14 results about "Joint Flexibility" patented technology

The application discloses a large-angle variable stiffness flexible joint, which is composed of a plurality of flexible joint modules stacked together; the flexible joint module comprises a lower chassis, a spiral winding type driver, an elastic main bone and an upper chassis, one end of the elastic main bone is connected with the upper chassis, and the other end is connected with the lower chassis; N spiral winding type drivers are connected between the upper chassis and the lower chassis, and N is greater than or equal to 3; the lower chassis is provided with a buckle mounting groove; the upper chassis is provided with a buckle; the spiral winding type driver is provided with a metal wire; the metal wire is connected with a control system; the elastic main bone is of a space groove type structure; the space groove type structure is provided with one or more symmetrical notches on the elastic main bone; and the stiffness of the elastic main bone is adjusted by adjusting three parameters of a groove height H, a groove inner diameter D and a groove spacing AH. The application adopts modular design and the elastic main bone is adjustable, and large-angle bending and variable stiffness of the flexible joint are realized.

The utility model relates to the technical field of medical instruments, in particular to an ankle pump exercise training device which comprises a pedal plate, adjusting shafts are movably installed at the left end and the right end of the pedal plate in a penetrating mode, a connecting assembly is jointly movably installed between the two adjusting shafts in a penetrating mode, and an elastic assembly is movably connected to the front end of the connecting assembly. And the lower end of the elastic component is fixedly connected with the lower inner wall surface of the pedal plate. According to the ankle pump exercise training device, the angle between the connecting assembly and the pedal can be adjusted through the arranged adjusting shaft, the ankle pump exercise training device adapts to leg lengths and exercise requirements of different users, it is guaranteed that the optimal training effect can be achieved when the users conduct ankle pump exercise, and meanwhile the ankle pump exercise training device is convenient to use. A force adjusting knob in the elastic assembly can adjust the elastic force of the elastic belt according to the rehabilitation process and the physical condition of the user, the training intensity is gradually increased, and the muscle strength and the joint flexibility are improved.

The utility model discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The problem that uncertain dislocation sliding occurs between snake bone components when the snake bone joint is bent can be solved. Each snake bone joint comprises two snake bone components, a supporting structure and at least two traction soft ropes, each snake bone component can rotate based on a respective pivot, the supporting structure is arranged between the two snake bone components, the two pivots in the same snake bone joint are parallel, and the distance between the two pivots is constant; the traction soft ropes are connected between the two snake bone components in a pre-tightening state, and the projections of at least one pair of traction soft ropes in the extension direction of the pivot are in a crossed symmetrical state; each snake bone component comprises a limiting cambered surface used for tensioning the corresponding traction soft rope, the axis of each limiting cambered surface is parallel to or coincides with the pivot, the radiuses of the limiting cambered surfaces tightly attached to the same pair of traction soft ropes are equal, and the starting ends of the limiting cambered surfaces are fixed to the ends of the traction soft ropes. Therefore, the snake bone joint has the advantage of improving the bending precision and load deformation resistance of the snake bone joint.

The invention relates to the technical field of ankle joint rehabilitation, in particular to an adjustable ankle joint rehabilitation device which comprises an arc-shaped fixing plate vertically and fixedly arranged on one side of a bottom plate. The arc-shaped bearing plate is coaxially and fixedly arranged in the arc-shaped fixing plate, and a plurality of first fixing pieces are arranged at the opening of the arc-shaped bearing plate from top to bottom at intervals; the rotating box is located on the bottom plate, the upper portion of one end of the rotating box is connected with a rotating shaft at the lower end of the arc-shaped bearing plate, and the rotating box is driven by the rotating assembly to rotate. The pedal plate is arranged in the rotating box and connected with the swing assembly, a plurality of second fixing parts are arranged on the pedal plate at intervals, and under the action of the swing assembly, when the tiptoe of the pedal plate ascends upwards, the heel of the pedal plate descends, and when the tiptoe of the pedal plate descends, the heel of the pedal plate ascends; the rehabilitation device has the advantages that muscle strength balance is achieved, movement coordination and joint flexibility are synchronously improved, and the refined rehabilitation effect is improved.

The application discloses a tension amplification constant torque constant stiffness rope-driven humanoid knee joint and belongs to the technical field of robots. The knee joint comprises a knee joint fixed end and a knee joint movable end, the lower end of the fixed end is provided with an upper quarter circular arc stand plate, the upper end of the movable end is correspondingly provided with a lower quarter circular arc stand plate, the two are connected through a double-end connecting piece to form a rotating pair and are opened and closed in contact through unilateral rotation, and a joint rope drive assembly with tension amplification and constant torque is arranged therebetween. The dynamic pulley block mechanism of the rolling joint is used to realize speed ratio amplification and tension amplification, and the demand for the output torque of the motor is reduced; the unique rope arrangement makes the rope length change amount and the joint angle change amount keep a linear relationship, constant torque constant output is realized, and the rope drive and rope transmission structure are adopted to improve the flexibility and safety of the joint. The application realizes lightweight, high integration and flexible and safe interaction of the humanoid robot joint and is suitable for the lower limb knee joint of the humanoid robot.

The invention relates to the technical field of rehabilitation training, and discloses a postoperative knee joint rehabilitation physiotherapy device which comprises a bottom plate, a slidable sliding plate is arranged on the bottom plate, an outer shell is fixed to the sliding plate, and a through opening is formed in the outer shell; wherein a foot supporting assembly is arranged on the outer shell, and the foot supporting assembly comprises a first rotating shaft, two mounting discs, two connecting rods and two pedal plates. Through the innovative design of a cross stretching mode and a synchronous stretching mode, the bicycle stepping action is simulated, the joint flexibility and muscle group coordination are enhanced, synchronous movement of the two legs is achieved through opposite adjustment of the pedals, and bilateral joint linkage needed by daily squatting and rising, stair climbing and other actions is accurately reproduced; the two modes are alternately used, so that muscle imbalance caused by single training can be avoided.

The utility model discloses a kind of multifunctional rehabilitation training equipment, including U-shaped walking aid support A and the U-shaped walking aid support B of parallel arrangement in U-shaped walking aid support A right side, the outer portion of U-shaped walking aid support A and U-shaped walking aid support B center place both ends is all sleeved and is fixed with metal fixed sleeve B, two groups the metal fixed sleeve B between are all connected with inner support connecting rod, two the inner support connecting rod center place front end upper side is provided with metal seat plate, by increasing the novel double-arm training device on the inner support connecting rod in U-shaped walking aid support A and U-shaped walking aid support B center place, when rehabilitation patient sits on metal seat plate and rests, can use double-arm training device to train double arm, especially elderly rehabilitation patient, only need to take out and hang in hanging pole back type handle, through back type handle ceaseless to and fro pull elastic training rubber band, to improve upper limb strength and joint flexibility, promote the overall rehabilitation of body.

The invention discloses bionic variable-rigidity flexible knee joint exoskeleton equipment and a control method thereof, and belongs to the technical field of wearable equipment. The device comprises a thigh fixing part, a shank fixing part, a muscle-imitating rigidity-variable driver, a transmission and joint mechanism and a nonlinear rigidity vibration isolator, wherein the driver selectively locks the multiple flexible fiber ropes through the clutch mechanism, a muscle fiber collection mechanism is simulated, and rapid graded adjustment of rigidity is achieved; a flexible beam in the joint mechanism has the nonlinear rigidity characteristic of high static and low dynamic, and both supporting and flexibility are achieved. The vibration isolator integrates a quasi-zero stiffness unit and a tunable local vibration absorber, broadband vibration of the driver is effectively restrained, and a control system adaptively switches stiffness and outputs auxiliary torque by recognizing a gait mode. The problems that in the prior art, rigidity adjustment is not bionic, joint flexibility is poor, and vibration suppression is lacked are solved, and comprehensive performance improvement of multi-task self-adaption, high wearing comfort and high safety is achieved.

The utility model relates to the technical field of exercise devices, and discloses a combined physical exercise device which comprises a supporting beam, one end of the supporting beam is connected with a C-shaped bottom frame through a bolt, an inclined rod is welded to the position, close to the other end, of the lower surface of the supporting beam, and the bottom end of the inclined rod is connected with a T-shaped bottom frame through a bolt. The upper surface of the supporting beam is connected with a seat support through bolts, the top face of the seat support is connected with a seat cushion through bolts, and the two sides of the supporting beam are connected with vertical supporting rods through bolts. A body-building person sits on the seat cushion, leans against the backrest, pulls the pull rod and drives the balancing weight to ascend and descend through the pulley, arms and the back can be exercised, pulling force and muscle strength can be improved, shanks make contact with the lifting rod, the legs exert force, the balancing weight is driven through transmission of the steel wire rope and the pulley, leg exercise is achieved, and leg strength and joint flexibility are enhanced. And one device integrates various exercise modes, so that the space is saved, and the exercise effect and efficiency are improved.

The system according to the embodiment aims to provide optimal playing form and instruction plans according to the physique and flexibility of each performer. [Solution] A system according to an embodiment includes a collection unit, an analysis unit, an acoustic analysis unit, and a suggestion unit. The collection unit collects data on the performer's bone structure, finger length, and joint flexibility. The analysis unit analyzes the data collected by the collection unit and suggests an appropriate playing form to the performer. The acoustic analysis unit analyzes the acoustic data of the performance and identifies the performer's movement habits and problems. The suggestion unit provides the performer with an appropriate teaching plan based on the results obtained by the analysis unit and the acoustic analysis unit.

The invention provides an adjustable passive flexion and extension device for lower limb rehabilitation training of old people, and relates to the technical field of lower limb rehabilitation, the adjustable passive flexion and extension device comprises a support rack, a leg fixing mechanism, a flexion and extension driving mechanism, an angle adjusting mechanism, a resistance control mechanism and an intelligent control module; by arranging an angle adjusting mechanism, the bending and stretching angle range of the lower limbs can be flexibly adjusted according to the height, leg length and rehabilitation requirements of the patients, the rehabilitation training device is suitable for the elderly patients of different body types, and the rehabilitation training requirements of the whole stage from the initial stage to the recovery stage are met; a resistance control mechanism and an intelligent control module are integrated, various training modes of constant speed, constant tension and constant length can be achieved, the requirements for training intensity in different rehabilitation stages are met by adjusting damping resistance and movement frequency, and muscle strength and joint flexibility are effectively improved.

The application relates to the technical field of rehabilitation training, and discloses a postoperative knee joint rehabilitation physiotherapy device, which comprises a bottom plate, a slidable sliding plate arranged on the bottom plate, an outer shell fixed on the sliding plate and a through opening arranged on the outer shell; wherein a foot supporting assembly is arranged on the outer shell, and the foot supporting assembly comprises a first rotating shaft, two mounting discs, two connecting rods and two foot pedals. The innovative design of the cross stretching and synchronous stretching modes can simulate the action of pedaling a bicycle to enhance the joint flexibility and muscle coordination, and can realize the synchronous movement of the two legs through the foot pedals, accurately reproduce the bilateral joint linkage required by the daily squatting, going upstairs and downstairs and other actions, and the two modes can be alternately used to avoid muscle imbalance caused by single training.

The utility model discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone components, and each snake bone component comprises a rotating base part and a matching part. The rotating base part is provided with a first end face capable of rotating based on a pivot; the matching part is arranged on the first end surface and is provided with a matching curved surface, and the two snake bone components are rotatably butted through the matching of the matching curved surface; the matching curved surface comprises a plurality of matching contour lines arranged in the first extension direction; the plurality of matching contour lines which are arranged in sequence are formed based on a plurality of reference circles which are arranged in sequence, and the plurality of reference circles take the pivot as the center of a circle and are projected in the extension direction of the pivot to coincide; each matching contour line is a curve formed by taking one point on the circumference of a reference circle as a central point; the orthographic projection of the first extension direction and the orthographic projection of the pivot extension direction on the first end face are in a non-perpendicular crossing state. Therefore, the utility model has the advantage of improving the motion precision and the load deformation resistance.

The invention relates to the technical field of exoskeletons, and discloses a knee joint flexible pneumatic exoskeleton power-assisted control method and a knee joint flexible pneumatic exoskeleton system.The method comprises the steps that motion data collected by an IMU is obtained, the motion data is preprocessed and calculated, and a knee joint angle and a knee joint angular velocity are obtained; according to the knee joint angle and the knee joint angular velocity, the motion stage of the current gait is judged, and target pneumatic power-assisted torque is calculated according to the motion stage; acquiring pressure data acquired by a thin film pressure sensor, and calculating a current actual torque according to the pressure data; and according to the target pneumatic power-assisted torque and the current actual torque, a driving air bag is controlled to be inflated or deflated. Through flexible pneumatic driving and multi-sensor fusion control, intelligent assistance and state evaluation of the flexion and extension action of the knee joint are achieved, and the knee joint flexion and extension robot has the advantages of being light, safe, high in adaptability, comfortable to wear and high in interaction flexibility.