131 results about "Foot joints" patented technology

The invention discloses a light active and passive combined lower-limb power-assisted exoskeleton robot. A back and a waist are arranged up and down; a waist bundling connecting piece on the waist is connected with a back supporting piece on the back; hip joint rotary shafts on hip joints are hinged to waist hip connecting pieces on the waist; a spring upper pressing plates on the hip joints are connected with a spring adjusting plate; the spring adjusting plate is positioned at the upper end of the back supporting piece and is connected with the back supporting piece; leading pulley seats are fixedly connected with a waist fixing plate on the waist; the upper ends of thighs are hinged to connecting plates on the hip joints through leg hip connecting shafts; steel wire fixed parts on the hip joints are fixedly mounted on outer walls of thighs; the lower ends of the thighs are hinged to the upper ends of knee joint supporting shells through knee joint connecting shafts; a motor encoder, a motor, a speed reducer, a coupler and a lead screw are sequentially arranged in a knee joint from top to bottom; the upper end of shanks are connected with the knee joint supporting shells; and the lower ends of the shanks are hinged to feet through foot joint shafts. The light active and passive combined lower-limb power-assisted exoskeleton robot is used for military loadbearing.

Provided is an ankle supporter capable of returning the wearer's ankle to a normal position by moving the connective tissue and muscles below the skin following sprain or Achilles tendonitis. The ankle supporter includes a first elastic panel knitted in a belt-like shape on the medial side of the wearer's foot extending from the sole to an area corresponding to the Achilles tendon and having a stretch resistance greater than that of the base fabric and a second elastic panel knitted in a belt-like shape on the medial side of the wearer's foot extending from the heel to the base of the foot top of the wearer to intersect the first elastic panel below the center of the medial ankle and having a stretch resistance greater than that of the base fabric.

The invention discloses the foot of a humanoid robot and a control method of the foot of the humanoid robot. The foot of the humanoid robot is characterized in that an upper disc body is arranged to serve as an ankle bone, the rear end face of the ankle bone is a plane, the front end face of the ankle bone is in a V shape when the front end face of the ankle bone is overlooked, an outer front end face body and an inner front end face body are symmetrically arranged on the V-shaped front end face, the ankle bone is supported in a three-force-point mode through three rod pieces on the rear end face and the front end face of the ankle bone, the three rod pieces refer to a heel bone, an inner metatarsal bone and an outer metatarsal bone, a rear planta pedis stress triangle is formed with the lower end of the ankle bone as a rear vertex and a point head facing backwards, and the upper end face of the ankle bone is connected with the lower limbs of the robot through ankle joints. According to the foot of the humanoid robot and the control method of the foot of the humanoid robot, linear driving devices are arranged on the lower limbs of the robot, all components are driven through flexible ropes according to set actions, and thus rotation of the foot joints of the robot is driven and controlled.

A six-foot bionic robot and a method for optimizing leg structure with high load ratio are disclosed. According to the integral design requirements of a robot, A three-free degree leg portion structure is employed, and the total length of a single leg portion is determined. According to the structural requirements of each section, the maximal and minimal length dimension allowed for each section of the leg portion is determined. Dynamic modeling for a robot is conducted, and the influence of the length of the robot leg joint to the load-carrying ratio is analyzed, After analysis and calculation, the length between the long-foot joint near a foot end and the intermediate node in the center is slightly greater than the minimal length of the node, and optimal load-carrying ratio is realized. The surrounding environment can be fully sensed by the robot, each leg of the robot has three freedom degrees, and the robot can walk stably on an uneven ground. The robot employs wifi communication, responds rapidly and effectively, and realizes wireless control.

The invention discloses an advanced humanoid dancing robot. The advanced humanoid dancing robot comprises a head, a body, upper limbs and lower limbs. The whole robot comprises 20 joints totally. The head of the robot is prepared through the 3D printing technology, internally empted and connected to a head connecting frame. The waist joint is specially arranged in the middle of the body and connected with a chest structure and a hip structure. The upper limbs are distributed on the two side surfaces of the body, and safety gaskets are arranged between two-arm U-shaped connecting frames and two-arm driving steering engine shafts, so that long-time reliable operation of the two arms is ensured. The lower ends of the lower limbs are specially provided with the foot joints connected with legs and foot plates. According to the advanced humanoid dancing robot, by arranging the waist joint and the foot joints, the robot can complete some complex dancing actions, and meanwhile, the stability and the coordination of the actions can be ensured; in addition, a voltage sensor arranged specially can sense the voltage consumption condition at any time, and a gyroscope sensor can also sense the gesture of the robot at any time so that the robot can be prevented from falling down; the robot is controlled by a smart phone, and the advanced humanoid dancing robot has the characteristics of being convenient to operate, easy to train and the like.

The invention discloses a claw-type five-legged wall-climbing robot and a locomotive gait method thereof and belongs to the technical field of climbing robots. The claw-type five-legged wall-climbing robot comprises a robot body plate (8), leg joints (5), a steering engine control panel (6), a tail (9), a battery (7), foot end structures (3) and is characterized in that each foot end structure (3) comprises a foot joint base body (11) and flexible sole base bodies (15); the rear ends of the flexible sole base bodies (15) are mounted on the foot joint base bodies (11) through sole connecting frames (14), wherein the sole connecting frames (14) can rotate around hinged holes connected with the foot joint base bodies (11) so as to adjust the angles of the flexible sole base bodies (15) and the contact faces; and the flexible sole base bodies (15) are distributed circumferentially along the foot joint base bodies (11), a plurality of protruding flexible rectangular strips are arranged at the front end of each flexible sole base body, and a claw (16) is mounted at the tail end of each flexible rectangular strip. The robot can achieve grabbing and climbing on the rough vertical faces and inverted faces and other behavior.

The invention relates to a pneumatic humanoid robot system. The system adopts an air cylinder to drive the movement of hip joints, knee joints, foot joints, waist joints, shoulder joints, elbow jointsand wrist joints of a humanoid robot, and has a function of completely simulating joint movement of a person. The system is composed of a linear air cylinder, a swinging air cylinder, belt wheels, lead screws, bevel gears, toothed belts, toothed wheels and connecting pieces, the hip joints and the shoulder joints are driven by the swing cylinder through the belt wheels, the knee joints are drivenby the lead screws and the air cylinders in a combination manner, the foot joints are driven by a plurality of air cylinders, the elbow joints are driven by the swing cylinder, the wrist joints are composed of two groups of variable-distance swing parts and an air cylinder parallel mechanism, the hip joints, the knee joints, the foot joints, the waist joints, the shoulder joints, and the elbow joints and the wrist joints have 2, 1, 4, 6, 2, 1, 4 degrees of freedom correspondingly and a total of 34 degrees of freedom. According to the pneumatic humanoid robot system, a cylinder and cylinder combination driven are adopted, the system has the characteristics of large stroke, large working space and compact structure, and can be used for teaching and demonstration.

An aquatic propulsion device for holding a hand or foot in a desired position, the device comprising a curvilinear support surface and a linking element arranged across the hand or foot joint at a desired angle to secure the joint in the desired position.

The invention discloses a completely passive both-foot walking machine with bionic ankle and subtalar joints, comprising a hip assembly, leg assemblies, ankle joint assemblies, subtalar joint assemblies, a left foot, a right foot and toe assemblies, wherein each leg assembly is arranged between the hip assembly and the ankle joint assembly, and a main body of the walking machine is constructed; each subtalar joint assembly is arranged between the ankle joint assembly and a foot, the toe assemblies are distributed at two sides of each foot. Foot joints disclosed by the invention comprise the ankle joint assemblies and the subtalar joint assemblies, the foot joints of the walking machine are designed by simulating the physiological angles of the ankle joints and the subtalar joints of a human in the space. Meanwhile, toes can realize an elastic start in the walking process under the effect of springs. According to the walking machine disclosed by the invention, the beneficial effects of the optimal walking energy efficiency, improvement of walking stability and naturality of the both-foot walking machine are achieved according to the passive walking principle and the introduction of the bionic ankle and subtalar joints.

Disclosed is a clipless bicycle pedal system for safely securing the rider's shoe to the pedal by providing an easily targeted pedal platform, wherein engagement and disengagement of the rider's cleated shoe is co-axial with the pedal, resulting in a true “no look” engagement method. Additionally, the pedal provides for float incorporating axial side-to-side motion, as well as twist motion. This combined twist and axial float provides a wide range of free motion that further reduces the chance of injury and better simulates total freedom of leg / foot joint action by not limiting joint movements to an axially fixed connection of the pedal to the rider's shoe.

The invention discloses a Kinect-based Darwin robot joint mapping analysis method. The analysis method comprises the following steps of 1) obtaining human skeleton information; 2) establishing a reference coordinate system and constructing skeleton vectors; 3) performing Euler rotation analysis; 4) performing gravity center stability analysis; and 5) performing joint angle calculation. According to the method, 15 joint points of a human body are obtained by utilizing Kinect; after compensation and slide average filtering, 10 unit joint vectors are constructed in the reference coordinate system; the Euler rotation analysis is performed according to a joint cascade mode of a Darwin robot, thereby obtaining corresponding angles of common joints of the Kinect and the Darwin robot; and finally foot expansion joints of the Darwin robot are subjected to the gravity center stability analysis, thereby obtaining foot joint angles of stable standing of single or double feet of the Darwin robot, so that action imitation from the Kinect to the Darwin robot is realized.

A shoe insole, which supports three points on a sole to stabilize a center of gravity, is provided by considering a skeletal structure of a foot and a sequential movement from foot joints to a body. The three points, which are a first metatarsal sesamoid bone, tuberosity of fifth metatarsal bone, and a calcaneal tuberosity, are supported from a sole side, and the three point balance can stabilize a center of gravity, and thereby a stimulus that adjusts body movements derived from a sole to help a body to be back to a right position can be given.

The invention discloses a baby stroller folding structure which comprises push rod large joints used for being connected with baby stroller push rods, rear foot large joints used for being connected with baby stroller rear foot pipes, front foot large joints used for being connected with baby stroller front foot pipes and lifting large joints used for being connected with socket lifting adjusting assemblies. The push rod large joints, the rear foot large joints, the front foot large joints and the lifting large joints can be sequentially connected in a rotatable mode, and locking structures are arranged between the four joints for mutual restriction. When each push rod rotates to the rear foot pipe set, a lifting joint spring bolt and a front foot joint locking hook can be opened under the two inclined faces of the corresponding push rod large joint. According to the baby stroller folding structure, the defect that an existing three-in-one stroller folding structure is large in size and large in weight is overcome, and the baby stroller folding structure is formed by combining multiple single structures and has the advantages of being stable in structure, convenient to operate, convenient to carry after being folded, and the like.

The present invention relates to an inner sole for a shoe, comprising a base body, a covering layer and several cushioned layers arranged on the surface of the sole. A first cushioned layer is provided in the ball area of the forefoot, a second cushioned layer is included in the transition area of the metatarsus and the tarsus and a third cushioned area is provided between the metatarsus and the heel. The cushioned layers are subdivided into individual, separate plateau-like fields which are located close to each other in the transversal direction of the sole surface. This provides an inner sole which brings about a substantial improvement in the transport of fluids in the venous and lymphatic vessel system in the legs during movement of the foot joints and ankle joints by means of synergistic support of the muscle structure.

The invention relates to a transmission tower differential settlement deviation correction device. An end plate (4) is arranged on the inner side of a barrel (17), the lower end of the barrel (17) is fixedly arranged on a reinforced concrete foundation (15), and a base plate hole (11) is formed in the lower end of the barrel (17); the upper end of a tooth column (5) is fixedly connected with the lower end of a tower foot joint plate (13), the lower portion of the tooth column (5) is inserted into the barrel (17) in a sliding manner, and racks (18) are arranged on the left side and the right side of the tooth column (5); and a pair of large gears (6) are arranged on the two sides of the tooth column (5), two small gears (7) are meshed with the two large gears (6), the large gears (6) and the small gears (7) are all connected to the barrel (17) rotationally, the large gears (6) are meshed with the racks (18), and at least one end of a small gear shaft (9) extends to the outer side of the barrel (17) and is fixedly connected with a handle or a driving wheel (10). The device is used for deviation correction adjustment on inclined tower feet after differential settlement happens.

The invention belongs to the field of rehabilitation treatment equipment, particularly relates to multifunctional pedal type exercise and rehabilitation equipment for foot joint patients, and aims to solve the problems that since the existing exercise rehabilitation equipment can only adopt a single pedal trainer to exercise the patients, the exercise rehabilitation effect is poor, the training difficulty cannot be adjusted, and the use of different patients is difficult to meet. According to the scheme, the equipment comprises a bottom plate, a supporting plate is fixedly installed at the top of the bottom plate, a leg supporting plate is fixedly installed at the top of the supporting plate, a connecting frame is fixedly connected to one side of the supporting plate, and a shank massage seat is fixedly installed on the connecting frame. The exercise and rehabilitation equipment is reasonable in structure, the feet and the legs of a patient can be massaged in an assisted mode while the patient repeatedly treads the rehabilitation exercise right-angle plate to achieve exercise and rehabilitation, so that discomfort caused by exercise of the patient is relieved, the training intensity can be adjusted, and the exercise and rehabilitation equipment can be used by different patients.

A movable ankle joint measurement orthopedic device is characterized in that the orthopedic device is provided with a rigid arc-shaped slot plate with a seal strip; the front-end wall of a rigid arc-shaped protection plate is provided with an upward tilted Pi-shaped front support and two force measuring devices, one end of the force measuring devices is connected with lower soft pedal sleeves by connecting lines; the both sides of the rigid arc-shaped protection plate are vertically provided with Pi-shaped vertical supports and the two force measuring devices, and one end of the force measuring devices is connected with upper soft pedal sleeves by the connecting lines. The movable ankle joint measurement orthopedic device is applicable to the postoperative orthopedic training of the ankle part of a patient with the Achilles tendon rupture, the rupture of triceps muscle of calf or tibia anterior, the fracture of tibia or the lower end of fibula and the vascular rupture at the lower part of the calf. The movable ankle joint measurement orthopedic device has the advantages that the orthopedic device has reasonable and simple structure, the operation and the usage are convenient, the range of application is wide, which is not only applicable to the muscle strength training of the ankle part, but also applicable to the activity training of the ankle part. The orthopedic device can accurately measure the force generated by muscle contraction and provide an objective and detailed basis for the assessment of the muscle strength and the treatment effects.

The invention provides a body gravity center displacement correction-based six-foot robot joint angle calibration method. The method comprises the following steps: driving a robot to support the ground with any three feet, and keeping the other three feet uplifted and not in contact with the ground all the time; selecting one of the supporting feet, and driving a certain joint on the foot to rotate an angle, thus enabling the sole to slide and the other two soles to not slide relative to the ground; and by building a function relation between the angle of the joint and a body gravity center moving track, measuring a three-degree-of-freedom acceleration through a body IMU (Inertial Measurement Unit), calculating a relative moving track of a body through quadratic integral, and calculating coordinates of the tail end of the supporting foot relative to the body according to a multi-foot moving robot kinematic model, thus correcting angles of all joints of the supporting foot. The calibration method provided by the invention can quickly and accurately complete correction of the angles of the joints of a multi-foot moving robot, so as to guarantee multi-foot coordinating motion of the robot and the precision of the moving track; and the calibration method also can be used for checking faults of the foot joints of the robot to provide a basis for a robot motion decision.

The proposed method is an innovative approach to correcting orthopedic deformities. It involves gradual manual mobilization of contracture soft tissues and diminutive foot joints by a physiotherapist, followed by mechanical reinforcement of the resulting effect by an orthosis which depresses and push the Ist, IVth and Vth metatarsal bones while elevating or actually blocking the fall the immobile IInd and IIIrd metatarsal bones according to the “three forces” rule. Correction transverse arch foot runs simultaneously with the correction of hallux valgus (if necessary). The propose method comprises sequentially applied passive redression (manual treatment), and a follow-up with the use of a specially designed orthosis (mechanical treatment). The method is suitable for patients undergoing preparation for corrective HV surgery and for post-operative HV. Method can be used preventively e.g. in women who frequently wear high-heel shoes and in for those who need to remain standing for prolonged periods of time.

The invention provides a multi-foot pipeline moving robot device. The multi-foot pipeline moving robot device comprises a main body part and a four-foot walking mechanism (11), wherein the main body part comprises a first motor (10), a moving disk (2), a fixed disk (3), a screw rod shaft (5), and bevel edge brackets (12); the first motor (10) is mounted on the fixed disk (3), and is connected withthe screw rod shaft (5); the screw rod shaft (5) penetrates through the moving disk (2) to be connected with the fixed disk (3); the bevel edge brackets (12) are uniformly distributed on the circumferential direction of the moving disk (2) and the circumferential direction of the fixed disk (3); and the main body part is connected with the four-foot walking mechanism (11) through the bevel edge brackets (12). The multi-foot pipeline moving robot device disclosed by the invention is simple and reasonable in structure; through a diameter changing mechanism, the multi-foot pipeline moving robotdevice can walk in pipelines of different pipeline radiuses, and can be widely applied for moving in all kinds of pipelines; and the four-foot walking mechanism simulates a biological foot joint, so that four-foot stagger walking can be realized; and the multi-foot pipeline moving robot device has the advantages of being high in flexibility, low in driving number, and the like.

The invention discloses a novel composite joint injury supporting instrument. The novel composite joint injury supporting instrument comprises a knee joint assembly and a foot joint assembly, whereinthe knee joint assembly comprises a thigh ring and a shank ring, connecting plates are mounted on the outer walls of the thigh ring and the shank ring, rotating shafts are connected between the connecting plates in a sleeved mode, wing plates are arranged on the outer walls of the connecting plates, and adjusting mechanisms are mounted between the wing plates and the rotating shafts; the foot joint assembly comprises a shoe cylinder, wherein a fixing plate is hinged to the bottom of the shoe cylinder, the bottom of the fixing plate is connected with a protective edge, the protective edge is connected with the middle of a sole, a U-shaped seat is mounted at one end of the sole and the outer wall of the shoe cylinder, and a damper is mounted at the middle of the U-shaped seat; and the thighring and the shank ring are connected to the thigh and the shank of the knee in a sleeving mode respectively, rotating resistance between the connecting plates is adjusted through the adjusting mechanisms, and therefore, the knee joint requirements of different patients are met. The shoe cylinder sleeves the lower portion of the shank, the feet of the patients penetrate into a protection head andthe protective edge, and rotation between the sole and the shoe cylinder is flexibly supported through the damper. The ankle joint requirements of different patients are met.

A device for three-dimensional foot motion control and plantar pressure redistribution, for controlling relative motions of foot joints effectively by modifying heel strike angles and adjusting relative plantar pressures of a foot is disclosed. It includes an arch supporting main body, for supporting medial longitudinal arch, transverse arch and lateral longitudinal arch of the foot, a rear end having at least one lateral side extending corresponding to the location of calcaneus of the foot; wherein the arch supporting main body is a three-dimensional structure formed by curvatures of the medial longitudinal arch, the transverse arch and the lateral longitudinal arch collaboratively, and a hindfoot motion adjustment portion for modifying heel strike angles.

A device for three-dimensional foot motion control and plantar pressure redistribution, for controlling relative motions of foot joints effectively by modifying heel strike angles and adjusting relative plantar pressures of a foot is disclosed. It includes an arch supporting main body, for supporting medial longitudinal arch, transverse arch and lateral longitudinal arch of the foot, a rear end having at least one lateral side extending corresponding to the location of calcaneus of the foot; wherein the arch supporting main body is a three-dimensional structure formed by curvatures of the medial longitudinal arch, the transverse arch and the lateral longitudinal arch collaboratively, and a hindfoot motion adjustment portion for modifying heel strike angles.

The invention relates to a post-earthquake function-recoverable one-way hinge column foot joint with an additional anti-shear steel plate group, and belongs to the field of structural engineering. Thejoint is composed of a square steel column, a one-way pure hinge base and replaceable anti-side energy consuming devices on both sides. The joint applies design concepts of damage control, energy consuming component replacement, bending moment amplitude modulation, vertical bearing, horizontal anti-side separation and the like, and combines the advantages of traditional rigid connection columns and traditional hinge columns. Through the reasonable design, bending moment amplitude modulation is achieved, and the bending moment on the column is reduced to protect the column against damage; meanwhile, the replaceable anti-side energy consuming devices undertake main anti-side work, and damage is controlled to the anti-shear steel plate group through a strong-joint and weak-member mode. Afteran earthquake, the functions of the column foot joint can be recovered simply by replacing the anti-side energy consuming devices.

The invention relates to a biology fusion foot joint return robot, which is characterized in that: the upper ends of four straight drivers are connected to the mounting support (5) of upper platform (16) via universal hinge (4), while the lower ends via ball couples (9) are connected to the lower platform (12); feet (11) via clamper are connected to the lower platform (12); the leg (2) via fixer is connected to the upper platform (16); the straight driver (6) can be lead screw nut device, bidirectional movable cylinder (22) or electric cylinder (33). The invention is based on bionic technique,to fuse the under-knee part of human as branch into system. The invention has several freedoms, to realize complex return movements, while the rotation hinge point is layered with feet joint rotationhinge point. And the data can be used in diagnosis.

The invention provides a preparation method of honey-aroma chicken and honey-aroma chicken. The preparation method comprises the following steps: cleaning the chicken with clean water and shaping the chicken; inserting the two wings back into the chicken head, separating the chicken feet from chicken legs by a knife at the chicken foot joints, inserting the chicken legs into the belly skin, and putting the chicken feet into the belly; pickling in salt, monosodium glutamate, Sichuan pepper and ginger powder; after the pickling, airing for about 15 minutes; after moisture is removed by airing, brushing the whole chicken body with honey; carrying out deep-frying in a fryer; brushing the chicken with honey again; steaming for 40-50 minutes in a steamer; and discharging for eating, or cooling and packaging for sale. By adopting the preparation method, the processing process is simple, the product yield is high, and the honey-aroma chicken has a brand new mouthfeel as well as good color, aroma and taste.