142 results about "Internal/external rotation" patented technology

The invention discloses a multifunctional exoskeleton robot. The robot comprises a basic support; the two groups of lower limb units are used for supporting legs; the lower limb units are connected with the basic support through hip driving units, and the hip driving units are used for driving the lower limb units to rotate around a vertical shaft so as to simulate internal and external rotation actions of hip joints. And when the lower limb unit rotates around the vertical shaft, the position of the rotating shaft is always unchanged, and the rotating shaft coincides with the internal and external rotation axis of the hip joint of the human body. The hip driving unit is used for connecting the lower limb unit and driving the lower limb unit to rotate so as to simulate the internal and external rotation action of the hip joint, the hip driving unit can enable the position of a rotating shaft of the lower limb unit to be unchanged all the time when the lower limb unit rotates around a vertical shaft, and the rotating shaft always coincides with the internal and external rotation axis of the hip joint of the human body. The exoskeleton robot can adjust the lower limb postures more naturally, and it is guaranteed that the motion of the human body during steering has better stability.

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

A rigid-flexible integrated multifunctional lower limb rehabilitation training device comprises a base (100), a flexion and extension support (200), a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsal extension and plantar flexion training mechanism (400), a hip and ankle joint inward and outward rotation autonomous training mechanism (500) and a hip joint adduction and abduction autonomous training mechanism (600). Mainly comprises a flexion and extension hand pull rope (310), a pedal plate (320) and a pedal pull rope (330); a support plate (410) and an elastic member (420); the internal and external rotation training device comprises a support frame (510), an internal and external rotation training arc-shaped track (520), an internal and external rotation roller (450) and an internal and external rotation training pull rope (530), the gear (620) is meshed with the adduction and abduction training arc-shaped track (610), and the adduction and abduction training pull rope (630) is arranged on the adduction and abduction training arc-shaped track (610). The lower limb core muscle group rehabilitation training device integrates multiple modes such as multiple joints, multiple degrees of freedom, passive, assisting and active as soon as possible in the lying position, can simulate gait training in the lying position, and effectively promotes early rehabilitation of a patient.

To provide a garment which prevents external rotation of a lower thigh, which tends to occur when walking, and makes toes straight.SOLUTION: A garment is formed of at least two belt-like strong tightening fabrics having strong tightening force and is worn in almost close contact with a wearer's surface. The strong tightening fabric has: a belt-like first strong tightening part which passes through the vicinity of the tibial tuberosity from a height slightly below the tibial tuberosity on the inside of the lower thigh, passes through the outer epicondyle of a thighbone, and extends from the back of the knee joint to the inner thigh portion above a knee joint space; and a belt-like second strong tightening part which is formed of a straight first portion which covers the fibula starting from a lower part in a longitudinal direction of the fibula up to the fibula head and extends to the outer epicondyle of the thighbone and a straight second portion which is changed into a prescribed angle at the outer epicondyle of the thighbone and extends from the outer epicondyle of the thighbone to the inner thigh portion above the knee joint space. The first strong tightening part and the second strong tightening part are intersected at the outer epicondyle of the thighbone.SELECTED DRAWING: Figure 1

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 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 present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

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 provides a hip joint angle measuring and sensing device which comprises a back plate, a connecting arm, a rocker arm, an adduction / abduction measuring unit, a buckling / stretching measuring unit and an inward rotation / outward rotation measuring unit, one end of the connecting arm is connected with the back plate through the adduction / abduction measuring unit, and the other end of the connecting arm is connected with the rocker arm through the buckling / stretching measuring unit. The other end of the rocker arm is connected with the internal rotation / external rotation measuring unit, and the internal contraction / external expansion measuring unit and the buckling / stretching measuring unit are each internally provided with a measuring mechanism. Based on the two-stage differential lever principle, a rigid body replacement method is adopted, hip joint three-degree-of-freedom measurement units are configured through flexible hinges, and a hip joint angle measurement sensor is formed. The arrangement of the optical fiber is benefited from the two-stage displacement scaling capability of the two-stage lever mechanism, and the flexible structure can realize a large displacement scaling ratio adjusting range. And the optical fiber of each sensing unit is always stretched in the measurement process by adjusting the structural parameters of the two-stage lever flexible structure.

The invention relates to the field of medical instruments, in particular to an auxiliary device and method for determining a femoral prosthesis rotation force line in total knee arthroplasty, the auxiliary device comprises an auxiliary device body, and the auxiliary device body comprises a femoral far-end extorsion angle adjusting device and a buckling gap angle measuring device; a positioning needle mounting hole a and a positioning needle mounting hole c are formed in one end of the distal femur external rotation angle adjusting device, and a positioning needle mounting hole b and a positioning needle mounting hole d are formed in the other corresponding end of the distal femur external rotation angle adjusting device; the buckling gap angle measuring device comprises a buckling gap measuring head, and a handle is further installed on the buckling gap measuring head in a matched mode. Doctors are assisted to improve operation precision and operation efficiency, and errors and patient wounds are reduced; meanwhile, the invention further provides an auxiliary method which adopts a method of combining a measurement osteotomy technology and a gap balance technology to assist in determining a femoral prosthesis rotation force line. Good rotating force of the femoral prosthesis is guaranteed, good soft tissue balance is obtained, the treatment effect is good, and practicability is high.

The utility model belongs to the field of medical instruments, and discloses an upper limb internal and external rotation training device and an upper limb rehabilitation training system.The upper limb internal and external rotation training device comprises a base, a power output assembly, a torque sensor, an arm support assembly and a grip strength detection handle; the power output assembly is arranged on the base; the torque sensor is fixedly connected with the output end of the power output assembly. The arm support assembly is fixedly connected with the output end of the power output assembly, and the power output assembly drives the arm support assembly to rotate; the grip strength detection handle is fixedly arranged relative to the arm support assembly. By arranging the power output assembly, the arm support assembly and the grip strength detection handle, internal and external rotation training can be carried out on the upper limbs, comprehensive, safe and effective rehabilitation training can be carried out on the forearms, finger joints and other fine joints of a patient, and the training effect is improved; in addition, through multi-dimensional feedback of torque, force and the like, the autonomous participation willingness of the patient is effectively improved, the training effectiveness is enhanced, and manpower resources are saved to a certain extent.

The utility model discloses a four-degree-of-freedom mechanical arm structure which is installed on a rotating shaft of a humanoid robot and comprises a forward flexion / backward extension module, an abduction / adduction module, an inward / outward rotation module, an elbow joint module and a small arm module, and the mass center of each module is located on the rotating shaft. The forward bending / backward stretching module is used for achieving the abduction / adduction freedom degree of the mechanical arm, the abduction / adduction module is used for achieving the abduction / adduction freedom degree of the mechanical arm, the inward / outward rotation module is used for achieving the inward / outward rotation freedom degree of the mechanical arm, and the elbow joint module is used for achieving the elbow joint freedom degree of the mechanical arm. The rotation freedom degree of the humanoid robot upper limb has low rotational inertia, the motor load is greatly reduced, the humanoid robot upper limb has high stability under high dynamic impact, and the anthropomorphism and overall coordination of the humanoid robot upper limb are greatly improved.

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.

An orthopedic device is provided for treating complications of the hip and has means for trochanter compression, pelvis support, lumbar compression, variously directed straps, and thigh support. The trochanter compression and an internal / external rotation strap provide pain relief through compression and skin protection, unloading of joints through compression and sealing, and unloading by load transfer. Means for adjustably dosing of straps enables pain management and ease of use.

The invention relates to the technical field of medical auxiliary instruments, and particularly discloses a femoral external rotation osteotomy positioning device and a use method thereof. The femoral external rotation osteotomy positioning device comprises a mounting buckle, a positioning sheet and a plurality of positioning columns, the mounting buckle and the positioning column are respectively arranged close to two ends of the positioning sheet; the movable ends of the positioning columns extend towards the lower end face of the positioning piece, and the plane defined by connecting lines of the movable ends of all the positioning columns is parallel to the plane where the positioning piece is located. According to the thighbone external rotation osteotomy positioning device, the mounting buckle can be mounted on external rotation osteotomy guide plates provided by different prosthesis manufacturers and is matched with the external rotation osteotomy guide plates to adjust the external rotation position, so that the external rotation osteotomy position is accurately determined, the thighbone far end can be matched with a prosthesis after external rotation osteotomy, and the thighbone far end can be accurately positioned. Therefore, the good flexion gap and patella trajectory after total knee replacement are ensured, the knee joint function is recovered, and the service life of the prosthesis is prolonged.

The invention discloses an intra-operative adjustable knee joint operation guiding device and a using method thereof, and relates to the technical field of medical instruments, the intra-operative adjustable knee joint operation guiding device comprises a tibia guide plate, a thighbone front side guide plate, a thighbone far end guide plate, a four-in-one rotary adjusting plate, a metal handle and a four-in-one osteotomy plate, the swing saw performs osteotomy on the femur through a four-in-one osteotomy groove in the four-in-one osteotomy plate; the guiding device can achieve real-time adjustment in the thighbone ectropion angle operation, real-time adjustment in the thighbone ectropion angle operation is achieved, and flexion and extension gap balance based on ligament judgment of an operator is further achieved.

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 utility model is applicable to the technical field of rehabilitation equipment, and provides upper limb exoskeleton rehabilitation training equipment which comprises a movable support, a bearing is arranged on a bearing support frame, a gear ring is fixedly mounted on the front side of an inner ring of the bearing, a mounting seat is arranged on the gear ring, a manipulator extending forwards is arranged on the mounting seat, and the upper limb exoskeleton rehabilitation training equipment is arranged on the manipulator. And the manipulator is used for driving finger joints to move. According to the upper limb exoskeleton rehabilitation training equipment, the palm of a patient is fixed to the mechanical arm, the mechanical arm drives the hand to conduct grabbing, bending and stretching exercise, the gear ring rotates to drive the wrist to conduct internal and external rotation exercise, the moving plate drives the whole to slide front and back, bending and stretching actions of the whole arm are simulated, and different action exercises are conducted on the palm, the wrist and multiple parts of the arm; rehabilitation exercise actions of the whole upper limbs can be achieved on one device, one or two exercise functions can be selected to be used, different devices do not need to be replaced for exercise and training, the functions are more complete, and use is more convenient.

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.

The invention relates to a knee joint static progressive drafting trainer with a degree-of-freedom displacement detection function. The knee joint static progressive drafting trainer comprises a driving stepping motor, a thigh binding plate, a flexion and extension movement mechanism, a front-back and lateral movement module, an internal and external rotation movement module, a separation movement module, an IMU inertial sensor and a control unit. The flexion and extension movement mechanism is used for simulating flexion and extension movement of knee joints; the front-back and lateral movement module is used for simulating two additional degrees of freedom of front-back and lateral movement of the knee joint; the internal and external rotation motion module is used for simulating internal and external rotation motion of the knee joint; the separation movement module is used for simulating separation movement of the tibia of the knee joint relative to the femur; iMU inertial sensors are arranged on the front-back and lateral movement module, the internal and external rotation movement module and the separation movement module and are used for accurately measuring the movement displacement of the measured degree of freedom; and the control unit is used for acquiring measurement data of the IMU inertial sensor and uploading the measurement data to the personal host, so that acquisition and recording of degree-of-freedom data are realized.

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 supporting devices, and discloses a pipe truss installation temporary supporting device which comprises a fixed bottom plate and further comprises a first one-way screw rod, a sliding rod, a supporting rod, a hinge seat and a positioning mechanism, the positioning mechanism is arranged at the top of the fixed bottom plate, and the first one-way screw rod is arranged at the top of the fixed bottom plate. The outer portion of the first one-way screw is in threaded connection with a sliding rod, a supporting rod is rotationally connected into the sliding rod, the outer portion of the supporting rod is rotationally connected with a hinge seat, and the first one-way screw adjusts the inclination angle of the supporting rod through the sliding rod. Correspondingly, the height of the pipe truss needs to be adjusted, a first outer hexagonal rotating rod is rotated through a tool to drive a first one-way screw rod to rotate, then the angle of a supporting rod can be changed, the position of a second connecting frame is supported, the pipe truss is lifted to the proper height, the pipe truss does not need to be taken down to be adjusted, adjustment is more convenient, and the practicability is high. And positioning and lifting are stable.

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 relates to the field of tail end driving type lower limb rehabilitation robots, and discloses a mechanical branch chain suitable for a lower limb rehabilitation system, the mechanical branch chain comprises a moving pair and four rotating pairs which are connected in sequence, and the mechanical branch chain is connected with a shank of a human body through a protector assembly to assist human joints in rehabilitation exercise. The mechanical branch chains can assist the hip joint of the human body in adduction / abduction and flexion / extension movement and limit the inward rotation / outward rotation movement of the hip joint; the flexion / extension movement of the knee joint of the human body can be realized. The invention further provides a lower limb rehabilitation system which comprises a machine frame and the mechanical branch chain, and lateral lane changing walking of the human body in the rehabilitation training process is achieved. The invention further provides a lower limb rehabilitation robot which comprises a running machine and the lower limb rehabilitation system, so that motions such as dorsiflexion / plantar flexion, introversion / extroversion, adduction / abduction and the like of ankle joints are controlled by the mechanical branch chains connected with the legs.

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 present invention is a four-degree-of-freedom knee joint rehabilitation parallel mechanism, comprising a static platform, a dynamic platform, a first RRRRR branch chain, a second RRRRR branch chain, a UPS branch chain, and an input servo motor; the second RRRRR branch chain and the first RRRRR branch chain are distributed on the left and right sides of the front ends of the static platform and the dynamic platform, and the second RRRRR branch chain and the first RRRRR branch chain are both provided with an input servo motor; two UPS branches are symmetrically distributed on the left and right sides of the rear ends of the static platform and the dynamic platform; the four branches jointly realize two rotational degrees of freedom and two translational degrees of freedom of the dynamic platform relative to the static platform, the two translational degrees of freedom being used to fit the movement of the knee tibia relative to the femur; the two rotational degrees of freedom being used to fit the rotation of the knee tibia relative to the femur around a rotation axis perpendicular to the human sagittal plane and the external rotation movement of the knee tibia relative to the femur. This mechanism can accurately fit the variable axis movement of the human knee joint, reduce the human-computer interaction force generated during rehabilitation training, and improve comfort.