352 results about "Elbow joints" patented technology

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 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 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 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 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.

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 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.

The application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot, which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting the movement of a patient's arm, the mechanical arm comprises, in sequence, a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

[Problem] During a lowering exercise according to the prior art, changes in upper-limb (forearm, elbow joint, and shoulder joint) movement are such that, since the rotation axis of a grip part is fixed in the vertical direction, the hand rotates around the vertical axis together with the grip part as the lowering exercise is executed, and the shoulder joint continues to internally rotate. As a result, the forearm keeps inclining forward, thereby restricting subsequent extension acceleration slightly rearward of the body. [Solution] Provided is a training machine with which training is performed by moving an arm unit against the weight of a back weight, the arm unit being connected to at least one back weight via a cable and vertically movable along a guide column. A grip part of the arm unit is configured to rotate around an axis substantially orthogonal to the guide column axis. A training machine can thus be provided which can accommodate changes in the inclination angle of the hand and does not restrict extension movement when the upper limb is extended while being lowered.

The application discloses an upper limb supporting exoskeleton based on a negative pressure occlusion variable stiffness driver, which comprises a shoulder joint supporting structure, an elbow joint supporting structure connected with the shoulder joint supporting structure, a waist belt and a back strap; the waist belt and the back strap form a backpack type structure, and the shoulder joint supporting structure is fixed on the shoulder and back of a human body; the shoulder joint supporting structure is connected with the elbow joint supporting supporting structure through a large arm guide rail sliding block and can slide relatively to meet the wearers with different large arm lengths; a fixing plate for fixing the elbow joint supporting structure with the large arm and the small arm of the wearer is arranged on the elbow joint supporting structure. The upper limb supporting exoskeleton based on the negative pressure occlusion variable stiffness driver adopts the variable stiffness driver as part of the joints of the robot, guarantees sufficient degrees of freedom and supporting effect, improves the adaptability of the whole system, allows the wearers to change the stiffness of part of the joints according to the self needs and environmental conditions, and makes the activities of the wearers in the non-working state more flexible and the movement resistance smaller.

1. The name of the design product: joint belt. 2. The use of the design product: acting on the bones around the knee joint, elbow joint and ankle joint, correcting the opening state of the body by tightening the joint, thereby adjusting the balance of the body. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The application relates to the technical field of sleep support, and particularly discloses a zoned mattress for optimizing waist support, which comprises a waist zone, wherein the width size of the waist zone is obtained by a human waist length determination method; the human waist length determination method comprises the following steps: acquiring a plurality of static human body sizes; calculating a distance size A from an elbow joint to the end position of the fifth lumbar vertebra L5 according to the static human body sizes; determining the number n of lumbar vertebrae contained from the elbow joint to the end position of the fifth lumbar vertebra L5; and determining the waist length size of the five lumbar vertebrae according to the distance size A and the number n of lumbar vertebrae. The zoned mattress for optimizing waist support provided by the application can determine the waist length size of a human body according to static human body sizes, and then scientifically determine the width size of the waist zone, so that the comfort of waist support and the health of the waist are improved.

The utility model belongs to the technical field of fluid pipe fittings, and particularly relates to a pneumatic conveying short-radius elbow structure, which is formed by sequentially connecting a first pipe joint, an elbow joint and a second pipe joint, and is characterized in that the first pipe joint and the second pipe joint are both variable-diameter pipe bodies with large ends and small ends, and small-diameter pipe orifices are connected with the elbow joint; a lining is arranged in the bent joint and is of a smooth pipe body structure, the inner diameter of the lining is continuously variable in cross section, the two ends of the lining are reduced towards the middle section along the axis, the diameter r of the middle portion is the smallest, and the eccentric distance a which is 5-10 mm and deviates towards the small-diameter direction is formed between the lining and the axis of an inlet. The bent joint is connected with the first pipe joint and the second pipe joint through flanges or welding. Compared with the prior art, the ceramic elbow has the advantages that the lining layer of the elbow joint is formed by sintering ceramic materials, the ceramic materials have the advantages of being high in hardness, good in abrasion resistance, high in chemical stability and the like, scouring and impacting of fluid and particle materials can be effectively resisted, the service life of the elbow is prolonged, and the problem of local excessive abrasion is solved.

The application discloses a kind of fine-diameter pneumatic muscle driven elbow wrist joint flexible rehabilitation device, it is related to the technical field of rehabilitation robot, wearable rehabilitation equipment.It includes glove, wearing in the hand of human body;Elbow guard, wearing in the elbow of human body, is made of flexible fabric;Shoulder guard, wearing in the shoulder of human body, is made of flexible fabric;A pair of forearm fine-diameter pneumatic muscle bundle, setting in the front and back of forearm, one end is connected with glove, one end is connected with elbow guard;A pair of arm fine-diameter pneumatic muscle bundle, setting in the front and back of arm, one end is connected with elbow, the other end is connected with shoulder guard;Control system, the contraction and extension of forearm fine-diameter pneumatic muscle bundle and arm fine-diameter pneumatic muscle bundle are controlled, the data of elbow joint and wrist joint angle are acquired and handled.The application is convenient to wear, more conforming to human body, high comfort, good contraction performance, high compliance.

The utility model provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a small arm assembly, the small arm assembly comprises a small arm, a wrist framework, a first wrist joint driving piece and a second wrist joint driving piece, the small arm is provided with an elbow joint end and a wrist joint end, and the first wrist joint driving piece, the wrist framework, the second wrist joint driving piece and the wrist joint end are sequentially connected. The first wrist joint driving piece and the second wrist joint driving piece are sequentially arranged in the axial direction of the forearm, the first wrist joint driving piece is used for driving the hand assembly to rotate around a first reference axis, and the second wrist joint driving piece is used for driving the wrist skeleton to rotate around a second reference axis; the first reference axis, the second reference axis and the axis of the small arm are perpendicular to one another. According to the mechanical arm, the mode that the first wrist joint driving piece and the second wrist joint driving piece are sequentially connected in series is adopted to replace the traditional scheme that motors are connected in parallel and matched with connecting rods for transmission, the structure of the small arm assembly is simplified, and the weight of the mechanical arm is reduced.

The present invention relates generally to minimally invasive, cost-effective, adaptable methods, systems, and devices used to repair anatomical joint conditions. The repair may be necessitated by trauma, disease or other conditions. The anatomical joint may specifically include mammalian joints such as the knee, shoulder, elbow, wrist, finger, hip, spine, toe and ankle, for example. The methods, systems, and devices disclosed herein include leveraging the significant (and often unappreciated) role the subchondral bone plays in the health status of the afflicted anatomical joint.

This utility model discloses a guide-track fixed-type walking foot rehabilitation training device. The device includes a parallel bar, with two side-by-side supports and horizontally positioned guide support rods on the supports. It also includes a support frame, comprising a sliding frame slidably mounted on the guide support rods and a support plate. The sliding frame is U-shaped with its opening facing downwards, and rolling elements are installed on its inner wall, rolling on the guide support rods. Two sliding frames are provided, connected by the support plate. The upper surface of the support plate is covered with a flexible pad, and an inverted U-shaped hand gripping rod is connected to the top of the support plate. This device facilitates elbow joint support through the support frame and is suitable for patients with insufficient or inability to grip with both hands.

The utility model discloses a robot's elbow joint structure and robot, the utility model is used to connect upper arm part and forearm part, and one end of upper arm part is fixedly connected with two parallel connecting lug no.

Provided herein are methods and systems for stabilizing a joint, such as the elbow. The system may include an intramedullary rod configured to be placed in a medullary canal of a bone, a pin, a linking member defining an aperture for receiving the pin, and a connector defining a first aperture and a second aperture, the first aperture configured to receive the linking member. The system may further include a screw extending through the second aperture of the connector and the aperture of the intramedullary rod. The system may be configured to be implanted into a patient.

The invention discloses a scale type elbow and wrist joint flexible rehabilitation exoskeleton system based on physiological signal supervision, which comprises a wrist joint flexion pneumatic driver, a wrist joint extension pneumatic driver, an elbow joint flexion pneumatic driver, an elbow joint extension pneumatic driver, a hardware system and a bottom layer control system, the hardware system is matched with the bottom layer control system, motion signals, electromyographic signals, air pressure signals and pulse signals are collected, controllable air pressure is provided for the pneumatic wrist joint driver and the pneumatic elbow joint driver, and the safety stopping mechanism is used for stopping the pneumatic wrist joint driver and the pneumatic elbow joint driver on the basis of the pulse signal strength detected by the pulse sensor in real time. When the pulse signal intensity is lower than a preset safety threshold value and lasts for a certain time, the system automatically stops rehabilitation training, and the maximum atmospheric pressure threshold value of the system is automatically updated. Intelligent rehabilitation training and assistance which are high in integration level, good in safety, high in rehabilitation efficiency and capable of promoting active participation of the patient are provided for the patient with the upper limb elbow and wrist joint dysfunction.

The invention relates to an elbow orthosis (10) with an ulnar wrist support (12) for immobilizing a pronation and supination movement of a patient's wrist.

The utility model provides an angle-adjustable upper limb fixing brace which comprises an upper arm fixing plate, a forearm fixing plate, a hand fixing plate, an elbow adjusting joint and a wrist adjusting joint, and the elbow adjusting joint comprises a first connecting plate, a second connecting plate and a chuck; the wrist adjusting joint comprises a movable hinge and a fixing plate, the movable hinge and the fixing plate are arranged in parallel, the upper ends of the movable hinge and the fixing plate are fixedly connected with the bottom of the forearm fixing plate, the lower ends of the movable hinge and the fixing plate are fixedly connected with the bottom of the hand fixing plate, the palm faces upwards after fixing, and the fixing plate is detachable. The elbow joint supporting tool has the advantages that a patient can do normal movement of the elbow joint while wearing the supporting tool, so that movement limitation possibly brought by a traditional supporting tool is avoided, rehabilitation efficiency is improved, and complications such as joint stiffness and amyotrophy possibly caused by long-time wearing of the traditional supporting tool are avoided.