62 results about "Internal/external rotation" patented technology

The invention discloses a central driving type three-degree-of-freedom humanoid robot shoulder joint mechanism, and belongs to the technical field of humanoid robots. The mechanism comprises a shoulder flexion and extension module, a shoulder adduction and abduction module and a shoulder inward and outward rotation module, output shafts of the three modules intersect at the same center point in space, and highly-bionic three-degree-of-freedom movement is achieved. Wherein the shoulder flexion and extension module drives a gear pair to drive a first transmission shaft to rotate through a first driving motor; the shoulder adduction and abduction module drives a gear pair and a bevel gear pair through a second driving motor to drive a circular base rack to move; and the shoulder internal and external rotation module is directly driven by a third driving motor to rotate. The rotary inertia of a moving part is remarkably reduced, the dynamic stability and the moving precision are improved, the problems that a traditional shoulder joint is large in inertia and insufficient in freedom degree are effectively solved, high flexibility and high load capacity are achieved, and the complex action requirements of the humanoid robot are met.

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 application discloses an ankle joint prosthesis, which comprises a tibia component, a pad and a talus component connected in sequence, and a plurality of bionic ligaments; the tibia component comprises a first intramedullary canal handle and a platform connected to the lower end of the first intramedullary canal handle; the pad comprises a pad body, and the upper surface of the pad body is provided with a cylindrical boss; the talus component comprises a second intramedullary canal handle and a connecting piece connected to the upper end of the second intramedullary canal handle; and the bionic ligaments are connected to the pad and the talus component respectively. The ankle joint prosthesis can completely replace the bone and cartilage of the ankle joint surface, thereby overcoming the problem that the cartilage surface cannot be repaired by an ankle arthroscopy surgery. The ankle joint prosthesis is used for replacing the original damaged ankle joint by using metal and polymer components, so that the discomfort symptom is relieved and the joint activity ability is reserved, and the ankle joint prosthesis is a full freedom ankle joint prosthesis which can completely reserve six activity modes of flexion, extension, inversion, eversion, internal rotation and external rotation.

The invention discloses an internal expanding and external rotating combined extrusion forming method and device for multiple inner ring ribs or bosses of a cylindrical part. The device comprises an internal expanding mechanism, an axial loading mechanism, a radial loading mechanism and a rotating loading mechanism. The internal expanding mechanism comprises a sectioning module consisting of first sectioning molds and second sectioning molds which are alternately arranged; the first split die is provided with an inner inclined surface matched with the inclined surface of the wedge block and a side inclined surface matched with the plane of the second split die; the bottom of the sectioning module is in sliding fit with the T-shaped groove of the base through the T-shaped hanging table. The method comprises the steps that an axial loading mechanism is started to drive a wedge block to move downwards, so that a sectioning module is synchronously expanded in the radial direction, the inner wall of a blank is extruded, and an inner ring rib or a boss is preliminarily formed; and the rotary loading mechanism is started to drive the internal expanding mechanism and the blank to rotate, meanwhile, the radial loading mechanism is started to drive the conical roller to continuously roll the outer wall of the blank, and final forming is completed.

The invention discloses a hip joint replacement operation leg supporting instrument which is placed on an operating bed during use and sequentially comprises a leg fixing support, an upper universal joint, a telescopic supporting rod, a lower universal joint and a support structure from top to bottom. The leg fixing support is used for at least supporting the thigh part, close to the knee joint, of the affected side leg; the telescopic supporting rod telescopically moves and is used for completing inward folding and outward unfolding actions, and the support structure forms a containing space for containing lower legs and is arranged on a bed body when used; the upper universal joint independently rotates to complete the actions of internal rotation and external rotation; and the lower universal joint and the upper universal joint are matched to rotate so as to complete buckling and stretching actions. The two universal joints are matched with one telescopic supporting rod to complete the actions of buckling and stretching, adduction and abduction, and internal rotation and external rotation; and when the telescopic supporting rod is in the locking state, the supporting effect is achieved, and when the two universal joints rotate independently or rotate together, an operator only needs to easily control the joints to rotate.

The application provides a bionic total ankle joint replacement prosthesis, and belongs to the technical field of medical devices. The bionic total ankle joint replacement prosthesis comprises a talus prosthesis, a tibia prosthesis and a sliding liner arranged between the talus prosthesis and the tibia prosthesis, and the tibia prosthesis is provided with a second reinforcing component fixed with the tibia and the sliding liner. The top of the tibia prosthesis is provided with a curved groove. The top of the talus prosthesis is movably connected with the bottom of the sliding liner, and the talus prosthesis is fixed on the talus. The bionic total ankle joint replacement prosthesis simulates the natural structure of the human ankle joint, helps to restore the normal movement function of the joint, makes the joint movement more flexible and natural, forms multidirectional movement in front and back, left and right and other directions, realizes the functions of varus, valgus, internal rotation, external rotation and movement in other directions of the whole bionic total ankle joint replacement prosthesis, improves the movement range of the whole bionic total ankle joint replacement prosthesis, forms multidirectional bionic functions, and meets the diversified needs of patients in daily life.

The application discloses a rigid-flexible coupling ankle joint rehabilitation robot, which comprises a fixed platform, a movable platform, a first supporting chain, a second supporting chain and a third supporting chain; the three supporting chains are connected with the fixed platform and the movable platform, the first supporting chain and the second supporting chain are the same in structure and symmetrically distributed on the two sides of the third supporting chain; each supporting chain comprises a rigid-flexible coupling module, the rigid-flexible coupling module comprises four connecting rods and a torsional spring; the four connecting rods are rotationally connected in sequence to form a parallelogram, and a torsional spring is arranged at the connecting position of adjacent two connecting rods; the driving motors of the three supporting chains control the posture of the movable platform, realize the dorsiflexion / planter flexion, the inversion / eversion and the internal / external rotation of the ankle joint, the rigid-flexible coupling modules of the three supporting chains adjust the position of a movable ball center through the torsional spring, the movable ball center moves on a spherical surface with the length of a talus as a radius, the position of a subtalar joint of a human body is fitted, the motion coupling between a tibiotalar joint and the subtalar joint is realized, the robot can conform to different rehabilitation trajectories of different patients, the ankle joint rehabilitation efficiency is improved, and secondary injury is reduced.

A joint rotational exercise and stretching tool for strengthening muscles and connective tissues, particularly for shoulder internal and external rotation, with further applicability to the wrist, elbow, and hip. The device includes a mount, torque-generating mechanism, and ergonomic lever arm configured to align with anatomical joint axes. It enables concentric, eccentric, isometric, and passive modes of use. Unlike traditional tools that provide linear resistance or partial-range torque, this invention delivers continuous rotational resistance across the full arc of motion. Configurable mounting and ergonomic adjustments allow use across various joints, limb lengths, and exercise positions. Suitable for rehabilitation, injury prevention, and performance training in clinical, home, or athletic environments.

The utility model relates to the technical field of rehabilitation medical instruments, in particular to a shoulder joint body side extorsion movement assist device which comprises a first fixing part, a second fixing part and a third fixing part. The first fixing piece is fixedly arranged; the second fixing piece is arranged on the upper arm of the patient and connected with the first fixing piece, the first fixing piece is used for limiting the second fixing piece to move in the direction away from the first fixing piece, and the second fixing piece can rotate relative to the first fixing piece; the third fixing part is arranged on the forearm of the patient, the third fixing part is perpendicular to the second fixing part so that the forearm of the patient can be kept perpendicular to the upper arm, and the third fixing part rotates around the axial direction of the second fixing part so that the forearm of the patient can rotate with the axial direction of the upper arm as the rotation center. According to the rehabilitation training device, through connection of the first fixing piece and the second fixing piece, the upper arms of the patient are prevented from being away from the trunk, the second fixing piece and the third fixing piece are perpendicularly arranged, the elbows are prevented from being gradually straightened when the shoulders rotate outwards, and the rehabilitation training effect of the patient is improved.

The invention relates to the technical field of fuse safety systems, in particular to an internal and external rotation reversible security mechanism which comprises an external rotation body and an internal rotation body. The outer rotating body comprises a barrel, a pipe body is connected to the center of the lower surface of the barrel in a penetrating mode, a detonating hole I is formed in the bottom of the outer surface of the pipe body in a penetrating mode, a pair of arc-shaped guide grooves is formed in the inner bottom wall of the barrel, and the arc-shaped guide grooves are symmetrically distributed by 180 degrees along the axial center plane of the barrel; the inner rotating body is in a stepped shaft shape and comprises a large-diameter section and a small-diameter section coaxially connected to the lower surface of the large-diameter section, a pair of arc-shaped sliding blocks matched with the arc-shaped guide grooves are fixed to the lower surface of the large-diameter section, a hollow shaft is fixed to the center of the upper surface of the large-diameter section, and a motor is connected to the top end of the hollow shaft. A detonating hole II is formed in the bottom of the side face of the small-diameter section in a penetrating mode. The problems that due to one-way irreversibility, an existing fuse security mechanism is high in self-explosion or mistaken explosion risk, and significant threats are caused to personnel safety and equipment reutilization are solved.

The invention discloses a method and a system for judging the stability of an ankle joint. The system comprises an image acquisition module, a network construction module, a skeleton edge point positioning module and a joint stability judgment module, the image acquisition module performs frame extraction and denoising on the ankle ultrasonic video, and marks tibia and fibula edge points; the network construction module generates a high-precision target positioning network; the skeleton edge point positioning module is used for positioning skeleton edge points in real time through the trained network; the joint stability judgment module is used for sequentially calculating the bone gaps when the ankle joints of the patient face the outer side and the neutral position and calculating the final ratio, and when the extorsion position distance is obviously larger than the neutral position, namely, the stretch ratio is larger than 1, it is considered that the joints are unstable. According to the invention, joint problems can be quickly responded during operation, and doctors can be assisted in diagnosis.

The invention discloses a soft clothing device for shoulder joint full-degree-of-freedom auxiliary movement based on SMA driving, relates to the technical field of shoulder rehabilitation treatment, and solves the problems that a shoulder rehabilitation exoskeleton robot is heavy in overall system, large in size, poor in portability and likely to cause secondary injury to a patient in the use process. The chest side and the back side of a wearer are each provided with an inner-layer waistcoat in a wearing mode, and the six SMA driving units of each driving device are used for driving the six fixing ring buckles so as to drive shoulder joints on the left side or the right side of the human body to move. According to the invention, the extension and contraction of the SMA spring are controlled, so that the shoulder joint of a patient can be effectively driven to move in three degrees of freedom through the extension and contraction of the PE wire, and the patient with shoulder injury can be effectively driven to complete the three-degree-of-freedom movement of contraction and expansion, flexion and extension and internal and external rotation, so that the disease of the patient with shoulder dyskinesia can be effectively relieved.

The present application relates to the field of foot and ankle injury rehabilitation apparatus, especially to a portable resistance training device for foot and ankle injury rehabilitation, and provides a portable resistance training device for foot and ankle injury rehabilitation which can realize multi-directional resistance training of ankle dorsiflexion, plantar flexion, internal rotation and external rotation, and is convenient to carry and flexible to use. The portable resistance training device for foot and ankle injury rehabilitation comprises a Velcro hook surface arranged on the left front side of a fixing belt and a Velcro loop surface arranged on the right rear side of the fixing belt, etc. The present application hangs the hanging buckle on the training piece to the hanging ring, and then fixes the training piece to the joint of the five toes of the user. When resistance training is performed, the hanging buckle on the training piece is hung to the hanging ring at different positions, and then the winding path of the training piece is changed to realize multi-directional resistance training, so that the multi-directional resistance training of ankle dorsiflexion, plantar flexion, internal rotation and external rotation can be realized, and the portable resistance training device for foot and ankle injury rehabilitation is convenient to carry and flexible to use.

The application belongs to the technical field of civil engineering damping structure, and particularly discloses a self-resetting bionic steel hinge assembled RC frame structure and an assembling method thereof, the RC frame structure comprising a prefabricated column layer, a prefabricated beam, a bionic column hinge, a bionic beam hinge and a prestressed rod group, the bionic column hinge comprising a thigh boot and a shank boot, and the bionic beam hinge comprising a thigh connecting piece and a shank connecting piece. The bionic column hinge and the bionic beam hinge are used as connecting nodes between column bodies and between beams and columns, the bionic column hinge and the bionic beam hinge can bear bending moment and have good rotating capacity according to the characteristics of a plastic hinge, the thigh connecting piece, the shank connecting piece and the second energy dissipation plate in the bionic beam hinge respectively imitate the femur, the tibia and the ligament of a knee joint, and play the roles of supporting body weight, absorbing impact, keeping balance and providing flexibility, the thigh boot and the shank boot of the bionic column hinge simulate the femur and the tibia of a knee joint, and form a rotating mechanism cooperating with the ligament simulated by the first energy dissipation plate to perform stretching, flexing, internal and external rotation and locking movements.

A shoulder joint internal and external rotation angle measuring device relates to the technical field of medical instruments and comprises a base, the top of the base is provided with a first telescopic rod, the telescopic end of the first telescopic rod is fixedly provided with a protractor, the circle center of the protractor is rotatably connected with a pointer through a pin shaft, and the end of the pointer points to the scale position on the protractor. The first telescopic rod is rotatably connected with a hand fixing unit, the hand fixing unit is connected with the end portion of the pin shaft through a third telescopic rod, and the telescopic end portion of the third telescopic rod is hinged to the end portion of the pin shaft. And the internal and external rotation angle change of the shoulder joint is amplified, so that the angle can be measured more accurately, and individualized and accurate medical treatment advocated at present is met.

The application discloses a child tibia tumor type rotary hinge knee joint prosthesis and belongs to the medical instrument field, which comprises: a femur end prosthesis, a tibia pad and a bionic joint connecting piece. The femur end prosthesis comprises a positioning plate body, the positioning plate body is provided with a connecting part and a butt joint rod, the tibia pad is detachably connected with the positioning plate body and is provided with a concave arc joint surface, the bionic joint connecting piece is provided with a butt joint hole and a rotating pin, the butt joint hole is movably connected with the butt joint rod through a ligament bionic mechanism, the bionic joint connecting piece is allowed to rotate around the butt joint rod and is allowed to reciprocate along the axis of the butt joint rod within a set distance range, and the ligament bionic mechanism generates an elastic restoring force when the bionic joint connecting piece and the butt joint rod relatively displace, the tibia end prosthesis is provided with a connecting hole and is rotatably connected with the rotating pin through the connecting hole, and the tibia end prosthesis is further provided with a convex arc joint surface. Through the above arrangement, the tibia end prosthesis is allowed to rotate around the butt joint rod and the rotating pin respectively, so that the internal and external rotation actions and the flexion action of the lower leg are realized.

The invention discloses an ankle joint rehabilitation device, and belongs to the field of rehabilitation medical instruments. Comprising a support, a three-axis linkage driving assembly, an ankle joint precise positioning assembly, a plantar pressure monitoring and regulating assembly, a strength-adjustable massage and muscle force monitoring assembly and a cold and hot compress assembly. The intensity-adjustable massage and muscle force monitoring assembly is used for fitting the lower limb position of the patient to carry out lower limb muscle massage and muscle force measurement; the three-axis linkage driving assembly is used for simulating the ankle joint motion state in the motion process and comprises a plantar flexion / dorsal flexion motion driving unit, an inward rotation / outward rotation motion unit and a pair of inward turning / outward turning motion units. The accurate ankle joint positioning assembly is used for bearing the pelma of the patient, positioning the center of the ankle joint of the patient and assisting the posture adjustment of the ankle joint; the plantar pressure monitoring and regulating assembly is integrated on the ankle joint precise positioning assembly; the cold and hot compress assembly is detachably installed on the three-axis linkage driving assembly and attached to the rear side of the ankle joint of the patient.

The utility model belongs to the field of basic research of oral implant restoration, and particularly relates to a titanium temporary abutment with internal and external rotation stopping structures, which comprises a conical abutment connecting part and a dental crown connecting part, the conical abutment connecting part is of a connecting hole structure with an annular inner wall, and the inner wall of the conical abutment connecting part is provided with the internal rotation stopping structure. The titanium temporary abutment and the conical abutment connected to the conical abutment connecting part form inner side rotation stopping connection, so that the dental crown and the titanium temporary abutment are prevented from rotating relatively, and the dental crown is prevented from loosening and falling off. The dental crown connecting part is of a connecting shaft structure with an annular outer wall, and the outer wall of the dental crown connecting part is provided with an outer rotation stopping structure which is used for forming outer side rotation stopping connection between the titanium temporary abutment and a dental crown connected to the dental crown connecting part to prevent relative rotation between the titanium temporary abutment and the conical abutment; therefore, the threaded connection between the temporary titanium abutment and the conical abutment is prevented from loosening.

The utility model relates to medical rehabilitation appliance technical field discloses a shoulder joint abduction external rotation support, including support main part, the end face upper portion of support main part rear end is the first circular surface that the radius is R1 is protruding upwards, the end face upper portion of support main body front end is the second circular surface that the radius is R2 is protruding upwards, R2 is greater than R1, the upper surface of support main body is the continuous circular surface of smooth connection support main body front end and rear end, and the continuous circular surface forms the support curved surface that gradually inclines upwards from rear end to front end, and the upper portion of support surface forms the support space of supporting forearm, and under the synchronous action of support curved surface and support platform, the upper arm and forearm of user are kept in the set abduction external rotation angle, and the setting of upper surface is the continuous curved surface and has also improved the comfort of the upper arm of user and the contact part of support main body, and the backstop plate set up in the rear end of support platform can avoid the shoulder joint backward escape when user changes the posture and lead to the change of external rotation angle.

Knee joint laxity testing apparatus includes a thigh cradle assembly, a shank cradle assembly, and a heel cradle assembly. The apparatus is configured to measure knee laxity in three planes of motion: anterior-posterior translations; varus-valgus rotations; and internal-external rotations. The thigh cradle assembly, shank cradle assembly, and heel cradle assembly are mounted on a common base. A thigh fixation system is attached to the thigh cradle assembly both at the proximal and distal ends to firmly stabilize the thigh in the thigh cradle. The patella pad and distal thigh fixation system are mounted on a U-bar assembly. The distal thigh fixation system includes two condyle pad adjustment arms upon which a respective condyle pad is mounted, and a patella pad mounted to a linear track on an underside of the U-bar assembly.

The application discloses a kind of measurement methods of knee joint tibia static front and rear displacement, belong to medical image technology field, acquisition patient MRI image data: using MRI equipment to scan patient knee joint, obtain MRI image data;Patient takes supine position, and places a custom pillow below popliteal fossa, to support knee joint in relaxed state in the posture of extension, external rotation 15 °;MRI scanning obtains magnetic resonance image data, including sagittal position, coronal position and axial position sequence.The turning point of Blumensaat line to femoral condyle and the relative position of tibial platform are used in the application to evaluate tibial static front and rear displacement.In MRI sagittal plane, the turning point divides tibial platform into two segments.The ratio of the length of the front segment of tibial platform to the length of tibial platform is defined as BT index.Using this method can more simply and effectively characterize and quantify knee joint tibial static front and rear displacement, to provide a more accurate measuring means for clinical work and related research.

The present application relates to the technical fields of lower limb biomechanics analysis, and especially relates to a model system suitable for lower limb biomechanics analysis and a method thereof.The technical scheme comprises the following modules: an input module for inputting bone parameters, soft tissue parameters and injury models; a calculation module for performing calculation analysis; and an output module for outputting analysis results; wherein the input module comprises a bone parameter module for establishing a bone model based on collected lower limb CT images, and performing parameterized modeling on a lower limb three-dimensional model.The present application provides a fast and efficient analysis system for lower limb biomechanics analysis, and can quickly, accurately and directly establish a lower limb model according to CT and MRI data of a subject and required parameters, perform finite element analysis, and obtain the influence of different degrees of varus, valgus, internal rotation, external rotation, meniscus tear injury, ligament injury, cartilage injury and the like on knee joint biomechanics, which has great significance for the development of lower limb biomechanics.

The present patent document relates to automatic equipment for performing orthopedic and physiotherapeutic procedures for passive motion of the knee joint (patellofemoral and tibiofemoral), incorporating three motion units: knee flexion and extension motion unit; internal and external rotation motion unit of the knee; and a multidirectional patellar mobilization unit (lower-upper and medial-lateral), an external support for multidirectional patellar mobilizer and a control unit. The flexion and extension motion unit is comprised of a mechanical and electronic structure on which the leg rests during use thereof and has at least two supports for supporting the leg located in the back region of the thigh and in the back region of the leg (calf); the internal and external rotation motion unit of the knee is comprised of a structure with a support for the leg and a support for the foot region (sole region) coupled to a knee flexion and extension motion unit; and the multidirectional patellar mobilization unit is comprised of a receptacle on which a retainer and an actuating element are disposed.

The invention provides a wearable ultrasonic and robot-assisted fused ankle instability assessment method and rehabilitation system, and the method comprises the steps: 1, enabling an ankle rehabilitation robot to drive a tester to do dorsal flexion, introversion, plantar flexion and introversion, and dorsal flexion and extroversion motions, and obtaining an ankle motion curve; 2, arranging a wearable ultrasonic device on a tester, and collecting muscle change data of muscle parts of the tester through the wearable ultrasonic device; 3, extracting ankle motion stability evaluation index features, wherein the features specifically comprise an overall offset condition index MD for measuring a track, a fluctuation amplitude RMSD for reflecting deviation and a unified measurement standard NRMSD; 4, extracting muscle strength stability evaluation index characteristics; 5, performing rehabilitation grade evaluation according to the ankle movement stability evaluation index characteristics; and 6, performing rehabilitation grade evaluation according to the muscle strength stability evaluation index characteristics. By applying the technical scheme, the instability of the ankle joint can be evaluated more objectively, comprehensively and accurately.

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 invention provides a man-machine compatible elbow joint rehabilitation robot, and relates to the technical field of medical instruments. The human-machine compatible elbow joint rehabilitation robot comprises an elbow joint flexion / extension active movement unit, an elbow joint inward rotation / outward rotation active movement unit, an elbow joint passive movement unit and a hand passive movement unit. Some passive motion pairs are additionally arranged at the man-machine connecting position, and the man-machine compatibility requirement can be met without strict alignment of machine joints and human body joints through motion of the passive free pairs. The series elastic driver is added between the driving motor and the load, the elastic characteristic of the tendon is simulated through the series elastic driver to improve the energy efficiency, in addition, part of energy is stored and then released slowly when the motor is started and stopped and is accidentally impacted, the time of the whole process that force generated by the motor acts on a patient is prolonged, and the energy efficiency is improved. The effect of reducing impact on the body of the patient is achieved, secondary injury to the patient when the machine is started and stopped is effectively avoided, and discomfort of the patient is reduced.