506 results about "Elbow joints" patented technology

The invention belongs to the technical field of medical rehabilitation equipment, and particularly relates to a postoperative rehabilitation device based on digital medical treatment, which comprises an upper arm support and a lower arm support movably hinged to one end of the upper arm support, and the upper arm support and the lower arm support are respectively fixed on the surfaces of the upper arm and the forearm of a patient. The lower arm support comprises a first lower arm support body and a second lower arm support body which are arranged up and down, a plurality of first lower arm massage bags which are communicated with one another are arranged on the surface, attached to a patient, of the first lower arm support body, and a plurality of second lower arm massage bags which are communicated with one another are arranged on the surface, attached to the patient, of the second lower arm support body. The ends, away from the upper arm support, of the first lower arm support and the second lower arm support are detachably connected with a plurality of lower arm extension blocks, and the upper arm support also comprises a first upper arm support and a second upper arm support which are arranged up and down. The problems that an existing elbow joint postoperative rehabilitation device cannot be suitable for treatment of patients with arms of different sizes, and the application range is limited can be effectively solved.

The invention discloses a forearm of a manipulator, which is provided with a wrist joint axis and an elbow joint axis, and comprises a shell comprising a supporting part and a main body part which are integrally formed, and the supporting part is provided with a first pressing end; the wrist belt wheel is coaxial with the axis of the wrist joint, the wrist belt wheel and the shell form a mounting space, the wrist belt wheel comprises a shaft part and a belt wheel part which are integrally formed, and a second pressing end is formed at the joint of the shaft part and the belt wheel part; the bearing is arranged in the mounting space, and the bearing is provided with an inner ring and an outer ring; the pressing assembly is coaxial with the axis of the wrist joint and comprises a first pressing piece and a second pressing piece; wherein the first press-fit part and the first press-fit end form axial constraint on the outer ring of the bearing, and the second press-fit part and the second press-fit end form axial constraint on the inner ring of the bearing, so that the wrist belt wheel can rotate relative to the shell through the bearing. By adopting the scheme, the concentricity of the forearm of the manipulator is improved, and the axial mounting space is reduced.

The invention discloses a mechanical arm upper arm, a circuit arrangement method and a mechanical arm, and the mechanical arm upper arm comprises a mounting shell, two ends of the mounting shell are respectively provided with a shoulder joint axis and an elbow joint axis, and a power input area and a power output area are respectively formed; the power input part and the power output part are coaxially butted with the power input area and the power output area respectively; the shoulder joint mandrel and the elbow joint mandrel are integrally formed with the mounting shell, the shoulder joint mandrel and the elbow joint mandrel are coaxially arranged along the shoulder joint axis and the elbow joint axis respectively, an axially-through mounting area is arranged in the shoulder joint mandrel, the shoulder joint mandrel and the mounting first containing area form a second containing area, and the elbow joint mandrel and the mounting shell form a second containing area; and the power transmission part forms a continuous transmission path along the power input area, the mounting area, the first accommodating area and the second accommodating area and is used for transmitting the torque of the power input part to the power output part. By adopting the scheme, the concentricity deviation of the upper arm of the manipulator is reduced.

The invention discloses a knee / elbow wheel type quadruped robot, and relates to the technical field of quadruped bionic robots, the knee / elbow wheel type quadruped robot comprises a robot body and four legs arranged at four corners around the robot body, each leg comprises a thigh body and a shank body, and a knee / elbow joint is formed at the joint of the thigh body and the shank body; mounting seats are arranged at the knee / elbow joints, driving wheels are rotationally connected to the mounting seats, and the driving wheels are located on the outer sides, relative to the robot body, of the knee / elbow joints; when the driving wheel needs to be used for walking, the shank body is controlled to be bent towards the thigh body around the knee / elbow joint till the driving wheel makes contact with the ground and the foot of the shank body leaves the ground, and then the machine body can be driven to advance through the driving wheel. According to the robot, the driving wheels are arranged at the knee / elbow joints, the flexibility and adaptability of a leg structure of a traditional quadruped robot are reserved, rapid and efficient movement on the flat terrain is achieved through the driving wheels, and the application range of the robot is widened.

A multi-degree-of-freedom bionic arm of a humanoid robot belongs to the technical field of robots, and seven degrees of freedom of the robot arm are formed by a shoulder swing arm rotating mechanism, a shoulder left-right swing arm rotating mechanism, a big arm axial rotating mechanism, an elbow rotating mechanism, a small arm axial rotating mechanism, a wrist rotating mechanism and a wrist inner drive rotating mechanism. Holes and grooves are formed in the elbow part for laying cables, the cables are not exposed, and the shell size of the elbow joint is reduced. And the cable does not run about when the elbow moves in a large range, so that interference with other parts is avoided. A connecting rod mechanism composed of a first output disc, two connecting rods and a second output disc is arranged on the side face, the load inertia of a forearm joint, a whole arm force arm and the tail end is reduced, and the arm load capacity and motion performance are improved; the wrist drives the front-back and left-right freedom degree axes of the hand to coincide at one point, and the flexibility of the wrist is improved. Due to seven degrees of freedom, the robot is more bionic, the degrees of freedom are also on the same straight line after the arms of a person are straightened laterally, and the movement offset is small.

The invention discloses a portable martial arts action correcting device, and relates to the field of sports equipment, the portable martial arts action correcting device comprises a first binding piece and a second binding piece, the first binding piece and the second binding piece are respectively fixed on the arm and the forearm of a user, the portable martial arts action correcting device further comprises a pull rope, a fixing shell, a winding piece, a limiting assembly and a transmission mechanism, the winding piece is rotationally installed in the fixing shell, and a coil spring is arranged between the winding piece and the fixing shell. According to the portable martial arts motion correcting device, the device is fixed to the arm and the forearm of a user through the first binding piece and the second binding piece, the pull rope and the winding mechanism are integrated in the fixing shell, real-time motion monitoring without external energy dependence is achieved, the transmission mechanism drives the first limiting piece to make contact with the second limiting piece, and motion correcting is achieved. And when the elbow joint is close to a set threshold value, the friction resistance is increased, clear tactile feedback is provided, impact caused by rigid braking is avoided, and a soft constraint protection mechanism is formed.

The invention belongs to the technical field of mechanical arm control, relates to a bionic mechanical arm elbow joint adjusting angular velocity control method, and solves the problem that an existing method is difficult to meet the collaborative requirements of smooth starting, smooth transition and quick response in bionic actions. Acquiring starting and target positions to generate a motion trail; deducing an expected angle sequence based on forward and reverse kinematics, calculating a target angular velocity, and collecting current angle and angular velocity information in real time; an angle error signal is constructed, an angular velocity control instruction is generated by using a position type PID controller, and PID parameters are dynamically set through an improved algorithm based on state optimization; and a control instruction is input into the elbow joint driving unit, and dynamic adjustment and closed-loop control of the angular speed are achieved. The effect of the method is verified through experiments, and the experiments prove that the precision, robustness and dynamic response capability of angular velocity control of the bionic mechanical arm can be remarkably improved through the method.

The invention discloses a multi-signal fusion upper limb muscular tension increase detection method and device, and relates to the technical field of muscular tension increase detection. The method comprises a data acquisition process, a parameter fitting process, a model training process and a muscular tension increase detection process, passive elbow flexion and elbow extension are carried out at a set speed by driving a forearm with an elbow joint as an axis, mechanical data, kinematics data and myoelectricity data in the movement process are collected, and after the collected various data are preprocessed, the obtained data are subjected to model training and muscular tension increase detection. And training the muscular tension grade prediction model by taking a clinical evaluation result of a doctor on the muscular tension grade as a label, and predicting the muscular tension grade and the contribution degree of each feature to the prediction result through the trained muscular tension grade prediction model. According to the multi-signal fusion upper limb muscular tension increase detection method and device provided by the invention, accurate quantification of muscular tension levels is realized, and meanwhile, the reliability and interpretability of a detection result are enhanced.

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

According to the technical scheme, the four-limb joint supporting structure comprises an upper supporting part, a lower supporting part and a connecting part, and the upper supporting part and the lower supporting part can be bent to be in an arc surface shape from the two sides and are used for being attached to the upper limb and the lower limb at the joints of a patient; the two ends of the connecting part are connected to the upper supporting part and the lower supporting part respectively and used for being attached to the joint position, and the width of the connecting part is smaller than that of the upper supporting part and that of the lower supporting part so that two grooves can be formed between the connecting part and the upper supporting part and between the connecting part and the lower supporting part. The utility model has the beneficial effects that the connecting part is formed between the upper supporting part and the lower supporting part through the groove, the connecting part is bent and attached to the joint, the generation of a break angle is avoided, the bending can be extremely simplified, no matter whether the material has enough ductility or not, the requirements can be met, the structure is simple, the complexity degree is low, the production process is simple, and the operability is high; the device is suitable for shoulder joints, elbow joints, ankles and the like, and the structural design has certain universality.

The invention provides a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, the rope-driven elbow-forearm rehabilitation device comprises a flexible driving part, a forearm rotating part and an elbow joint flexion and extension part, and the flexible driving part is composed of a reset tension spring, a driving rope and the like; the forearm rotating part is composed of wrist inner and outer rings, a rotating track assembly and the like. The elbow joint flexion and extension part is composed of an angle adjusting chuck, a passive moving pair assembly and the like. The forearm rotating part is worn on the forearm and the wrist of a subject, and the flexible driving part drives the wrist outer ring to rotate so as to drive the forearm of the subject to rotate forwards and backwards; the elbow joint flexion and extension part is worn on the upper arm of a subject, and the flexible driving part drives the angle adjusting chuck to rotate so as to drive the elbow joint of the subject to complete flexion and extension movement; the forearm rotating part and the elbow joint flexion and extension part are connected through a forearm-elbow connecting piece; the two-degree-of-freedom elbow and forearm rehabilitation training device can realize two-degree-of-freedom rotation movement of the elbow and the forearm, is suitable for postoperative rehabilitation training of a congenital ulna and radius fusion patient, and has the advantages of portability, good flexibility and the like.

The invention relates to the field of basketball teaching, and discloses a basketball teaching feedback system and method based on action recognition, and the method comprises the steps: employing a multi-sensor cooperative collection mechanism to carry out the partition sampling of body key points and a basketball moving track in a fixed-point shooting training process of a student, and obtaining an original signal set for depicting detailed actions; the original signal set is mapped into a multi-stage time sequence model, and modeling is conducted on the nonlinear coupling relation between the wrist rotation amplitude and the elbow joint stretching angle; based on the multi-dimensional feature tensor, constructing a multi-scale sliding window to dynamically slice the angle track at the moment of hand release; generating a grading heat map according to the influence degree of the key abnormal segment on the shooting precision, and respectively endowing different priority weights to the hand-out angle stability, the elbow joint control force and the follow-up coherence; and based on the feedback priority queue, carrying out dynamic evolution deduction on the chain abnormity formed in the training period. The method has the advantage of improving the pertinence of teaching.

The invention provides an elbow joint exoskeleton control system based on myoelectricity angle prediction and a use method thereof, the elbow joint exoskeleton control system comprises a dual-channel surface myoelectricity signal acquisition device and an advanced one-step prediction model OSA: the dual-channel surface myoelectricity signal acquisition device acquires myoelectricity signals and provides input data for the system; establishing an advanced one-step prediction model OSA based on a non-linear autoregressive model NARX with exogenous input, performing offline training, and determining a mapping relation between the electromyographic signals and the actions; and realizing online intention estimation and real-time control of the upper limb elbow joint exoskeleton system by using an advanced one-step prediction model OSA. By means of the technical scheme, the electromyographic signals can be detected in real time, the exoskeleton is driven to assist in completing elbow joint flexion and extension movement, neural function reconstruction and motor ability recovery are promoted, and the risk of muscle disuse atrophy is reduced.

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

The present invention discloses a pneumatic transmission robot system based on a combination of multiple modes, belonging to the technical field of robots. The movement of the hip joint, knee joint, ankle joint, shoulder joint, elbow joint, and wrist joint of the robot is driven by pneumatic muscles, and the waist joint is driven by balloon cylinders and cylinder combinations, having the function of fully simulating the joint movement of a human. The balloon cylinder and the waist joint cylinder are connected in series as a branch chain, and three branch chains are connected in parallel to form a single-layer waist joint, and six branch chains between two layers are evenly distributed on the circumference. A group of pneumatic muscles combined with a guide wheel drive the hip joint to rotate around the Z axis, two pneumatic muscles combined with a four-bar mechanism drive the flexion and extension movement of the knee joint, and two groups of pneumatic muscles are rotatably connected to the calf bone II, and with this as a support and combined with a universal joint, the flexion, extension, adduction, and abduction movements of the ankle joint are realized. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, combination of rigidity and flexibility, and good explosion-proof performance.

The utility model discloses a novel elbow joint, which belongs to the technical field of pipeline connecting structures and comprises an elbow body, one end of the elbow body is provided with a first connector, the other end of the elbow body is provided with a second connector, the second connector is connected with a hard pipe through a connecting piece, and the side wall of the second connector is circumferentially provided with an arc-shaped hole for the connecting piece to penetrate through. The first connector and the bent pipe body are of an integrated structure, and the second connector and the bent pipe body are connected through a detachable connecting structure. One end of the bent pipe body is connected with a hose through a first connector, the other end of the bent pipe body is connected with a hard pipe through a second connector, and the second connector and the hard pipe are fixed together through a connecting piece; the first connector and the elbow body are of an integrated structure, so that a hose can be conveniently and directly sleeved; the second connector is connected with the elbow body through a detachable connecting structure, so that the elbow is convenient and quick to mount and dismount, and is particularly suitable for operation in narrow space. The device is simple and compact in structure and convenient and fast to operate, and the convenience of installation is improved.

The embodiment of the invention discloses a non-contact multi-parameter elbow joint fault diagnosis method and device. Collecting multi-parameter original signals of the area where the elbow-shaped joint is located in the same time reference and the same physical microenvironment; performing denoising, zero offset correction and filtering on the multi-parameter original signal to obtain a pre-processed multi-parameter signal; performing compensation processing on the preprocessed multi-parameter signal by applying a space-time coupling compensation matrix; performing feature extraction on the compensated multi-parameter signals to obtain feature vectors, and calculating response time lag between channels of the parameter signals; calculating a weighted time distance between the typical mode of the current observation stage and each fault stage, and mapping the weighted time distance to a preset fault evolution chain, so as to calculate a posterior probability of the typical mode of each fault stage through the fault evolution chain; and according to a comparison result of the posterior probability and a preset fault threshold value, outputting a fault diagnosis result of the area where the elbow-shaped joint is located and a confidence coefficient corresponding to the fault diagnosis result.

The invention belongs to the technical field of rehabilitation medicine and intelligent education technology, and discloses a muscular tension evaluation-based simulation arm model, which comprises a main body, a motor I, a motor II, a shoulder joint, an elbow joint, a motor III and a motor IV, and further comprises a visualization mechanism arranged on one side of the outer surface of the shoulder joint, the visual mechanism comprises a rotating plate fixedly connected to one side of the elbow joint; according to the device, the elastic piece can be stretched, then the connecting block can push the extrusion plate to slide in the liquid outlet pipe, then the extrusion plate can push liquid in the liquid outlet pipe into the graduated scale, and then the muscular tension grade can be judged according to the flowing distance of the liquid; finally, the rotating plate drives the extrusion plate to push the liquid into the graduated scale through the elbow joint, the muscular tension grade is judged according to the flowing distance of the liquid, students can conveniently and visually observe and feel the evaluation result, the evaluation result is recorded, and the teaching effect is improved.

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

An adjustable angle marker system for pipe elbow joints is disclosed, providing an efficient and precise means of determining and marking angles for cutting 90-degree elbow joints, particularly at non-standard angles, eliminating the need for reference tables and angle calculations. An adjustable angle gauge is used to measure a desired angle at which to cut an elbow joint to properly join two pipe sections. The desired angle is transferred to a marking platform using the adjustable angle gauge set at the measured angle. The elbow joint is placed on the marking platform so that the angle marked on the marking platform properly aligns with a corresponding cut location on the elbow joint, which is marked on the elbow joint using a pipe marking device aligning the marked angle and the cut location.

The present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

The invention provides a double-pneumatic artificial muscle control method and system with overshoot constraint, and relates to the technical field of robot control. Comprising the following steps: defining error signals of a forearm muscle length, an upper arm muscle length, a shoulder joint angle and an elbow joint angle based on a dynamic model of a double-pneumatic artificial muscle system, and constructing an error signal convergence constraint term and an overshoot range constraint term; determining an energy function of the double-pneumatic artificial muscle system; based on a kinetic model and an energy function of the double-pneumatic artificial muscle system, considering the error signal convergence constraint term and the overshoot range constraint term, and designing a controller to control the forearm control input air pressure and the upper arm control input air pressure of the double-pneumatic artificial muscle system. According to the method, the error signal convergence constraint term and the overshoot range constraint term are considered, the overshoot of the system state variable is controlled within the safety constraint range, the overshoot phenomenon is avoided, and the safety performance of the system is improved.

The invention discloses an elbow joint rehabilitation training evaluation method and system, and the method comprises the following steps: S1, collecting multi-cycle motion data and surface myoelectricity data when a patient executes a specified rehabilitation motion in a standard state through an inertia measurement unit and a surface myoelectricity sensor which are disposed on the upper limb of the patient, based on this data, establishing a personal motion baseline template comprising a standard angle-time curve and a standard muscle activation level; s2, in the rehabilitation training process, motion data and surface myoelectricity data are collected in real time, and the following operations are executed: S21, a joint motion range and a motion smoothness index are extracted from the motion data; s22, muscle activation intensity and collaborative shrinkage are extracted from the surface myoelectricity data; according to the method, individuation of evaluation standards, diversification of monitoring dimensions and dynamic weight adjustment are achieved, the accuracy and safety of rehabilitation training can be effectively improved, and the method has important clinical application value.

The invention discloses an application method and system of a myoelectricity intelligent early warning watch for fatigue driving, and the method comprises the steps: monitoring the posture of a user through an inertia measurement module, starting a working mode when the user is in a sitting posture state, and obtaining the rotation angle of the wrist of the user; the signal acquisition module acquires an electromyographic signal by using a patch electrode; the camera module obtains the arm length of the user through calculation; the signal processing module filters the electromyographic signals; and the main control module performs feature extraction on the electromyographic signals and calculates the motion angular velocity of the elbow joint of the user. According to the method, the user state is accurately judged based on the time sequence convolutional network and the angular velocity of the elbow joint movement of the user; when the user is tired, the watch gives an early warning to remind the user, and dangerous events are avoided.

The utility model relates to a special tool for turning an elbow joint, which comprises a chassis, a mounting plate and a clamping mechanism, and is characterized in that the clamping mechanism comprises a first clamping component and a second clamping component, the first clamping component comprises a first horizontal lead screw supported on the mounting plate, and a left clamping jaw and a right clamping jaw which are sleeved on the first horizontal lead screw; the second clamping assembly comprises a second horizontal lead screw supported on the mounting plate, a left clamp body and a right clamp body, the second horizontal lead screw is sleeved with the left clamp body and the right clamp body, the mounting plate is provided with second horizontal slide ways corresponding to the left clamp body and the right clamp body, and the left clamping jaw and the right clamping jaw are used for clamping a first pipe section of the elbow joint. The left clamp body and the right clamp body are used for clamping a second pipe section of the elbow joint, and the first pipe section and the second pipe section are located on the two sides of an inflection point of the elbow joint respectively. According to the tool, the problem that a traditional tool is poor in positioning stability is solved, turning precision is guaranteed, product consistency is good, clamping is firm, and safety is good.

The invention relates to the technical field of robots, and particularly discloses a bionic humanoid mechanical arm which comprises a shoulder joint module, a big arm module, an elbow joint module, a small arm module and a wrist joint module which are connected in sequence. The wrist joint module realizes two-degree-of-freedom flexible movement through a regular octahedron tensegrity structure, and the rotation centers of the wrist joint module naturally intersect at one point and are connected with the rolling shaft in series to form three-degree-of-freedom concurrent rotation; the length-adjustable supporting rod in the flexible structure changes the joint rigidity in real time and dynamically adapts to the load change so as to enhance the man-machine interaction safety; an elbow joint adopts a virtual pitch circle rolling mechanism, all joint-crossing driving rope paths are forced to remain unchanged, and multi-joint motion coupling is eliminated from the mechanical intrinsic level; a driving motor and a rope wheel system are arranged on the large arm module in a centralized mode, the rope tensioning state is continuously optimized in cooperation with a ratchet wheel type self-locking tension mechanism, and the tail end inertia is reduced under the condition that an elbow and wrist joint motor is completely removed.

The invention discloses an upper limb rehabilitation exoskeleton with a shoulder-arm linkage mechanism, which belongs to the field of rehabilitation devices and comprises a supporting platform, the shoulder-arm linkage mechanism, a shoulder joint mechanism, a big arm and elbow joint mechanism and a front arm and hand mechanism. The shoulder-arm linkage mechanism is connected to the supporting platform in a sliding mode, the shoulder joint mechanism is connected to the free end of the shoulder-arm linkage mechanism, the large arm and elbow joint mechanism is connected to the free end of the shoulder joint, and the front arm and hand mechanism is connected to the free end of the large arm and elbow joint mechanism. A joint actuator is linked through parts such as a gear reduction box and a worm and gear reduction box, so that the rotation center of an exoskeleton shoulder joint can rotate around a set point on a frontal plane so as to shift along with the rotation center of the shoulder joint when the shoulder joint of the human body expands and contracts, and therefore, the dislocation of the upper limb of the human body when the upper limb of the human body moves along with the exoskeleton is reduced; and the wearing comfort of the exoskeleton is improved. The exoskeleton shoulder-arm linkage mechanism is simple in structure, reliable in movement and lower in cost compared with an active shoulder following mechanism driven by a motor.

A humanoid robot arm belongs to the field of humanoid robots and is characterized in that a first driving mechanism is mounted in a first arm fixing part, a second arm fixing part is connected with the output end of the first driving mechanism, and the second driving mechanism and a third driving mechanism are transversely mounted and fixed on the second arm fixing part; the upper end of the U-shaped arm fixing part is fixed with a shell of the third driving mechanism, the second lower end of the U-shaped arm fixing part is hinged with a Y shaft of the hollow cross shaft, the upper part of the manipulator flange is hinged with an X shaft of the hollow cross shaft, and the lower part of the manipulator flange is fixedly connected with the manipulator; the Y axis and the X axis of the mechanical arm intersect at one point, the intersection point is located on the axis, rotating around the Z axis of the arm, of the arm, the three axes intersect at one point, the conveying structure layout is consistent with the human arm movement structure layout, the size is gradually decreased from the elbow joint to the wrist joint, and the characteristic of simulating the human arm is achieved. And the two driving power sources bear driving loads at the same time, and the higher load capacity is achieved.

The invention discloses upper limb rehabilitation training equipment capable of being mutually used by left and right arms, which comprises a small arm elbow joint training mechanism, a big arm shoulder joint training mechanism and a left and right reversing mechanism, and is characterized in that the small arm elbow joint training mechanism is connected with the front end of the big arm shoulder joint training mechanism in a foldable manner through a folding part; the rear end of the big arm shoulder joint training mechanism is connected with the left-right reversing mechanism, and the left-right reversing mechanism is used for driving the big arm shoulder joint training mechanism to rotate relatively. According to the upper limb rehabilitation training equipment capable of being used by the left arm and the right arm, the functions of being small in size, light and easy to use are achieved, the pull rope is used for power transmission, the overall size of the equipment is optimized, daily use is more convenient through the rotating clutch mechanism used by the left arm and the right arm, and the equipment is small in size, convenient to store, simple in structure, practical and easy to operate.

The application discloses a kind of located in humanoid robot joint sensing system and method, belong to humanoid robot technical field, system includes humanoid robot limbs and joint, camera, processor and calibration board, the joint includes shoulder joint, elbow joint, wrist joint and end effector, and / or hip joint, knee joint, ankle joint and end effector;Camera is composed of a binocular camera module and a TOF module, camera and processor are located on the joint of humanoid robot, processor calibration position, process the data obtained by camera and output control instruction to control end effector.The application can realize more extensive range of environmental perception, the camera on the joint can be freely adjusted with the movement of joint Angle and direction, so as to realize more flexible environmental perception and operation;Integrated camera data processing and motor control, reduce the communication delay between sensor and controller, improve the response speed and processing efficiency of system.