43 results about "Elbow flexion" patented technology

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data of each joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.

The invention discloses an upper limb exoskeleton steering mechanism driven by pneumatic muscles. The upper limb exoskeleton steering mechanism driven by the pneumatic muscles comprises two single arm components and a back support; the two single arm components have the same structure; shoulder joints of the two single arm components are arranged on the bilateral sides of a back support top plate respectively; two elbow joint shafts are connected with the respective pneumatic muscles which are arranged in the back support through respective elbow steel wire traction lines; two shoulder joint shafts are connected with the respective pneumatic muscles which are arranged in the back support through respective shoulder steel wire traction lines; each single arm component has four degrees of freedom; the four degrees of freedom comprise elbow flexion and extension, flexion and extension of the shoulder joints, outreach and adduction of the shoulder joints and internal rotation and external rotation rotating pairs of the shoulder joints. After the upper limb exoskeleton steering mechanism driven by the pneumatic muscles is worn, the lift strength can be greatly improved when a wearer lifts heavy objects with the aid of tension caused by contraction of the pneumatic muscles and accordingly the purpose of improving the function strength of the wearer can be achieved. The upper limb exoskeleton steering mechanism driven by the pneumatic muscles is of great significance when the strength of people is not enough to support required loads in occasions of military operations, disaster relief and rescue and the like.

The invention discloses an upper limb rehabilitation robot with active-passive type two arms, and belongs to the field of rehabilitation training robots. The upper limb rehabilitation robot with the active-passive type two arms comprises an upper limb active training device, an upper limb passive training device, over beam arms and a pedestal. The upper limb active training device and the upper limb passive training device are fixed on the pedestal through the over beam arms; the upper limb active training device comprises an active shoulder joint abduction and adduction assembly, an active shoulder joint flexion and extension assembly, an active upper arm intorsion and extorsion assembly, an active elbow flexion and extension assembly, an active forearm intorsion and extorsion assembly, and an active wrist joint flexion and extension assembly; and the upper limb passive training device comprises a passive shoulder joint abduction and adduction assembly, a passive shoulder joint flexion and extension assembly, a passive upper arm intorsion and extorsion assembly, a passive elbow flexion and extension assembly, a passive forearm intorsion and extorsion assembly, and a passive wrist joint flexion and extension assembly. According to the invention, motions of a plurality of joints in a plurality of dimensions can be achieved, and the upper limb rehabilitation robot can help the patient to exercise according to his own wish.

An orthosis provides a wearer at least one of forearm supination, forearm pronation, shoulder internal rotation, shoulder external rotation, shoulder adduction, shoulder abduction, shoulder flexion, shoulder extension, elbow flexion, and elbow extension. It includes a shoulder assembly adapted to be secured to a wearer's shoulder and an upper arm assembly connected to the shoulder assembly and adapted to be secured around a wearer's upper arm. The upper arm assembly defines an upper arm assembly axis. A wrist assembly is adapted to be secured around a wearer's wrist. The wrist assembly defines a wrist assembly axis. A splint arm assembly includes an upper splint arm, a lower splint arm, and a pivot pivotally connecting the upper splint arm to the lower splint arm. The upper splint arm adjustably connects to the upper arm assembly and the lower split, arm adjustably connects to the wrist assembly.

The invention discloses a rehabilitation robot for upper limbs, which belongs to the field of rehabilitation training robots. The rehabilitation robot for the upper limbs comprises a base, a suspension girder arm and a pair of upper limbs training devices, wherein the upper limbs training devices are fixed on the base by the suspension girder arm; each of the upper limbs training devices comprises a shoulder joint abduction and adduction component, a shoulder joint flexion and extension component, an upper limb inner and outer rotation component, an elbow flexion and extension component, a front limb inner and outer rotation component and a wrist joint flexion and extension component. Compared with the prior art, the rehabilitation robot has the advantages that multi-dimensional movement of multi-joints can be realized, and rehabilitation training can be performed on double arms of a patient simultaneously.

A rope-driven exoskeletal upper limb rehabilitation training robot is disclosed, and includes a bracket, a drive control box and a rehabilitation training robot body. The whole system is driven by seven DC motors through ropes, the active and passive rehabilitation training with four degrees of freedom including adduction / abduction, internal / external rotation, flexion / extension and elbow flexion / extension of upper limb shoulder joint can be realized. The application of rope driving and resin material can reduce the motion inertia of rehabilitation training robot body, increase the comfort of rehabilitation training and improve the efficiency of rehabilitation training.

An efficient and economical dressage training device and method that teaches dressage riders proper hip and elbow flexion and extension instinctively establishing muscle memory patterns in the rider.

The invention provides a motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot. The motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot comprises a drivingpart and an executing part; the driving part includes a shoulder rotating motor, elbow flexion and extension pneumatic muscle, wrist flexion and extension pneumatic muscle; the executing part includesa seat, a shoulder part and upper limb mechanical arms; the seat includes an upper seat back, a lower seat back, a seat back height adjustment mechanism, handholding handles, a seat cushion, a seat cushion height adjustment mechanism and a bottom moving support; the shoulder part includes a shoulder part motor fixing mechanism and a motor rotating mechanism; the shoulder part motor fixing mechanism is fixedly connected with the upper end of the seat back of the seat in an adjustable mode, and a rotating mechanism is fixedly connected with the mechanical arms; and the upper limb mechanical arms include upper arms, small arms and hand part fixing mechanisms, and the upper arms include upper arm fixing mechanisms. According to the motor and pneumatic muscle hybrid wearable upper limb rehabilitation robot, the horizontal rotation of a left arm or a right arm around a shoulder joint can be realized, the three-free-degree movement of the flexion and extension of a elbow part and the flexionand extension of a wrist part can be achieved, safety is high, bionic performance is high, weight is light, the cost is low, and the application range is wide.

The invention discloses a rope-driven upper limb rehabilitation training robot system based on virtual reality and a use method thereof. The rope-driven upper limb rehabilitation training robot systemcomprises a 7-DOF upper limb rehabilitation train robot body and a virtual reality rehabilitation training system, can realize shoulder joint abduction / adduction, external / internal rotation and flexion / extension, elbow flexion / extension, forearm internal / external rotation and wrist joint abduction / adduction and flexion / extension rehabilitation training of patients with upper limb motor dysfunction, can ensure the safety of rehabilitation training and improve the control accuracy of rehabilitation training robot through a method of shoulder joint movement center positioning; and the virtual reality rehabilitation training system recognizes the posture of human upper limbs through the posture sensor and Kinect binocular vision sensor installed on the rehabilitation training robot, and, as the input of virtual reality scene, improves the interest and efficiency of rehabilitation through games related to upper limb movement training.

The invention requests protection of a wearable forearm active rehabilitation training exoskeleton device with myoelectric perception and belongs to robot field. The wearable forearm active rehabilitation training exoskeleton device consists of an exoskeleton support, a forearm rotation mechanism, an elbow flexion-extension mechanism, a driving motor and a myoelectric signal acquisition device, and can achieve the active rehabilitation training with two degrees of freedom for elbow flexion-extension and arm rotation. A large forearm support is easier to wear with a semi-open structure, and themyoelectric signal acquisition device is embedded in a key position of lining to collect arm myoelectric signals during the process of the rehabilitation training, and then motor movements of each joint can be adjusted according to the muscle tension, improving the security and efficiency of training. The forearm rotation mechanism adopts two sets of motor-bevel gear transmission, achieving forearm flexion-extension movements through synchronous coordinated movements of two motors. The forearm rotation mechanism adopts the driving mode of wire, and the forearm rotation angle is 180 degrees. The wearable forearm active rehabilitation training exoskeleton device with the myoelectric perception is more convenient, safer and more effective in rehabilitation training and can be widely used inhospitals, communities and families.

The invention provides a linearly-driven upper limb rehabilitation training mechanical arm which comprises a supporting mechanism, a rotary holder mechanism arranged on a supporting frame of the supporting mechanism, an upper arm flexion and extension power transmission mechanism including a U-shaped plate, an upper arm dragging cable tensioning wheel, a mounting plate, an upper arm flexion and extension driving shaft, a driven gear, upper arm driving dragging cable pulley, an upper arm flexion and extension driven shaft, an upper arm torque sensor, an upper arm driven dragging cable pulley and an arc-shaped limiting guide groove; upper arm flexion and extension mechanism including a U-shaped hollow plate, an upper arm flexion and extension pin and an elbow driving dragging cable wheel; bidirectional tensioning mechanism including an upper arm connection rod, a tensioning wheel groove and an elbow dragging cable tensioning wheel; an elbow flexion and extension mechanism including a U-shaped joint, a flexion and extension rotation shaft, an elbow dragging cable pulley, an elbow steering limiting guide groove and a forearm connection rod; a forearm compensation mechanism including alinear guide rail, a slide block and a short connecting plate, and a wrist reversing mechanism connected with a forearm compensation mechanism through a Z-shaped connecting plate.

The invention discloses an auxiliary repositor for distal radius fracture. The auxiliary repositor comprises an L-shaped elbow joint supporting plate, a horizontal supporting plate, a slideable waist joint supporting plate and a hand sliding fixing handle. An arm of a patient is subjected to elbow flexion by 90 degrees and then is put on the L-shaped elbow joint supporting plate, and an upper arm and a front arm are fixed on the L-shaped elbow joint supporting plate through an upper arm bandage and a front arm bandage respectively; the patient holds the hand sliding fixing handle with fingers, and a hand is fixed by a self-adhesion bandage; an adjusting bolt is rotated, and the slideable waist joint supporting plate moves away to achieve the effect of fracture site pull-out; then the hand sliding fixing handle is moved in an arc-shaped sliding groove, so that the arm reaches a palmer flexion or dorsiflexion angle needed for fracture stabilization; a fixed bolt is screwed, so that the hand sliding fixing handle is fixed. The auxiliary repository has a simple structure, is low in manufacturing cost, convenient to operate, stable in traction in the restoration process, and ideal in restoration effect, avoids redisplacement had, and meanwhile, reduces the working intensity and difficulty of medical staff.

The invention discloses an upper limb movement control ability estimation system which comprises a user information module, a system setting module, a joint motion range module, a muscular tension module, a muscle strength module and a viability module, wherein the user information module is used for editing user information and acquiring an estimation report of the upper limb movement control ability of the user; the system setting module is used for setting system functions; the joint motion range module is used for testing and estimating the motion range of upper-limb joints of the user; the muscular tension module is used for testing muscular tension of the user during passive elbow flexion and passive elbow extension; the muscle strength module is used for testing and estimating muscle strength of actions of upper limbs and hands of the user; the viability module is used for testing and estimating the corporality viability and the instrumentality viability of the user. The upper limb movement control ability estimation system is high in estimation item integration degree, extremely convenient to use and low in cost.

The invention relates to a lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom comprises a carpal flexion / extension motion assembly, a forearm internal-rotation / external-rotation motion assembly and an elbow flexion and extension motion assembly which are sequentially connected; the elbow flexion and extension motion assembly and an upper arm fixing assembly are both connected with a glenohumeral joint motion assembly; the glenohumeral joint motion assembly is connected with a scapular band motion assembly; the scapular band motion assembly is connected with a lifting assembly; lariat driving units are respectively connected with the various motion assemblies; and a wheelchair base assembly is used for supporting the whole upper limb booster robot. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom is capable of effectively avoiding singularity and interference of man-machine shoulder movements so as to expand range of shoulder movement, reproduce complex motion functions of thehuman shoulder, and reduce shoulder complications. The lightweight bionic-flexible-exoskeleton-type upper limb booster robot with multi degrees of freedom is mainly used for daily motion assistance and rehabilitation training of upper limbs of patients with upper limb motor dysfunction due to stroke, hemiplegia and the like, thereby improving cognitive ability and participation of the patients during training so as to benefit remodeling of brain functions.

The invention provides an upper limb exoskeleton device with a bamboo-like structure. The upper limb exoskeleton device comprises a shoulder adduction and abduction joint (1), a shoulder flexion and extension joint (2), an elbow flexion and extension joint (3), a bamboo-like structure mechanical arm (4), a driving module (5), a back plate support (6) and an electrical system (7), wherein the shoulder adduction and abduction joint (1) is connected to the shoulder flexion and extension joint (2) through an L-shaped workpiece; the shoulder flexion and extension joint (2) is connected to the elbowflexion and extension joint (3); the bamboo-like structure mechanical arm (4) is in interference fit with the elbow flexion and extension joint (3); and the driving module (5) is connected to the shoulder adduction and abduction joint (1), the shoulder flexion and extension joint (2) and the elbow flexion and extension joint (3). Compared with a traditional rod piece mechanical arm, the bamboo-like mechanical arm can meet the rigidity requirement with lighter mass and smaller size. In addition, an internal cavity also has the functions of planning a rope path or internally arranging other parts and the like.

The invention discloses an elbow bending behavior detection method based on human body key points, and the method comprises the steps: inputting a to-be-detected video or picture, and carrying out the positioning of a person target; obtaining a high-quality person target candidate frame by using a regional multi-person pose estimation frame (RMPE), and obtaining coordinate information and confidence scores of 17 human body key points; threshold processing is carried out on the confidence score, and key point coordinates with low detection precision are removed; in combination with human body key point coordinate information, a three-point positioning method is provided, an elbow bending behavior probability value is obtained according to an angle range and a distance ratio value between key points, and a small target detection area is positioned; detecting a small target object by using transfer learning and a target detection algorithm to obtain a confidence score of a target category; and combining the elbow flexion behavior probability value and the target category confidence score to realize detection of the elbow flexion behavior of the human body. According to the method, human elbow bending behavior detection in a complex scene can be realized, and potential safety hazard behaviors can be detected in time and early warning is performed.

The invention discloses auxiliary nursing equipment for orthopedic rehabilitation treatment. When the orthopedic rehabilitation auxiliary nursing equipment is used, a thigh wearing framework arc plate is bound and fixed to the outer side of the thigh of a patient through a wearing binding belt, a rehabilitation shank limiting arc plate is bound and fixed to the shank and the ankle of the patient through a shank limiting binding belt, and a rod body at the top of an auxiliary supporting framework inner rod swings and rotates left and right at the bottom of a supporting framework rod through cooperation of an inner rod rotating shaft rod and a framework rod rotating shaft pipe. In this way, elastic left-right swinging of a rehabilitation auxiliary supporting framework rod assembly relative to a rehabilitation thigh wearing assembly is achieved, a patient can autonomously poke the rehabilitation auxiliary supporting framework rod assembly, passive exercise of lower limbs after knee joint replacement is achieved, in later rehabilitation, the patient can overcome the force of an auxiliary buffer spring to achieve active resistance exercise of the lower limbs after knee joint replacement, and meanwhile the auxiliary nursing equipment can also be used for elbow bending rehabilitation exercise of the upper limbs.

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data ofeach joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.

The invention discloses a method for simulating a passive dynamic state of muscles of limbs of a human body by a robot. A method for simulating different levels of elbow flexion or knee flexion tension of the human body and a method for simulating different levels of elbow extension or knee extension tension of the human body are included. The robot is provided with a base, a shoulder joint assembly, a large arm, an elbow joint assembly, a small arm and a palm which are sequentially connected, the shoulder joint assembly can drive the large arm to rotate in all directions, and the shoulder joint assembly can drive the small arm to move in flexion and extension. An operator can observe and feel the motion state of the robot in the simulation process, and through repeated experience, the practical skills of a human body tension inspection method can be quickly mastered.

The invention discloses a four-degree-of-freedom rehabilitation mechanical arm device. The device is composed of the two parts including a base and a rehabilitation mechanical arm, wherein the rehabilitation mechanical arm is installed on the base. The rehabilitation mechanical arm is composed of a shoulder abduction joint, a shoulder flexion joint, an elbow flexion joint and a wrist flexion joint. After being collected, motion imaginary electroencephalograms are subjected to preprocessing, feature extraction and pattern classification, and dichotomous signals are obtained to serve as input signals of a mechanical arm control unit. The control unit outputs PWM waves to control a shoulder abduction motor, a shoulder flexion motor, an elbow flexion motor and a wrist flexion motor to rotate.The motion imaginary electroencephalograms are classified through an algorithm, and the singles are transmitted to the control unit. The control unit emits corresponding control singles. The control singles control the rotation of a servo motor. In the four-degree-of-freedom rehabilitation mechanical arm device, the structural design of the mechanical arm is simplified, and assembly and disassembly are convenient.

The invention provides a seven-degree-of-freedom decoupling main manipulator. The seven-degree-of-freedom decoupling main manipulator comprises a hand shearing joint, a wrist offset joint, a wrist flexion and extension joint, a forearm rotating joint, a forearm overturning joint and an elbow flexion and extension joint which are connected one by one; a horizontal displacement driving device is arranged between the forearm rotating joint and the forearm overturning joint; and the hand shearing joint, the wrist offset joint, the wrist flexion and extension joint, the forearm rotating joint, the forearm overturning joint, the elbow flexion and extension joint and the horizontal displacement driving device are each provided with two steel wires, and the two steel wires conduct transmission in the two directions of the corresponding joints or devices. The seven-degree-of-freedom decoupling main manipulator has the functions of motion transmission and force feedback, seven degrees of freedom are completely decoupled, the degrees of freedom do not interfere with each other during operation of the main manipulator, and the main manipulator can move independently.

The invention relates to a constant-strength elbow-bending and knee-bending exerciser, and particularly relates to a constant-strength elbow-bending and knee-bending exerciser which has a small and simple structure, can realize relatively stable constant-strength load elbow and knee bending actions, and is convenient and simple to operate. The constant-strength elbow-bending and knee-bending exerciser comprises the following parts: a base, a bracket, a supporting plate, a top plate, a plurality of load blocks and a rope, wherein the bottom end of the bracket is connected onto the base; a steering wheel is arranged on the bracket; the right end of the bracket is connected with a winder; a rope winding shaft is arranged at the center of the winder, and the winder and the rope winding shaft rotate synchronously; the supporting plate is connected onto the winder through a connecting link; the top plate is connected with the tail end of the bracket; the plurality of load blocks can be freely combined; one end of the rope is connected with the load blocks, and the other end of the rope is connected onto the rope winding shaft through the steering wheel.

The invention requests protection of a wearable forearm active rehabilitation training exoskeleton device with myoelectric perception and belongs to robot field. The wearable forearm active rehabilitation training exoskeleton device consists of an exoskeleton support, a forearm rotation mechanism, an elbow flexion-extension mechanism, a driving motor and a myoelectric signal acquisition device, and can achieve the active rehabilitation training with two degrees of freedom for elbow flexion-extension and arm rotation. A large forearm support is easier to wear with a semi-open structure, and themyoelectric signal acquisition device is embedded in a key position of lining to collect arm myoelectric signals during the process of the rehabilitation training, and then motor movements of each joint can be adjusted according to the muscle tension, improving the security and efficiency of training. The forearm rotation mechanism adopts two sets of motor-bevel gear transmission, achieving forearm flexion-extension movements through synchronous coordinated movements of two motors. The forearm rotation mechanism adopts the driving mode of wire, and the forearm rotation angle is 180 degrees. The wearable forearm active rehabilitation training exoskeleton device with the myoelectric perception is more convenient, safer and more effective in rehabilitation training and can be widely used inhospitals, communities and families.

The invention provides a tennis elbow recognition method based on electromyographic signals. According to the method, a camera is used for capturing the flexion and extension motion of the elbow a patient; vicon software is used for carrying out modeling on the captured motion; after model establishment, the elbow flexion and extension motion trail of the model is perfected to obtain a motion model; data obtained by Vicon processing is imported into virtual 3D software, and elbow flexion and extension motion is analyzed to obtain a corresponding myoelectricity graph; and the myoelectricity graph is imported into a model learning by using a convolutional neural network (CNN) algorithm to identify tennis elbow.

The invention discloses an adjustable upper limb chuck fixator, and relates to the fields of medical treatment and support. The adjustable upper limb chuck fixator is composed of a front arm left sheet, a front arm right sheet, an upper arm left sheet, an upper arm right sheet, air vents, a chuck, adjusting grooves, adjusting holes, fixing straps, triangular ring buckles and fixed connecting devices. The adjustable upper limb chuck fixator, which can achieve sectional adjustment of widths of various parts as required and can adjust lengths, is better in fit performance. The finished product (the adjustable upper limb chuck fixator) is good in air permeability, high in wearing fixation strength and excellent in comfort. Through chuck lock design, an elbow joint can do activities in a limited mode in accordance with doctor's advice, and extension and flexion angles of the elbow joint can be adjusted.

The invention provides a volleyball ball corrector for elbow flexion, which includes a main rotating part, a pulling device, two sets of arm fixing devices and two sets of telescopic devices; one end of two elastic bands of each group of arm fixing devices is respectively fixed on the semicircular arm through a fixing buckle. The end of the ring; the threaded sleeve of each group of telescopic devices is threadedly matched with the first screw rod; the arc top of each semicircular arm ring is fixed with two first mounting plates, and the threaded sleeve is fixed with the first rotating block, which is connected with the two second A mounting plate is rotatably connected; the other end of each first screw rod is fixed with two joint plates, and the main rotating part is rotatably connected with the two joint plates of the two sets of telescopic devices; the pulling device includes a spring and two second rotating blocks The top of each fixed plate is fixedly provided with two second mounting plates, each second rotating block is rotationally connected with the two second mounting plates, and the two ends of the spring are respectively fixed to one end of the two second rotating blocks. On the premise of not restricting the various movements of the trainer, the device can assist in the correction of elbow flexion and kicking the ball.