22 results about "HIP JOINT FLEXION" patented technology

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

The utility model relates to the field of postoperative care devices, in particular to an adjustable plastic hip joint fixing pillow which comprises a supporting mechanism, the supporting mechanism comprises a first supporting plate and a second supporting plate, and the first supporting plate and the second supporting plate are platy. The tops and the bottoms of the outer walls of the first supporting plate and the second supporting plate are fixedly connected with bearing plates, and the bearing plates are of elastic metal plate structures. Through the supporting mechanism, the distance between the two groups of bearing plates can be adjusted by adjusting the distance between the first supporting plate and the second supporting plate, so as to adapt to the distance between the legs of different patients; through the L-shaped first supporting plate, the situation that the hip joint of the patient bends by more than 90 degrees due to excessive curl-up of the patient is avoided.

A pendulum squat exercise machine comprises a carriage configured to support a user performing a pendulum squat motion in which the user moves into and between a squatted hip flexion position and a standing hip extension position. A stationary frame is configured to support movement of the carriage relative to a ground surface during said pendulum squat motion, and a linkage assembly pivotably couples the carriage to the stationary frame. The linkage assembly is configured so that throughout said pendulum squat motion the carriage is continuously travels along an arc relative to the stationary frame and is separately continuously rotated relative to the linkage assembly and the ground surface.

This invention discloses an adaptive adjustable hip joint rehabilitation training device and its control method, belonging to the technical field of rehabilitation training equipment. The device mainly includes a seat board, mounting plate, casters, universal wheels, backrest, electrically adjustable telescopic pillow, tension straps, electrically adjustable armrests, a power supply drive terminal box, a drive control terminal box, and symmetrically arranged multi-dimensional adjustment mechanisms. The drive control terminal box has built-in sensing components and an adaptive control algorithm, which can collect dynamic parameters such as the user's hip joint flexion and extension angles, movement speed, and joint force in real time, and automatically adjust the operating status of each drive component. This invention can achieve multi-angle and multi-directional hip joint posture adjustment, dynamically match the rehabilitation training intensity according to the user's tolerance, and automatically trigger safety protection when parameters are abnormal to avoid the risk of secondary injury. The device is flexible and adaptable to patients of different body types and rehabilitation stages. It is easy to operate, comfortable, and highly practical, effectively improving the safety and rehabilitation effect of hip joint rehabilitation training.

The application discloses a wearable flexible lower limb gravity balance exoskeleton and relates to the field of exoskeleton robots.The exoskeleton robot comprises a flexible garment, a knee joint binding mechanism, a Bowden cable transmission mechanism and a gravity balance device.The flexible garment is worn on the upper body of a human body, provides a stress anchor point for the gravity balance device and guarantees the stability of wearing.The knee joint binding mechanism is installed at the knee joint of the lower limb of the human body and connects the gravity balance device with the knee joint.The Bowden cable transmission mechanism is distributed on the front side of the thigh and provides assistance for the flexion of the hip joint.The Bowden cable transmission mechanism is connected with the knee joint binding mechanism.The gravity balance device is installed on the front side of the flexible garment and assists the flexion of the hip joint.The gravity balance mechanism is combined with the Bowden cable transmission mechanism and adopts a bionic driving mode to simulate the force line direction of the hip flexor muscle of the lower limb.The application adopts a variable stiffness design, and elastic elements and flexible mechanisms are matched with the motion change of the human body, so that the fitting degree of the exoskeleton with the human body is higher, and the assistance and safety are improved.

To provide an ischial sitting cushion, when being used for ischial sitting, expected to have a positive effect on the trunk of a user, by preventing an increase in a hip joint flexion angle or accentuating the physiological lordosis of the lumbar spine due to a lumbar support part, and by allowing the user to maintain a neutral posture with the pelvis upright by appropriately activating the user's own muscles such as deep muscle groups of the trunk without excessively depending on a support for the lumbar part.SOLUTION: An ischial sitting cushion C1 formed of a material with a prescribed strength and resilience, includes: an inclined upper plate 1; a rear base part 11 that supports the inclined upper plate 1 at a rear portion in a prescribed inclined state together with a front portion of the inclined upper plate and whose upper surface inclined downward at a prescribed angle forward, supports a user's buttocks from behind; and ischial support parts 3 and 3a that are arranged side by side at a prescribed interval on the left and right sides, and have slits 30 and 30a penetrating in upper / lower surface direction at prescribed positions of the inclined upper plate 1 avoiding the rear base part 11, to form an outer shape into an elongated oval shape that is long in the left and right directions, with their connected except for a portion of the front part.SELECTED DRAWING: Figure 1

The present invention discloses a lumbar spine protection type lower limb posterior chain flexibility assessment and training system, which relates to the technical field of training equipment, including a device main body, the device main body including a fixing ring, a seat cushion, a pelvic support and a connecting block, one end of the device main body is provided with a base, the top of the base is provided with a lifter, the top of the lifter is installed with a seat cushion, fixing rings are installed on both sides of the seat cushion, a pelvic support is provided above the fixing ring, and both sides of the pelvic support are rotatably connected to one end of a pressure rod. By applying flexion pressure to the pelvis and lumbar spine as a whole to perform posterior chain stretching training, the lumbar spine can be effectively protected to avoid waist injuries; by comprehensively measuring the hip joint flexion and ankle joint dorsiflexion angles, the flexibility of the posterior chain of the lower limb can be more scientifically quantitatively evaluated, which can minimize the error of individual measurement; and the unilateral lower limb can be independently evaluated and trained, which is more scientific and targeted.

The utility model discloses a lower limbs exoskeleton with motion auxiliary function, including hip joint mechanism, thigh mechanism, knee joint mechanism, shank mechanism, ankle joint mechanism, foot mechanism, binding mechanism, left and right connecting rod, be equipped with two adjusting sliding blocks on left and right connecting rod, and hip joint mechanism includes two groups of hip joint subassembly, and hip joint subassembly is connected on adjusting sliding block, hip joint subassembly includes hip joint adduction outside swing pivot axle and hip joint flexion extension drive motor, is equipped with motor outer flange and motor inner flan on hip joint flexion extension drive motor, and the longitudinal both ends of hip joint adduction outside swing pivot axle are equipped with hip joint inner rotation outer rotation link, and hip joint inner rotation outer rotation link forms the rotation pair with hip joint adduction outside swing pivot axle, and the both ends of hip joint inner rotation outer rotation link are equipped with upper side cross link subassembly and lower side cross link subassembly respectively. This scheme can better adapt to the wearing demand of different human bodies, and can better adapt to the motion freedom of wearer.

The invention discloses an exoskeleton hip joint cooperative movement energy storage amplification mechanism for material moving. The exoskeleton hip joint cooperative movement energy storage amplification mechanism is composed of a hip installation fixing piece, an energy storage swimming assembly and a hip joint flexion and extension winding roller assembly. According to the energy storage swimming assembly, a passive energy storage release element serves as a core, and is connected to left and right hip joint flexion and extension winding roller assemblies through matching of steel wires and movable and static pulleys, so that energy storage and release in the thigh flexion and extension process are completed. In the operation process, when the two legs are bent at the same time, the steel wires on the two sides drive the winding idler wheels and the movable pulleys to compress the energy storage element at the same time to achieve bidirectional energy storage, and the energy storage element is forced to move towards the middle of the hip installation fixing piece; when a single leg is bent, single-side energy storage and one-way swimming of an energy storage element can be completed, and in the alternate gait walking process, two-side energy storage release conversion along with changes of the supporting direction is achieved, and cooperative auxiliary assistance of free movement of the swing phase is achieved. The mechanism is compact and light, and can be used as an important component of an exoskeleton system.

The utility model belongs to the technical field of exoskeleton passive joints, and particularly relates to a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint. The three-degree-of-freedom passive self-weight compensation exoskeleton hip joint comprises a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor and a hip joint flexion and extension mechanism, the rod-shaped elastic component is installed between the hip joint abduction mechanism and the hip joint flexion and extension mechanism, and the outward rotation degree of freedom is provided through the degree of freedom of a joint. According to the three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, the self-weight of the lower limbs is compensated through arrangement of the rod-shaped elastic components, the effects of compact structure and free movement are achieved, the situation that the human body is subjected to large interaction force to limit the movement of the lower limbs is avoided, and the movement control precision is improved. The exoskeleton hip joint is passively driven through human body movement, and flexion and extension, abduction and adduction, extorsion and internal rotation freedom degrees of the hip joint are provided.

The utility model discloses a hip joint frog position X-ray film body position support capable of adjusting the external rotation angle of the lower limb, and belongs to the technical field of medical auxiliary equipment. Comprising a base plate used for being placed on a lower limb part of a bed surface, a lapping pad used for lapping feet, a lower limb lapping pad used for lapping lower limbs, a flexion adjusting mechanism and an angle adjusting mechanism. Meanwhile, supporting force for always keeping the posture can be provided for the patient in the examination process, and the situation that the patient with weak lower limbs cannot form the posture to affect the examination result is avoided; image shooting can be carried out when the femoral head of the patient is in the optimal exposure state in the examination process, the image shooting effect is improved, and the disease of the patient can be better checked.

The application discloses a high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot, which comprises a first lower-limb rehabilitation device, a second lower-limb rehabilitation device and a hip joint adjusting device; the hip joint exoskeleton assembly comprises three active driving units, and the active driving unit with a rotation surface corresponding to a horizontal plane is aligned with the hip joint rotation center through a remote center of motion mechanism with a virtual shaft. The high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot can complete rotation in a horizontal plane, a coronal plane and a sagittal plane at a position corresponding to the hip joint of a user, realizes three degrees of freedom of human hip joint flexion / extension, adduction / abduction and internal rotation / external rotation respectively, and aligns the exoskeleton robot with the human hip joint rotation center, so that the rehabilitation effect of the high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot can be improved.

This invention relates to a flexible hip joint assistive exoskeleton and its control method. The exoskeleton includes a posterior drive unit, a right anterior drive unit, a left anterior drive unit, a left posterior Bowden line, a right posterior Bowden line, a left knee joint flexible binding structure, a right knee joint flexible binding structure, a flexible bionic vest, a left anterior flexible band, and a right anterior flexible band. The left posterior Bowden line connects the posterior drive unit and the left knee joint flexible binding structure, and the right posterior Bowden line connects the posterior drive unit and the right knee joint flexible binding structure. The posterior drive unit controls the tightening and releasing of the two Bowden lines. The left anterior flexible band connects the left anterior drive unit and the left knee joint flexible binding structure, and the right anterior flexible band connects the right anterior drive unit and the right knee joint flexible binding structure. The two anterior drive units control the tightening and releasing of their respective flexible bands. Through the cooperation of the flexible bands and Bowden lines, the exoskeleton assists in hip joint flexion and extension. The method controls the exoskeleton through dual-layer sensing technology. The upper layer of sensing uses multi-sensor data to identify the timing of exoskeleton assistance, while the lower layer of control uses a dual-modal switching control strategy to achieve coordinated control of the tightening and releasing of Bowden lines or flexible belts.

The application discloses a non-external force driving flexible exoskeleton walking aid, which comprises a flexible binding unit and a power assisting unit connected with the flexible binding unit; the flexible binding unit comprises a waist binding belt fixed on the waist and abdomen of a human body, a first binding belt fixed on a healthy limb and a second binding belt fixed on an affected limb; the power assisting unit comprises a driving power assisting line and a driven power assisting line; the driving power assisting line is connected with the waist binding belt, the first binding belt and the second binding belt respectively, and the driven power assisting line is connected with the waist binding belt and the second binding belt respectively; the healthy limb provides driving power to the affected limb through the driving power assisting line to make the affected limb relatively move, and the affected limb relatively moves through the driven power assisting line along with the movement of the affected limb itself. Through the structural arrangement of the application, the healthy limb is used as a power source, and the potential energy generated by the movement of the healthy limb and the waist muscle strength are used to realize the flexion of the hip joint of the affected limb, the bidirectional movement assistance of the knee joint and the ankle joint.

A humanoid robot, including an upper portion including a torso, a head, and left and right arm assemblies; a lower portion including left and right lower leg assemblies; a central portion coupled to the upper portion and including a spine, a pelvis, and left and right upper leg assemblies. Each upper leg assembly includes a hip flex actuator coupled to the pelvis and having a hip flex axis positioned at a non-zero downward angle relative to a transverse plane of the humanoid robot. The upper leg assembly also includes left and right knee actuators, wherein each knee actuator is an electric rotary actuator, has a knee axis that is co-planar with the hip flex axis, and has a momentary peak torque greater than a momentary peak torque of the torso twist actuator. The humanoid robot lacks a distinct torso pitch actuator and wherein the hip flex actuators are collectively arranged to provide for pitch movements of the torso.

An increased transparency exoskeleton is provided that includes a hip joint assembly. The exoskeleton includes a hip joint assembly connecting a leg assembly to a torso portion. The hip joint assembly has a hip abduction / adduction to hip internal / external rotation to hip flexion / extension kinematic chain.

The invention relates to a fitness machine for performing a knee extension exercise of a user with at least a torso, a hip, an upper leg and a lower leg, which fitness machine comprises : a main frame; an upper leg support connected to the main frame and extending between a distal and a proximal outer end, such as for instance an upper leg pad, which upper leg support is configured to support at least one upper leg of the user in a first plane during use; a torso support, such as for instance a back pad, connected to the main frame, which torso support is configured to support the torso of the user in a second plane during use; a pivot arm connected to the main frame and configured to be operated with the lower leg during use, which pivot arm is rotatable about a pivot axis lying close to the distal outer end of the upper leg support, wherein the first and the second plane are oriented relative to each other for supporting the at least one upper leg and the torso of the user in an exercise position, between o maximum hip extension on one hand and a maximum of 30° hip flexion on the other, while the exercise is being performed.

A pendulum squat exercise machine comprises a carriage configured to support a user performing a pendulum squat motion in which the user moves into and between a squatted hip flexion position and a standing hip extension position. A stationary frame is configured to support movement of the carriage relative to a ground surface during said pendulum squat motion, and a linkage assembly pivotably couples the carriage to the stationary frame. The linkage assembly is configured so that throughout said pendulum squat motion the carriage is continuously travels along an arc relative to the stationary frame and is separately continuously rotated relative to the linkage assembly and the ground surface.

Device (10) for stabilizing and / or swaddling a patient, in particular a newborn and / or an infant, with hip dysplasia and / or hip dislocation, comprising a device base (11) with: - at least two first surfaces (12) for placing at least one leg area of ​​the patient, wherein the first surfaces (12) extend within a first plane (14), and - at least a second surface (16) for placing at least one upper body area of ​​the patient, wherein the second surface (16) extends within a second plane (18), wherein the first plane (14) and the second plane (18) are spaced apart, in particular parallel to each other, wherein the device (10) has at least one fifth surface (30), in particular two fifth surfaces (30), for placing at least one buttock area of ​​the patient, wherein the fifth surface (30) extends within a fifth plane (32), wherein the fifth plane (32) is spaced apart, in particular parallel to the first plane (14) and / or the second plane (18), wherein the fifth plane (32) is arranged between the first plane (14) and the second plane (18), wherein the device (10) further has an intermediate block (46) which is arranged between the two first surfaces (12) on the device base (11), wherein the fifth surface (30),a seventh surface (38) for placing at least one area of ​​a Tübingen hip flexion splint applied to the patient and / or at least one area of ​​a spacer for the patient's legs and / or an eighth surface (42) for placing at least one area of ​​a bandage knot attached to the patient are arranged on the intermediate block (46), wherein a T-shaped recess (48) is arranged in the intermediate block (46) in which the seventh surface (38) and the eighth surface (42) are arranged.

The present invention relates to a quasi-passive variable stiffness energy storage and assisted hip joint exoskeleton, comprising a fixed waist belt, a right exoskeleton and a left exoskeleton, wherein the right exoskeleton and the left exoskeleton are symmetrically designed. Compared with the prior art, when the wearer wears the exoskeleton and walks, when the hip joint is extended, the moving lower limbs will drive the knee joint assembly and the thigh support rod to move, thereby causing the cam moving roller of the output chassis and the screw assembly to rotate relative to the fixed waist belt and the cam disc assembly. The cam moving roller will move along the contour line of the specially designed cam disc to compress the heavy-loaded spring to store energy, and release it when the hip joint is flexed and stepped forward to achieve walking assistance. In addition, the position of the screw nut is adjusted by a motor to change the pre-compression amount of the heavy-loaded spring to increase the stiffness of the entire variable stiffness joint, thereby enabling the exoskeleton to have the ability to adjust the auxiliary stiffness according to wearers of different heights, weights, and walking speeds.

The invention relates to the technical field of power equipment, in particular to a hip assistance exoskeleton climbing control method, system and equipment and a medium. According to a multi-modal parameter sequence obtained by a multi-modal sensor system in a current time period, multi-dimensional feature extraction is carried out to obtain multi-dimensional features, and the multi-modal parameter sequence comprises a hip joint flexion and extension angle, a hip rotation angular velocity, a hip linear acceleration, a man-machine interaction torque and a motor rotation angle. The multi-dimensional features comprise stride frequency, stride, walking consistency and climbing environment features; performing action recognition according to the multi-dimensional features and the multi-modal parameter sequence to obtain a current action stage; determining a current required torque according to the current action stage; and according to the current required torque, the motor is controlled to provide assistance for the thigh part through the bracket. The limitation that the reliability of single sensor information is insufficient in a complex climbing environment is overcome, and the assistance accuracy is improved.

The invention discloses a hip joint supporting and fixing device, relates to the technical field of medical instruments, and solves the technical problem that a device capable of flexibly supporting and fixing a hip joint while ventilating is lacked. The device comprises a first fixing plate and a second fixing plate which are connected with each other, and the edge of the other side of the first fixing plate and the edge of the other side of the second fixing plate are detachably connected to form a ring shape; the first fixing plate is connected with a third fixing plate through a first supporting assembly, and the third fixing plate is further detachably connected with a fourth fixing plate to form a ring shape. According to the purpose, through the detachable annular first fixing plate, the detachable annular second fixing plate, the detachable annular third fixing plate and the detachable fourth fixing plate, the angle adjusting function of the first supporting assembly allows the bending angle of the hip joint to be dynamically adjusted from the initial vertical state to the multi-angle state, the rehabilitation supporting function is met, and meanwhile the flexible movement assisting requirement is provided; due to the design of the annular structure of each fixing plate, uniform stress support is provided, and local compression is avoided.