82 results about "Human leg" patented technology

The invention discloses a wearable waist assistance exoskeleton mechanism and a control method thereof. The wearable waist assistance exoskeleton mechanism comprises a waist assembly, a leg assembly,a hip joint assembly, a driving assembly, a controller and a data collector; the data collector comprises a tilt angle sensor and an acceleration sensor, the tile angle sensor is used for collecting an angle when a backplane produces an inclined angle, the acceleration sensor is used for collecting the angle acceleration when the backplane produces the inclined angle, the controller constructs anexoskeleton assistance model through the angle and the angle acceleration, and then controls algorithm to identify the motion intention of a wearer. According to the wearable waist assistance exoskeleton mechanism, five degrees of freedom are achieved, the fully matching between the freedom of motion of a robot and the freedom of motion of a person can be achieved, an exoskeleton thigh bar is in contact with the human led only when assisting, when the exoskeleton does not work, the exoskeleton thigh bar and the human leg are separated, and thus the wearing comfort of the waist assistance exoskeleton is improved.

The invention discloses a human leg detection method based on two-dimensional scanning lasers. The method comprises the steps that firstly, the indoor environment is scanned through a laser sensor, and scanning data are preprocessed; secondly, AdaBoost training is carried out according to collected data, in other words, data partitioning is carried out on several sets of collected scanning samples, and with the scanning samples as input of an algorithm, a strong classifier is obtained through training and learning on the basis of an established weak classifier; then, human leg gait detection is carried out, in other words, vertical edge detection is carried out on the preprocessed laser scanning data, and all subsets meeting human leg modes are detected in extracted vertical edges; finally, classification judgment is carried out on a detected SL model through the AdaBoost algorithm. According to the method, the purpose of rapid human leg detection is effectively achieved through the low-cost two-dimensional lasers, the method is simple, rapid and high in accuracy, and the defects that a common computer vision method is low in calculation speed and is interfered by images are overcome.

An ambulatory device adapted for attachment to the thigh and shin of a human leg. The ambulatory device includes a leg splint having an elongated thigh support and an elongated shin support extending outwardly from the thigh support at an obtuse angle. The thigh support is constructed of a rigid material and includes a front section adapted to flatly abut against the front of the thigh and spaced apart side sections adapted to abut against opposite sides of the human thigh. A fastener secures the thigh support to the thigh against movement while, similarly, a second fastener secures the shin support to the shin of the leg. An elongated leg has one end attached to and extending perpendicularly outwardly from the shin support while a foot plate is attached to the other end of the leg.

An apparatus that includes a composite fuselage and motion control system designed to protect the human leg from knee pain and muscular fatigue created by repetitive vertical movement or extended periods of squatting. Fuselage panels and frame encapsulate the leg and functionally integrate with hard shell boots to create a rigid exoskeleton structure that resists radial displacement of the knee or ankle. The fuselage ‘open clamshell’ leg harness utilizes wide composite body panels that disperse pressure across a large surface area, allowing the harness to provide body mass support and device securement without restriction of the body's circulatory system.

The invention provides a leg exoskeleton device for assisting old people in moving, and belongs to the technical field of intelligent equipment for assisting old people in daily life. The leg exoskeleton device comprises walking sticks, magnetic attracting mechanisms and a movement variable connecting rod mechanism; and the magnetic attracting mechanisms are matched with shank supporting rods of the movement variable connecting rod mechanism through magnets on the magnetic attracting mechanisms, and the walking sticks are placed under axillas of a user for assisting walking. By analyzing existing human leg movement, the approximate movement law of legs in the natural state is extracted; in the moving process, thighs take the roots of the thighs as the rotating centers, shanks take the roots of the shanks as the rotating centers, in the process that the thighs rotate towards the outer side, the shanks rotate towards the inner side slightly, and the angle is small; and according to the specific situations in different moving states, the movement variable connecting rod mechanism is designed, and thus in the moving process, it can be ensured that the moving state of leg exoskeletons is similar to the moving state of the normal human legs.

The invention discloses a gait recognition method, a device, equipment and a readable storage medium. The method comprises the following steps: acquiring detection data of a sensor which is arranged at a leg of a gait recognition target; according to the detection data, extracting the angle of the leg relative to the ground; and according to the angle, recognizing current gaits of the leg with thesensor. Triaxial posture angles and acceleration speeds of the leg can be detected by using the sensor, the angle of an abscissa axis of the leg relative to the ground can be extracted through detection data of an IMU (inertial measurement unit), then a current movement state of the human leg with the sensor can be judged, and furthermore, current gaits can be recognized. Compared with a gait recognition method depending on sole pressure, the gait recognition method is accurate in gait recognition based on angles.

The invention relates to a man-machine one-dimensional interaction force measurement sensor for a lower limb exoskeleton. The sensor comprises a fixed part, a movable part matched with the fixed partand a film pressure sensor, the fixed part is fixed on a thigh plate of the exoskeleton; the movable part is fixed on a thigh binding protector; when the human legs move relative to the thigh plate ofthe exoskeleton, the thin film pressure sensors fixed on the two sides of the fixed part convert pure pressure into comparison signals of the pressure measured by the two thin film pressure sensors,so that the man-machine one-dimensional interaction force measurement sensor can measure one-dimensional tension and pressure. Moreover, because the film pressure sensor is small in size and low in cost, the man-machine one-dimensional interaction force measurement sensor and the fixed part and the movable part which are matched with the film pressure sensor are simple in structure, so that the whole man-machine one-dimensional interaction force measurement sensor is small in size, convenient to integrate, easy to process and low in cost. The invention further provides a measurement method ofthe measurement sensor.

The invention discloses a postoperative rehabilitation training device for leg fracture. The device includes a main box body, and is characterized in that: a belt wheel cavity is arranged in the mainbox body, the front side of the belt wheel cavity is provided with a gear rack cavity, the front side of the gear rack cavity is provided with a front turning plate-belt wheel cavity extending to theupper right side to an opening upwards, and the front side of the front turning plate-belt wheel cavity is provided with a rear turning plate-belt wheel cavity extending to the upper right side to anopening upwards, and the inside of the front end wall of the belt wheel cavity is connected with a belt wheel shaft extending backwards into the belt wheel cavity and extending forwards to run throughthe rear turning plate-belt wheel cavity to reach the inside the front turning plate-wheel cavity in a rotary fit mode, the upper end surface of the main box body is fixedly connected with a back backup plate, and the right end surface of the back backup plate is fixedly connected with two front-rear symmetrical auxiliary training mechanisms, and upper leg support plates, lower leg support platesand foot support plates move harmoniously, the simulation of human leg bending and leg stretching actions is realized, so as to help patients with leg fracture to maximize the postoperative recoveryof body function, adjustable-type support plate movement ranges meet the movement requirements of different patients in different postoperative periods, and length-adjustable support plates are suitable for patients with different heights to a great extent,.

The invention relates to a biological coupling type hip joint assisting exoskeleton. The biological coupling type hip joint assisting exoskeleton comprises an exoskeleton body, a leg bandage assembly, a waist bandage and an electric control knapsack; the two sides of the lower portion of the exoskeleton body part are each provided with a parallel mechanism composed of three RRPS branched chains, the lower sides of the parallel mechanisms are bound to the thighs of the human body through the leg bandage assemblies, the upper sides of the parallel mechanisms are bound to the waist of the human body through the waist bandages, and the hip bone, the hip joint and the thigh bone of the human body between the leg bandage assembly and the waist bandage form a virtual constraint branch chain. The virtual constraint branch chain and the three RRPS branch chains form the parallel mechanism with three rotational degrees of freedom, the rotation center of the parallel mechanism is completely consistent with the center of the hip joint of the human body, and damage caused by inconsistent man-machine rotation centers is avoided; P pairs in the three branch chains are of a multi-stage telescopic structure, and the movement range of the human legs is enlarged; and the whole structure adopts a bionic design concept, so that a wearer can move more conveniently.

A portable, wearable, height adjustable equine leg rest that is removably supported on the lower leg of a person such as a farrier or veterinarian. A generally U-shaped padded hoof cradle receives and supports the lower leg of a horse for hoof work. A conforming elongate human leg support member is adapted for positioning along the lower leg of a person. A retaining device is provided for releasably retaining the leg support member on the person's leg. A height-adjustable extendable member provides a height adjustment for the hoof cradle. A ground contacting foot is affixed to the bottom end of the equine leg rest and transfers weight to the ground. The hoof cradle is mounted to the upper region of the leg rest, but extends to a side of the human leg support member such that the hoof cradle extends outwardly of the person's leg.

A method and system for continually monitoring oxygenation levels in real-time in compartments of an animal limb, such as in a human leg or a human thigh or a forearm, can be used to assist in the diagnosis of a compartment syndrome. The method and system can include one or more near infrared compartment sensors in which each sensor can be provided with a compartment alignment mechanism and a central scan depth marker so that each sensor may be precisely positioned over a compartment of a living organism. The method and system may comprise hardware or software (or both) may adjust one or more algorithms based on whether tissue being monitored was traumatized or is healthy. The method and system can also monitor the relationship between blood pressure and oxygenation levels and activate alarms based on predetermined conditions relating to the oxygenation levels or blood pressure or both.

The invention relates to the technical field of human body simulation, in particular to a pressure distribution measurement method established based on a medical simulation soft leg. The medical simulation soft leg has the same structure and size as the human leg, the simulated soft leg has an elastic touch sense, knee joints and ankle joints can move and can hover at any position, and the structure is similar to the actual human leg structure. The obtained pressure distribution change value is close to the pressure distribution change value measured by the legs of the human body. The experiment process becomes simple, the experiment result is more accurate. Meanwhile, a better effect is achieved for an experiment for measuring human leg pressure distribution, the obtained pressure distribution value accurate value is also larger than the pressure distribution value of the equal-proportion simulation wooden leg, and wide application prospects are achieved.

The invention discloses a novel human leg training device. The feet of a man tread on a wheel type sliding pedal and the man applies force forwards so that the wheel type sliding pedal can stretch outwards; after the feet are released, the wheel type sliding pedal is retracted through resetting elastic force of a torsional spring, and the muscle of the legs of the man is trained through the circulating action; the symptoms of paralysis, cramp, stiffness, inflexibility and the like of the legs caused when the man sits for a long time can be relieved.

The invention relates to a small-range domestic exerciser for leg muscles. The exerciser comprises a bouncing board installed on a base, wherein the bouncing board comprises a middle arc board and pedals connected to two ends of the arc board, and a binding tape is installed on each pedal; a sliding groove with two sealed ends is respectively arranged on the opposite sides of the lateral end of the upper surface of the base, a supporting shaft is installed in each sliding groove in a rolling manner, baffles are symmetrically installed on two longitudinal sides of each sliding groove, and a directional groove for installation of the shaft end of the supporting shaft is arranged on each baffle; and an internal spring is installed between each supporting shaft and the lower surface of the arc board, an external spring is installed between each supporting shaft and the lower surface of the pedal, and a V-like structure is formed by the internal spring and the external spring. The exerciser is very simple in structure, convenient to use and operate, good in exercise effect when used for exercising the human legs or even the whole body, low in price and suitable for promotion; and since the exercise range is relatively small, the exerciser is particularly suitable for old people.

The invention discloses a rehabilitation training method for simulating going upstairs and downstairs, belongs to the technical field of rehabilitation therapy of lower limb sport injuries, and aims at increasing the variety of rehabilitation training and improving the training efficiency and the environmental adaptability of a patient. According to the method, two mechanical legs and human legs are relatively fixed and the human legs are driven to move so as to simulate actions of the human legs during going upstairs and downstairs; the mechanical legs move based on a leg movement model; andwhile the human legs move, a back plate and a human body are relatively fixed with and the human body is driven to move up and down so as to simulate changes of the center of gravity position of the human body during going upstairs and downstairs. In order to realize the method, the invention further discloses a lower limb rehabilitation robot.

The invention discloses a limb rehabilitation trainer and belongs to the technical field of medical instrument and apparatuses. The limb rehabilitation trainer comprises a base, a crank sliding blockmechanism arranged below the base, a motor for driving the crank sliding block mechanism to act, a leg retaining ring which is rotationally connected to the crank sliding block mechanism as well as amassage wheel device for massaging human soles, wherein the motor is fixedly connected with the base; the leg retaining ring is used for driving a human leg part to act; the massage wheel device is connected with the base in a sliding manner. Compared with the prior art, the limb rehabilitation trainer disclosed by the invention has the characteristics of reasonable structural design, low cost, good stability and high efficiency; the limb rehabilitation trainer can replace repeated operation of physicians to slight hemiplegia patients during rehabilitation therapy, promotes recovery and improvement of limb movement functions of the patients under the condition of high efficiency and can be widely applied to places such as hospitals, rehabilitation centers, nursing homes and families; in addition, the contradiction between resource shortage of rehabilitation physicians and great demand of the slight hemiplegia patients can be solved and the rehabilitation therapy cost is reduced.

The active and passive lower limb exoskeleton robot comprises a basic support, at least one active driving joint and at least one passive flexible joint which are connected in sequence, and the basic support is used for supporting the waist and the back of a human body; the active driving joints are used for being detachably connected with human legs, so that the active driving joints simulate rotation of hip joints and/or knee joints to drive the human legs to move; the passive flexible joints are used for being detachably connected with the feet of the human body so that the passive flexible joints can push the feet of the human body to drive the ankle joints to rotate according to the ground state. According to the technical scheme, the basic support, the active driving joints and the flexible joints are arranged, so that the functions and adaptability of the active and passive lower limb exoskeleton robot are improved, and rotation and cooperative movement of all the joints of the human body can be better assisted; the structure better conforms to human body movement habits, and the use difficulty is reduced.

The invention discloses an integrated protection device, and relates to the technical field of human body protection. The device comprises a protective garment, a connector and a filtering and purifying apparatus. The protective garment comprises a hood that corresponds to the human head and has isolation effect, a jacket corresponding to a human torso, upper limbs corresponding to human arms, gloves corresponding to human hands, lower limbs corresponding to human legs and foot covers corresponding to human feet. The hood, the jacket, the upper limbs, the gloves, the lower limbs and the foot covers are connected into an integrated structure, which can sleeve the whole body of a human body and isolate the human body from the outside. The filtering and purifying apparatus is communicated with the corresponding human mouth and nose parts of the protective garment through the connector, and the filtering and purifying apparatus is used for conveying clean air into the protective garment. The protective garment adopts an integrated structure, is easy to wear, and effectively improves the protective effect; and the filtering and purifying apparatus can feed clean air into the protectivegarment, so that the protective garment is used in a positive pressure state, and the protective effect is further improved.

The invention relates to a leg physiotherapy system using a mobile platform, and the system comprises a real-time driving platform which is disposed below a physiotherapy execution mechanism and is used for driving the physiotherapy execution mechanism to move above a human leg so as to achieve the massage-type physiotherapy of different positions of the human leg; and the physiotherapy executingmechanism determines the transmitting area of the ultrasonic wave beams for massage type physiotherapy treatment based on the received on-site leg area, and the physiotherapy executing mechanism achieves massage type physiotherapy treatment on different positions of the human legs exposed out of the skin. The invention further relates to a leg physiotherapy method using the mobile platform. The leg physiotherapy system using the mobile platform and the method are compact in logic and convenient to use. Due to the fact that the transmitting area of the ultrasonic wave beams for massage type physical therapy treatment can be determined based on the area of the human legs to be subjected to physical therapy, the leg physical therapy mechanism can adapt to the human legs with different areas.