19 results about "Hip rotation" patented technology

In some embodiments, a multi-modal robot can be capable of aerial mobility and ground mobility, and can switch between configuration. The multi-modal robot can include a chassis, and a leg attached to the chassis. The leg can include a frontal hip joint. The frontal hip joint can rotate around a frontal hip axis of rotation. The frontal hip axis of rotation can be parallel to a longitudinal axis of the chassis. The leg can further include a sagittal hip joint, wherein the sagittal hip joint is coupled to the first distal end of a first link. The sagittal hip joint can rotate around a sagittal hip axis of rotation. The leg can include a wheel. The wheel can be configured to rotate around a wheel axis of rotation. The leg can further include a propeller. The propeller can be co-axial with the wheel.

The invention 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 units with the rotating surfaces corresponding to the horizontal plane are aligned with the rotating center of the hip joint through the remote motion center mechanism with the virtual axis. According to the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot, rotation of a horizontal plane, a coronal plane and a sagittal plane can be completed at the position corresponding to the hip joint of a user, three degrees of freedom of forward flexion / backward extension, adduction / abduction and inward rotation / outward rotation of the hip joint of the human body are achieved respectively, and the exoskeleton robot is aligned to the rotation center of the hip joint of the human body; therefore, the rehabilitation effect of the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot can be improved.

The invention discloses a leg structure and a biped robot, and relates to the technical field of robotics.The leg structure comprises a hip lateral extension assembly, a hip pitching assembly, a hip turnover assembly, a thigh skeleton and a shank skeleton which are connected in sequence, and a knee joint assembly connected with the thigh skeleton and the shank skeleton; the output axis of the hip lateral extension assembly, the output axis of the hip turnover assembly and the output axis of the hip pitching assembly are perpendicular to one another, and the output axis of the hip pitching assembly is parallel to the output axis of the knee joint assembly; the hip lateral extension assembly can drive the thigh skeleton to rotate around the output axis of the hip lateral extension assembly, the hip pitching assembly can drive the thigh skeleton to rotate around the output axis of the hip pitching assembly, the hip turnover assembly can drive the thigh skeleton to rotate around the output axis of the hip turnover assembly, and the knee joint assembly can drive the shank skeleton to rotate relative to the thigh skeleton. According to the leg structure, the tail end mass of the leg structure can be reduced, the rotational inertia is reduced, and therefore the flexibility and cruising ability of the biped robot are improved.

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.

An apparatus for facilitating hip and neck rotation exercises includes a base platform and a seat configured to provide support to the legs during a hip rotation exercise. A cranial contraption is configured to support the head during a neck rotation exercise. The cranial contraption includes a pair of ear pads at sides of the cranial contraption to allow for a full range of neck movement. A set of chest pads supports the chest during hip and neck rotation exercises. Furthermore, the apparatus includes range controllers configured to control a range of motion of the hips and neck during hip and neck rotation exercises, and to adjust the resistance provided by first and second weight stacks. Further, lever mechanisms are configured to facilitate rotation of the seat or cranial contraption to the left or right to adjust a starting position while performing hip rotation and neck rotation exercises.

The application relates to the technical field of robots, in particular to a waist and hip mechanism and a humanoid robot. The waist and hip mechanism comprises a waist rotation module, a hip pitch module, a hip side spread module and a hip rotation module. The waist rotation module comprises a waist support, a waist rotation driving element, a first hip support and a second hip support. The waist rotation driving element is arranged on the waist support. The first hip support is connected with a driving end of the waist rotation driving element. The second hip support is connected with the first hip support. The hip pitch module is connected with the first hip support on one side and connected with the second hip support on the other side. The hip side spread module is connected with the hip pitch module. The first hip support, the second hip support and the hip pitch module are connected with each other, so that the impact on the hip pitch module is reduced, the bending moment and external impact force can be effectively processed, the possibility of directly transmitting the impact force to the waist rotation driving element is reduced, the risk of mechanical failure and damage is reduced, the service life of the humanoid robot is prolonged, and the maintenance and replacement costs are reduced.

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.

An apparatus configured to facilitate lat-pull down exercise with hip rotation exercise simultaneously includes a base frame, and a bench configured over the base frame to allow a user to sit thereon while performing exercises. A set of a pair of stabilizing pads attached below the bench and configured to secure thighs in place to stabilize the legs of the user and prevent unwanted movement during the hip rotation exercise. The apparatus includes a handlebar moveable with a set of gripping handles that allow the user in a seated position to hold the handles while performing the lat-pull down exercise. First and second weight stacks are configured to provide adjustable resistance while performing lat-pull down exercise and hip rotation respectively. Range controllers are implemented on the apparatus for lat-pull down and hip rotation movements for limiting movements of different types, such as movement of the first and second weight stacks, a motion of the handles, and an angular movement of the bench.

The utility model discloses a lower limb exoskeleton joint rehabilitation training device structure, which relates to the technical field of robots, and comprises a waist fixing plate, the middle part of the front side of the waist fixing plate is fixedly connected with a waist connecting plate, and the bottoms of the left and right thigh adjusting rods are rotatably connected with shank telescopic adjusting assemblies; and shank assisting assemblies are arranged on the rear sides of the left thigh adjusting rod and the right thigh adjusting rod correspondingly, and foot joint angle adjusting assemblies are fixedly connected to the bottoms of the left shank telescopic adjusting assembly and the right shank telescopic adjusting assembly correspondingly. By means of the shank telescopic adjusting assembly, flexible adjustment can be carried out according to the specific shank length of each user or the height of a patient, the effectiveness of training actions is guaranteed, and the shank power assisting assembly, the foot joint angle adjusting assembly, the first power assisting oil cylinder, the hip joint rotating rod and other components are arranged, so that the training effect is improved. A user is assisted in completing actions such as bending and stretching of the lower limbs, the requirement for assistance of shanks and hip joints in the rehabilitation training process is met, and the maximum flexibility of the lower limb exoskeleton is guaranteed.

The utility model discloses a kind of hip stretch flexibility optimized autumn and winter golf training pants, it is related to clothing technical field.The hip stretch flexibility optimized autumn and winter golf training pants, including trousers main body, trousers main body includes front side trouser leg cloth, rear side trouser leg cloth and the hip crotch part elastic cloth of covering hip crotch area to hip upper end, the left and right side edges of hip crotch part elastic cloth respectively with front side trouser leg cloth and rear side trouser leg cloth form structural splicing, further include half-enclosing connecting cloth, reinforcing connecting cloth, elastic connecting strip and elastic trouser pocket.The hip stretch flexibility optimized autumn and winter golf training pants, solve the hip rotation stretch tight feeling and the problem of restraint feeling caused by the existing autumn and winter golf clothing due to using plane cutting, low temperature windproof waterproof fabric hardening easily, let user hip rotation action be more smooth when swinging training, can significantly improve hip internal rotation angle, meet hip three-dimensional motion demand in golf training.

The invention relates to the technical field of physical training instruments, in particular to a golf shoulder and hip rotation auxiliary trainer which comprises a base, a hip plate rotationally arranged on the base, a hip blocking piece arranged on the base and used for adjusting and controlling the maximum rotation resistance of the hip plate, and a shoulder closing assembly arranged on the base and used for training shoulder joints. The shoulder closing assembly comprises a shaft seat rotationally arranged on the hip plate, an angle shaft is arranged on the shaft seat, a back plate is rotationally arranged on the angle shaft, an arc rod with a C-shaped cross section is arranged on the back plate in a sliding mode, an adjusting piece used for controlling the position of the arc rod is arranged on the back plate, and an angle control piece and a shoulder stopping piece are arranged on the back plate. A hip joint closing assembly used for training hip joints is arranged on the base, the hip joint closing assembly comprises two leg supporting frames rotationally arranged on the base, leg limiting plates with V-shaped cross sections are arranged on the leg supporting frames, and leg stopping pieces are arranged on the base. The device has the effect of achieving rotation separation training and cooperative training on the shoulder joints and the hip joints of players.

The invention relates to a body position fixing and fine adjusting device, belongs to the technical field of body position fixing, and aims to solve the problems that in the prior art, an accurate regulation and control mechanism for the rotation angle of a hip joint is lacked and depends on empirical operation, so that body position repeatability between different times of treatment is poor, and the position of a target region is inaccurate. The invention provides a body position fixing and fine adjusting device which comprises a fixing plate, a waist support, a hip support, a fastening belt and a hip adjusting mechanism, the hip support can rotate relative to the waist support through mutual cooperation of the multiple assemblies, in the radiotherapy process, the waist and the hip of a patient can be fixed, the hip joint angle can be finely adjusted through the hip support, and the body position fixing and fine adjusting device can be used for fixing the body position of the patient. And when the hip is finely adjusted, the hip synchronously drives one side of the waist support to lift and lean backwards, so that the forward inclination of the pelvis is corrected, and the target region accurately corresponds to the irradiation range.

The invention relates to a hip replacement preoperative acetabular prosthesis positioning method based on a concentric circle principle, and the core of the method is that a coincidence point O of a femoral head center and an acetabular rotation center is determined based on imaging data before an operation, and a virtual concentric circle model is constructed by taking the point O as a circle center and an acetabular opening surface as a reference; the abduction angle of the acetabular prosthesis is preset to be 40 degrees, a straight line L passing through the rotation center O is drawn according to the angle, and the arc distance D between the point A and the straight line L on the spherical surface of the acetabular prosthesis is accurately calculated according to a formula by measuring the edge angle alpha of the acetabular center and the diameter R of the acetabular. The arc distance D is the arc distance from the acetabular outer upper edge bony mark point A to the acetabular prosthesis outer upper edge, which can be measured in the operation. Through preoperative accurate quantitative calculation, an objective and accurate navigation basis is provided for acetabulum filing and prosthesis placement in the operation, anatomical reconstruction of the hip joint rotation center is achieved, and the risk of complications such as postoperative dislocation and abrasion caused by the poor position of the prosthesis is remarkably reduced.

The utility model relates to the field of mobile robots, and particularly discloses a pneumatic muscle improvement-based hip structure with a suspension, which comprises a rear support plate, a suspension, a hip rotating block, pneumatic muscles, a ball head connecting piece, a connecting block, a front support plate and a connecting rod, and is characterized in that the pneumatic muscles are used as driving elements to drive the hip rotating block to rotate to realize hip movement; the suspension comprises a rotating body, a threshold switch and a shock absorber, under gait movement of the robot, stress borne by the suspension is not enough to turn on the threshold switch, the suspension does not rotate, the pneumatic muscles are kept in the horizontal state all the time, when the robot jumps or faces sudden impact, the stress borne by the suspension exceeds a threshold set by the threshold switch, the threshold switch is turned on, the suspension rotates, and the pneumatic muscles are kept in the horizontal state all the time. According to the improved hip structure with the suspension based on the pneumatic muscle, the damping and buffering effects are achieved, the pneumatic muscle rotates through the ball head connecting piece so as to be prevented from being cracked, the damper has pre-tightening force, it is ensured that the suspension can return to the initial position after buffering is finished, and the hip structure with the suspension based on the pneumatic muscle improvement can be used for improving the stability of the robot while the controllability of gait movement of the robot is not affected. And the buffering and anti-impact capabilities of the robot are improved to a greater extent.

A robot leg mechanism and a robot. The leg mechanism comprises a hip rotation servo (13), a first connecting member (14), a thigh structural member (15), a shank structural member (19), an anterior hip servo (16), an anterior knee servo (17), and a first linkage structure (18); the hip rotation servo (13) is used for driving the thigh structural member (15) to rotate; the anterior hip servo (16) is used for driving the thigh structural member (15) to swing back and forth; the anterior knee servo (17) is used for driving the shank structural member (19) to swing back and forth relative to the thigh structural member (15); a motion output end of the hip rotation servo (13) is fixedly connected to the first connecting member (14); the anterior hip servo (16) and the anterior knee servo (17) are both arranged on the thigh structural member (15); a motion output end of the anterior hip servo (16) is fixedly connected to the first connecting member (14); and a motion output end of the anterior knee servo (17) is transmittingly connected to the shank structural member (19) by means of the first linkage structure (18). The anterior knee servo is arranged on the thigh structural member, raising the center of gravity of the leg structure, and reducing the torque requirements for the servo, thereby improving the response speed of a robot.

The invention relates to a golf swing track auxiliary training device which comprises a bearing table, a driving track is arranged on the bearing table, and a driving seat is arranged on the driving track; the supporting frame is arranged on the driving base, splicing mechanisms are arranged on the two sides of the front end of the supporting frame, rail circular rings used for swing track training are arranged at the connecting ends of the splicing mechanisms, and swing devices are arranged on the rail circular rings in a sliding mode; and the hip rotation adjusting mechanism is used for controlling and adjusting hip rotation when the trainer swings the rod. The golf swing training device assists a trainee in golf swing training, not only can the swing track be standardized, but also the hip turning action can be accurately adjusted, professional and efficient training experience is provided for the trainee, and the training quality is improved.

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 present invention discloses an experimental device for lower limb length changes during hip replacement surgery, comprising: an artificial pelvis and an artificial lower limb, with an artificial hip joint disposed between the artificial pelvis and the artificial lower limb; the artificial hip joint comprising an artificial acetabulum, with a groove disposed on the bottom surface of the artificial acetabulum, the groove being matched with an artificial femoral head, and by adjusting the spatial position of the spherical center of the artificial femoral head, different hip rotation centers can be simulated; the artificial hip joint also comprising an artificial femoral stem, with the artificial lower limb being sleeved on the artificial femoral stem, and by adjusting the sleeve length of the artificial lower limb and the artificial femoral stem, different lower limb lengths can be simulated. The experimental device for lower limb length changes during hip replacement surgery is simple to operate and has good versatility. It can analyze in vitro the effects of artificial hip joints of different sizes and models on the patient's lower limb hip rotation center and lower limb length difference, and provide reference opinions for doctors to adjust the trial mold during surgery.

The present invention discloses a reconfigurable bipedal robot with a multi-link structure. The mechanical structure of the bipedal robot is symmetrical left and right, and includes a torso component, a left leg component, and a right leg component. The torso component is rotatably connected to the left leg component and the right leg component symmetrically arranged on both sides of the torso component; the left leg component includes a hip rotation component, a hip connection component, a thigh component, a calf component, a foot sole component, a passive swing rod component, a passive connection component, an active wheel component, a driven wheel component, a link drive component, a link connection component, a link receiving component, and a link lower end component. The left leg component and the right leg component have the same structure. By changing the driving joints and the configuration of the robot, the present invention realizes the free switching of the bipedal robot between the bipedal and wheeled motion modes, and realizes the efficient movement of the legged robot under different working conditions.