection with the first telescopic base through a first telescopic piece, and the first telescopic piece is located in the first telescopic base; the two ends of the surface of the second supporting plate are sleeved with second sleeve plates, and second telescopic bases are installed at the upper and lower ends of the front face of each second sleeve plate. According to the elbow joint supporting frame, the first supporting plate, the first sleeve plate, the first telescopic base, the first arc-shaped sleeve belt, the connecting plate, the second sleeve plate, the second telescopic base, the second arc-shaped sleeve belt and other parts are arranged and used in cooperation, so that the first arc-shaped sleeve belt and the second arc-shaped sleeve belt can conveniently achieve the effects of disassembly, replacement and installation, the overall replacement of the elbow joint supporting frame is reduced, and the cost is reduced. And the replacement loss is further reduced.

The invention discloses a multifunctional rehabilitation training device for neurotrauma, which belongs to the technical field of neurotrauma rehabilitation and comprises a bottom plate, a seat, upper limb training mechanisms symmetrically arranged on two sides of the seat and lower limb training mechanisms symmetrically arranged on the front side of the seat. The upper limb training mechanism comprises a fixing plate, an inclined first supporting plate and a rotatable second supporting plate, a first driving mechanism composed of an electric push rod, a guide plate and the like is arranged below the second supporting plate, and a hand pressing mechanism with a massage glove and inflation equipment is arranged on the front side of the second supporting plate; the lower limb training mechanism comprises a supporting plate, a rotatable first bracket and a rotatable second bracket, the supporting plate is provided with a module sliding table, the bottom of the second bracket is connected with the module sliding table through an extending frame, and a foot pressing mechanism with a pressing foot sleeve and a protruding part is arranged on a baffle at the tail end of the second bracket. The device can synchronously carry out upper limb elbow joint bending training, hand pressing training, lower limb knee joint bending training and foot pressing training, supports multi-mode training adjustment, can meet the requirements of different patients, improves rehabilitation efficiency and comfort, and is suitable for upper limb and lower limb functional rehabilitation of neurotrauma patients.

The invention discloses an exoskeleton closed-loop stepping control system based on electromyographic signal prediction, which is characterized in that a multi-mode sensing module collects angles of shoulder and elbow joints and electromyographic / force signals of a user in real time, a physical information neural network inference engine is deployed in a microcontroller chip internal memory, receives a state vector constructed by sensing signals, and sends the state vector to a processor; predicting gravity and friction force compensation torque required by each joint in real time; and the flexible power-assisted control unit fuses the predicted compensation torque with the processed user intention torque to generate a total driving torque instruction, and a motor driving module drives a joint motor according to the total driving torque instruction to form high-response closed-loop control. Accurate and real-time fitting of a kinetic model is achieved through the embedded lightweight PINN, the problems that a traditional exoskeleton system is complex in modeling and lagged in response and has a dragging feeling are effectively solved, and low-delay and high-transparency flexible assistance experience is achieved on a single chip.

This application discloses a closed-loop stepping control system for an exoskeleton based on electromyography (EMG) signal prediction. A multimodal sensing module collects real-time shoulder and elbow joint angles and EMG / force signals from the user. A physical information neural network inference engine, deployed in the microcontroller's on-chip memory, receives state vectors constructed from sensor signals and predicts in real-time the gravity and friction compensation torques required for each joint. The compliant assist control unit fuses the predicted compensation torque with the processed user-intended torque to generate a total driving torque command. The motor drive module then drives the joint motors accordingly, forming a high-response closed-loop control. Accurate and real-time fitting of the dynamic model is achieved through embedded lightweight PINN, effectively solving the problems of complex modeling, lag, and dragging sensation in traditional exoskeleton systems. This results in a low-latency, high-transparency compliant assist experience on a single chip.

An orthopedic elbow brace having a forearm strut hinged to an upper arm strut, with two cuffs that are attached and slidable to the forearm strut, and a third cuff attached to the upper arm strut. First and second rotatable spools are positioned at the strut pivot. A lace, cable or wire interconnects the forearm and / or upper arm struts to the first spool, and another lace, cable or wire interconnects the forearm and / or upper arm struts to the second spool. Rotating the first and second spools tensions the laces, cables or wires to set an angular position between the forearm and upper arm struts corresponding to range of motion (ROM) limits for the brace. Attachment straps further secure the cuffs and the brace to the wearer's arm.

The application relates to the technical field of robots and discloses a health-care service robot interaction method based on sound recognition, which comprises the following steps: fixing a double-ring vector cuff composed of an outer ring and an inner ring at the elbow of a target patient; preprocessing an acoustic and electric signal of the double-ring vector cuff, deducting a baseline acoustic and electric signal, and obtaining an analytic acoustic and electric signal; constructing a sampling value of a boundary complex value function based on the analytic acoustic and electric signal; substituting the boundary complex value function into a boundary integral model of a complex potential acoustic potential to obtain a complex potential acoustic potential of a rotation center of an elbow joint of the target patient; extracting a stress amplitude, a main direction angle and a radial gradient from the complex potential acoustic potential, and respectively determining virtual stiffness, damping and a fractional order based on the stress amplitude, the main direction angle and the radial gradient; generating an output torque by applying a fractional order impedance law based on the virtual stiffness, the damping and the fractional order, and driving a target health-care robot to perform an elbow auxiliary stretching operation based on the output torque.

1. Name of the product in this design: Protective Gear (K5). 2. Purpose of this design: To be worn and used to protect the knees, elbows, etc. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a humanoid robot upper limb and waist cooperative motion planning method, which comprises the following steps: adjusting an elbow joint solution space range according to an analysis result of a geometric constraint degree and a joint angular velocity variation; positioning potential singular point position distribution in the solution space based on the angular velocity gradient change in the solution space range formed after adjustment; according to the singular point position distribution and the adjusted solution space range, the avoidance capability of candidate path points in the waist forward trajectory is evaluated, and a collaborative planning path is generated; the collaborative planning path is simulated and executed, the avoiding effect of the singular point position is evaluated, and a motion control scheme is output; and iteratively updating the joint angular velocity variable quantity according to the motion control scheme, and confirming that the cooperative motion planning is completed.

The utility model provides a human motion posture tracking device which comprises a short-sleeve garment and a control device, the short-sleeve garment comprises two sleeves and a garment body, the two sleeves are provided with a plurality of thermal imaging infrared sensing devices, and the garment body is provided with a plurality of inertial measurement units; the plurality of thermal imaging infrared sensing devices are used for sensing a thermal imaging sequence of an elbow joint, and the plurality of inertial measurement units are used for sensing an initial motion information vector sequence of a non-elbow joint; the control device comprises a wireless communication module, and the wireless communication module is used for inputting a thermal image sequence of an elbow joint and an initial motion information vector sequence of a non-elbow joint. The arrangement of the multi-mode sensor on the short-sleeved garment is realized for the first time, the freedom of movement of a user wearing the short-sleeved garment can be provided, the comfort of the user is improved, and meanwhile, the accuracy of data sensing is high, the cost is low, and the environmental requirement is low. Optical camera equipment is not arranged, so that the threat of privacy disclosure is reduced.

The utility model discloses a kind of arm fixing devices, specifically related to medical instrument technical field, to solve the technical problem that current arm fixing device cannot make elbow joint rotate within a certain range. The utility model includes first fixed band and second fixed band, first fixed band is equipped with first support plate, second fixed band is equipped with second support plate, first support plate one end is equipped with sleeve, second support plate one end is equipped with rotating column that rotates and is sleeved in the inside of sleeve, sleeve one end is equipped with sector opening, sleeve one end is sequentially overlapped and axially rotatably connected with first limit rod and second limit rod;Rotating column one side has limit block, limit block is arranged between first limit rod and second limit rod, and locking assembly is equipped between first limit rod and second limit rod and sleeve. The device is adjusted by adjusting mechanism to adjust the rotation range of angle between first support plate and second support plate, so that the elbow joint of patient rotates within a certain angle range.

An arm apparatus comprising a gimbal comprising a first wrist, a second wrist, and a first elbow, wherein: each wrist comprises a first portion, a second portion, and a slip ring comprising a rotor coupled to the first portion and a stator coupled to the second portion, the rotor coaxially engaged with the stator and infinitely rotatable relative to the stator such that the first portion of the first wrist is infinitely rotatable relative to the second portion of the first wrist about a first axis and the first portion of the second wrist is infinitely rotatable relative to the second portion of the second wrist about a second axis; the first elbow comprises a first segment and a second segment, the first segment rotatably engaged with the second segment about a third axis; the first wrist is coupled to the first elbow; and the first elbow is coupled to the second wrist.

The utility model relates to an elbow joint training rehabilitation instrument for nursing. The elbow joint training rehabilitation instrument comprises a bottom plate, a lifting assembly and a training assembly. A driving piece drives a first moving block and a second moving block to be far away from each other, the first moving block drives a first driving rod to move, the second moving block drives a second driving rod to move, the first driving rod drives a first hinge rod to rotate and move, and the second driving rod drives a second hinge rod to rotate and move; at the moment, the upper ends of the first hinge rod and the second hinge rod drive the lifting block to ascend, the lifting block drives the training assembly to ascend to the corresponding height position, when the first moving block and the second moving block are close to each other, the lifting block drives the training assembly to descend, and the training device can be suitable for people of different heights to use by adjusting the height of the training assembly; and great convenience is achieved.

The invention belongs to the technical field of medical teaching, and particularly relates to a child blood collection simulation teaching device which comprises a table board, and a model is placed on the table board. The disassembly and assembly part comprises an elbow block, the elbow block is connected with a hand block, the model is connected with a foot block, and simulation blocks are inserted into the elbow block, the hand block and the foot block; the switching part comprises a supporting rod, the supporting rod is connected with a rotating pipe, the rotating pipe is connected with a gear, and a simulation block is arranged in the rotating pipe; the driving part comprises a pull rod, the pull rod is connected with a driving rod A, the driving rod A is connected with a driving rod B, and the driving rod A and the driving rod B are connected with an ejector rod; the fixing part comprises a sliding rod, and the sliding rod is connected to the side face of the elbow block and connected with the pull rod. According to the invention, simulated blood sampling teaching and training can be carried out on different positions of a child patient, and different simulation blocks can be replaced according to requirements, so that the child patient with a body shape and a state is simulated, and the teaching effect is improved.

The invention discloses an intelligent elbow joint rehabilitation apparatus based on muscle energy technology, which comprises a forearm fixing cover, a rear arm fixing cover and an adjusting device for adjusting the angle and relative position between the forearm fixing cover and the rear arm fixing cover, and the forearm fixing cover and the rear arm fixing cover are connected through the adjusting device. Array force sensors are arranged on the inner side surfaces of the front arm fixing cover and the rear arm fixing cover, an electric control box is fixed to the outer side of the front arm fixing cover, a control panel, a battery, a power switch and an encoder are fixed in the electric control box, and the control panel is in wired connection with the array force sensors, the encoders and the batteries on the front arm fixing cover and the rear arm fixing cover. The control panel is wirelessly connected with a wireless terminal, an angle sensor used for detecting the angle between the front arm fixing cover and the rear arm fixing cover is arranged on the adjusting device, and the angle sensor is connected with an encoder. The system integrates biomechanical sensing, intelligent feedback and self-adaptive control technologies, and is used for quantitative evaluation and precise rehabilitation treatment of elbow joint dysfunction.

The utility model provides a robot elbow joint rotary speed reducer, including speed reducer body and output flange, speed reducer body includes the front shell, the center of front shell is rotatingly equipped with the planet carrier as output end, the front end face of planet carrier is coaxially equipped with the connecting shaft, the outer wall of connecting shaft is equipped with a plurality of rotation limit slider, the output flange is equipped with the output flange, the output flange is equipped with the output flange, the output flange is equipped with the output flange. A locking screw hole is formed in the side wall of the rotation limiting sliding block, the output flange comprises a flange plate and a flange shaft which are coaxially connected, a connecting groove connected with the connecting shaft in an inserted mode is formed in the rear end face of the flange shaft, a nail penetrating hole is formed in the outer wall of the flange shaft, and a hand screw in threaded connection with the locking screw hole is arranged on the nail penetrating hole in a penetrating mode. According to the rotary speed reducer for the elbow joint of the robot, the output end of the speed reducer and the output flange are fixed through one hand screw, a screwdriver is not needed during disassembly, only one hand screw needs to be assembled and disassembled, the disassembly and assembly process is simple, and the work efficiency can be improved.

The present invention belongs to the technical field of medical rehabilitation equipment, and particularly relates to a postoperative rehabilitation device based on digital medicine, which includes an upper arm bracket and a lower arm bracket movably hinged at one end thereof. The upper arm bracket and the lower arm bracket are respectively fixed on the surfaces of the patient's upper arm and lower arm. The lower arm bracket includes a first lower arm bracket and a second lower arm bracket arranged vertically. On the surface of the first lower arm bracket in contact with the patient, there are a plurality of first lower arm massage sacs communicating with each other. On the surface of the second lower arm bracket in contact with the patient, there are a plurality of second lower arm massage sacs communicating with each other. At one end of the first lower arm bracket and the second lower arm bracket away from the upper arm bracket, a plurality of lower arm extension blocks are detachably connected. The upper arm bracket also includes a first upper arm bracket and a second upper arm bracket arranged vertically. By adopting the technical solution of the present invention, it can effectively solve the problem that the current postoperative rehabilitation device for the elbow joint cannot be applied to the treatment of patients with different arm sizes and has a limited scope of application.

The utility model discloses an elbow joint auxiliary exercise rehabilitation device, and relates to the technical field of medical instruments, the elbow joint auxiliary exercise rehabilitation device comprises a positioning plate, one side of the top of the positioning plate is rotatably provided with a rotating plate, the positioning plate is provided with two limiting assemblies, and the limiting assemblies are used for wearing the positioning plate on the upper limbs of a patient; according to the upper limb rehabilitation training device, by pulling the limiting belt, the limiting belt can drive the limiting shaft to rotate and the limiting belt is lengthened, so that the upper limb to be subjected to rehabilitation training of a patient can conveniently penetrate through the limiting belt and be lapped on the top of the positioning plate; when a patient wears the positioning plate, a twisting block can drive a threaded rod to rotate and move downwards to abut against a positioning rack to move downwards and be meshed with a positioning gear, in the process, a reset spring can be stretched, a limiting shaft can be positioned, the effect of quickly wearing the positioning plate can be achieved, and the operation can be carried out by one hand of the patient conveniently.

According to the elbow joint rope exoskeleton robot system based on electroencephalogram signal control and the active rehabilitation training method, an electroencephalogram signal and motion control correlation model is constructed, and rehabilitation training and daily activity assistance are achieved in combination with a motion adjusting mechanism. Motion intentions are captured through electroencephalogram signals, personalized rehabilitation schemes are customized, training parameters are accurately adjusted, rehabilitation accuracy and efficiency are improved, and active participation of patients and neuromuscular function recovery are promoted. Meanwhile, the electroencephalogram signals are sensed in real time to provide assistance for daily activities, and the life self-care ability of the patient is improved. The technology can also reduce the dependence on nursing personnel, reduce the labor cost, and collect exercise and electroencephalogram data to provide an objective basis for the adjustment of a rehabilitation scheme. In addition, the method is expected to be applied to the technical fields of other limb movement function assistance and man-machine interaction.

End-effector type quad-arm robot system for unilateral upper limb movement rehabilitation, comprising: a pedestal (1) with moving devices; a wheelchair docking platform (2) that can be folded down from the pedestal (1); a desk (3) connected to the wheelchair docking platform (2) in a detachable manner; a first robot arm (4a) mounted on the pedestal (1), and to which an elbow orthosis (5a) is connected for moving the elbow and shoulder girdle; a second robot arm (4b) mounted on the pedestal (1) or the first robot arm (4a), and to which a hand orthosis (5b) is connected for moving the hand and wrist; characterised in that it further comprises: a third robot arm (4c) mounted on the second robot arm (4b), and to which a thumb orthosis (5c) is connected for moving the thumb; a fourth robot arm (4d) mounted on the second robot arm (4b), and to which a finger orthosis (5d) is connected for moving the index finger, middle finger, ring finger and little finger.

The utility model relates to a joint capsule distraction device for elbow arthroscopic surgery, which belongs to the field of joint capsule distraction devices and comprises an intervention rod. The adjusting protection assembly is arranged on the inner side of the intervention rod and comprises a supporting plate arranged on the inner side of the intervention rod and a lead screw rotationally arranged on the inner side of the supporting plate; the mounting block is rotatably arranged on the right end surface of the screw rod; the protection block is arranged on the right side of the mounting block; the deformation piece is arranged on the inner side of the intervention rod, and the protection block is located on the inner side of the deformation piece. By arranging the adjusting protection assembly, after an intervention rod is placed into a joint capsule of a patient, a protection block is moved to the outer side of the intervention rod, so that the joint capsule cannot be hurt when the intervention rod expands the interior of the joint capsule through the protection block, meanwhile, the protection block can be better moved into the intervention rod through a deformation piece, and therefore the joint capsule can be more effectively protected. Therefore, injury to the patient when the intervention rod is pulled out of the joint capsule of the patient is avoided, and the practicability of the distraction device is improved.

The utility model discloses a light-weight robot arm structure. The light-weight robot arm structure comprises a shoulder rotating module, a shoulder stretching module, a large arm rotating module, an elbow joint stretching module, a small arm rotating module, a wrist rotating stretching module and a grabbing module which are made of aluminum alloy. The shoulder rotating module is connected with the large arm rotating module through the shoulder stretching module, one end of the large arm rotating module is connected with the small arm rotating module through the elbow joint stretching module, the other end of the small arm rotating module is connected with the wrist rotating stretching module, and the wrist rotating stretching module is connected with the grabbing module. Wherein the shoulder rotating module, the shoulder stretching module, the large arm rotating module, the elbow joint stretching module and the small arm rotating module are each internally provided with a servo driving assembly, and the wrist rotating stretching module comprises two stacked steering engines. Swinging and rotating of seven degrees of freedom can be achieved, under the condition of the same driving torque, the lighter the self structure weight is, the larger the load capable of being borne by the tail end is, the load is relatively large, and installation and debugging are convenient.

Disclosed are surgical constructs, assemblies, and methods for the repair and reconstruction of the elbow. The rotation center guide has specific dimensions configured to be fixed to either the lateral or medial side of the elbow. At one end, the guide is provided with multiple full concentric through-holes (circles of different diameters) having bisectors at 90-degree intervals to identify the rotation center on the lateral and medial epicondyles. At the other end, the guide is provided with a linear pattern of through-holes or openings located around the centerline of the guide. The linear pattern of through-holes identifies the attachment point on the ulnar tubercle. The through-holes in the concentric and linear patterns of the guide are sized to receive instruments such as K-wires, guides, and / or drill guides. One or more spikes or points are provided at the bottom of the guide for stabilization during use.

The application discloses an elbow arthroscopy limb supporting and fixing device and relates to the medical equipment field.The device comprises a supporting plate, the surface side of the supporting plate away from the fixing belt is provided with a limb positioning mechanism for positioning and angle adjusting of the limb, the limb positioning mechanism comprises symmetrical connecting blocks fixed on the surface side of the supporting plate, the surface side of the supporting plate close to the connecting blocks is provided with a supporting seat, the side of the supporting seat close to the supporting plate is provided with a movable space for rotation of the connecting blocks, and the supporting plate is in a horizontal state when the connecting blocks are in a vertical state.The angle of the supporting plate can be adjusted through rotation of the connecting blocks, and the angle of the supporting plate is fixed through self-locking performance between the worm gears after the adjustment, so that the angle of the supporting plate will not change under the action of the gravity of the limb, thereby providing stability for the angle of the limb during the operation.

The application provides a multi-mode robot elbow joint mechanism, comprising a base, a first joint module, a second joint module, an elbow joint bearing seat, a constant velocity universal joint, a driving part and a terminal output flange. The base has a containing cavity, the first joint module is arranged in the containing cavity, and the second joint module is fixedly connected with the base; one end of the driving part is connected with an output end of the first joint module, and the other end is connected with the elbow joint bearing seat; one end of the constant velocity universal joint is connected with an output end of the second joint module, the other end is connected with the output flange, and the constant velocity universal joint is arranged on the elbow joint bearing seat; the second joint module rotates around an X axis, drives the terminal output flange to rotate around a Z axis through the constant velocity universal joint; the second joint module drives the elbow joint bearing seat to rotate around a Y axis through the driving part, and drives the terminal output flange to rotate around the Y axis. The application drives related elbow joints to make different angle changes through two joint modules, and the overall structure is compact, the load inertia is small, and the required driving torque is reduced.

The present invention provides a household portable elbow joint function assistive device, comprising: a power transmission mechanism, including a shell and a synchronous belt arranged in the shell; a driving mechanism, including a driving motor and a current sensor; an elbow tray, fixedly connected to the driving motor; an elbow motion actuator, including a driven shaft, a forearm connecting rod, a special-shaped shaft, a coil spring, a machine cover and a transparent cover; a forearm tray, fixedly connected to the forearm connecting rod; and a central control module for control, including an operation interface, a central controller and a motor driver, wherein an acceleration sensor is also provided at the driven shaft, and a plane section and a rectangular boss are respectively provided at both ends of the special-shaped shaft, the plane section is connected to an angular velocity sensor, and a pressure sensor dot matrix is ​​also provided at the forearm tray. The present invention also provides a control method for a household portable elbow joint function assistive device to control the household portable elbow joint function assistive device.

The invention provides a multi-mode robot elbow joint mechanism. The multi-mode robot elbow joint mechanism comprises a base, a first joint module, a second joint module, an elbow joint bearing seat, a constant velocity universal joint, a driving piece and a tail end output flange. A containing cavity is formed in the base, the first joint module is arranged in the containing cavity, and the second joint module is fixedly connected with the base. One end of the driving piece is connected with the output end of the first joint module, and the other end is connected with the elbow joint bearing seat; one end of the constant velocity universal joint is connected with the output end of the second joint module, and the other end of the constant velocity universal joint is connected with the output flange and arranged on the elbow joint bearing seat; the second joint module rotates around the X axis, and the tail end output flange is driven by the constant velocity universal joint to rotate around the Z axis; the second joint module drives the elbow joint bearing seat to rotate around the Y axis through the driving piece and drives the tail end output flange to rotate around the Y axis. Related elbow joints are driven to make different angle changes through the two joint modules, the overall structure is compact, the load inertia is small, and the needed driving torque is reduced.