168 results about "Joint force" patented technology

A learning environment and method which is a first milestone to an expert machine that implements the master-slave robotic concept. The present invention is of a learning environment and method for teaching the master expert machine by a skilled worker that transfers his professional knowledge to the master expert machine in the form of elementary motions and subdivided tasks. The present invention further provides a stand alone learning environment, where a human wearing one or two innovative gloves equipped with 3D feeling sensors transfers a task performing knowledge to a robot in a different learning process than the Master-Slave learning concept. The 3D force\torque, displacement, velocity\acceleration and joint forces are recorded during the knowledge transfer in the learning environment by a computerized processing unit that prepares the acquired data for mathematical transformations for transmitting commands to the motors of a robot. The objective of the new robotic learning method is a learning process that will pave the way to a robot with a “human-like” tactile sensitivity, to be applied to material handling, or man / machine interaction.

The disclosure is directed to a resilient implant for implantation into human or animal joints to act as a cushion allowing for renewed joint motion. The implant endures variable joint forces and cyclic loads while reducing pain and improving function after injury or disease to repair, reconstruct, and regenerate joint integrity. The implant is deployed in a prepared debrided joint space, secured to at least one of the joint bones and expanded in the space, molding to surrounding structures with sufficient stability to avoid extrusion or dislocation. The implant has opposing walls that move in varied directions, and an inner space filled with suitable filler to accommodate motions which mimic or approximate normal joint motion. The implant pads the damaged joint surfaces, restores cushioning immediately and may be employed to restore cartilage to normal by delivering regenerative cells.

There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value τa. The actuator control device includes a joint value detecting means for detecting a joint value q at an output stage of the actuator, an action force detecting means for detecting an action force τe in a joint driving direction at the output stage of the actuator, and a driving force determining means for determining an instructed driving force τ to the actuator, on the basis of an ideal response model of the actuator which specifies the relationship of a joint value acceleration target value achieved as the actuator responds ideally when the joint force command value τa, the action force τe, and a joint value velocity obtained by time-differentiating the joint value q are given.

A surgical device for joint replacement surgery includes an intraoperative joint head having a stem attachment structure where the stem attachment structure may be removably attachable to a stem and a force sensor housed by the joint head for measuring in vivo forces during surgery. The in vivo forces may be generated by one or more of tension provided by soft tissue, load application during surgery, limb movement during surgery, and a combination thereof. Also, the joint head may provide a cavity where the stem attachment structure houses the force sensor and may be removably insertable in the joint head cavity. A method of performing joint replacement surgery includes installing an intraoperative joint head having a force sensor housed by the joint head and a stem attachment structure, the stem attachment structure being removably attachable to a stem, measuring joint forces, and adjusting an implant parameter based on the measured joint forces.

A golf swing analysis device includes a joint force calculation section and a torque extraction section. The joint force calculation section generates a double pendulum model that includes a first link that corresponds to an upper part of a body of a golfer, a second link that corresponds to a golf club, and a joint that links the first link and the second link, and calculates a joint force applied to the joint along with a swing motion using an acceleration measured by an inertial sensor attached to the golf club. The torque extraction section extracts a torque that causes the second link to make a rotational motion around a first axis from the joint force.

The invention discloses a sitting horizontal type individual lower limb rehabilitation training robot. The robot comprises a leg part mechanism, a middle seat mechanism and a man-machine interface. The leg part mechanism comprises an electric control box, a leg part mechanism substrate, a leg part mechanism machinery arm and handrails; the middle seat mechanism comprises a seat, a seat lifting mechanism, a seat push mechanism and a seat angle adjusting mechanism. A thigh and a crus of the leg mechanism machinery arm of the robot are adjustable in length, the seat is adjustable in both width and height; the functions are helpful to meet the demand of a patient with different figures and provide a proper training guest for the patient. Every joint of the leg part mechanism is configured with a driving motor, a pull pressure sensor and a position sensor for providing multiple training tracks to the patient and also providing hardware support to a plurality training methods including passive training, active training and assistant training. In the process of training, the pull pressure sensor of every joint of the leg part mechanism can provide a joint force monitor in order to avoid the unexpected cases.

The present invention discloses a joint force moment sensor providing torque and bending moment overload protection, and relates to a joint force moment sensor, to solve the problems that the existing joint force moment sensor can only realize the overload protection on the force moment vertical to the ground. The present invention provides a blind hole (10) on each overload protection beam (5), four through holes (9) coaxial with the blind holes (10) are respectively arranged on the inner edge of an output connecting flange (2) along the radial direction, one end of each protection pin (6) respectively gets through the corresponding through holes (9) and arranged in the corresponding blind hole (10), and the other end of each protection pin (6) is fitted with the corresponding through hole (9) through a clearance. Under different operating modes of the sensor of the present invention, the variances of the overload protection annular clearances between the protection pins and the through holes are different, not only the joint force moment overload protection can be provided, but also the bending moment overload protection can be realized, thus making the system run more safely and reliably.

A surgical device for joint replacement surgery includes an intraoperative joint head having a stem attachment structure where the stem attachment structure may be removably attachable to a stem and a force sensor housed by the joint head for measuring in vivo forces during surgery. The in vivo forces may be generated by one or more of tension provided by soft tissue, load application during surgery, limb movement during surgery, and a combination thereof. Also, the joint head may provide a cavity where the stem attachment structure houses the force sensor and may be removably insertable in the joint head cavity. A method of performing joint replacement surgery includes installing an intraoperative joint head having a force sensor housed by the joint head and a stem attachment structure, the stem attachment structure being removably attachable to a stem, measuring joint forces, and adjusting an implant parameter based on the measured joint forces.

The invention relates to the technical field of medical dynamic measurement analysis, in particular to a wearable sensor measuring device and method for lower limb joint acting force and moment. The device consists of a computer memory, a data collector and wireless Bluetooth communication module of software and the like. The device is characterized in that a pelvis is provided with a first sensor, and a left huckle and a right huckle are provided with a second sensor and a third sensor; a lower left leg and a lower right leg are provided with a fourth sensor and a fifth sensor, and the side parts of a left heel and a right heel are provided with a sixth sensor and a seventh sensor; the side part of a right forefoot is provided with a eighth sensor and a ninth sensor, and a tenth sensor, an eleventh sensor, a twelfth sensor and a thirteenth sensor are arranged at the upper position and the lower position of a left planta and a right planta; and sensor data test signals are input into the signal input end of a computer to be collected and operated. The device can furthest reduce the influence of estimation errors of the quality, the center of mass and the moment of inertia of each part of lower limbs on the joint force and moment calculation accuracy. According to the method, the calculated amount can be reduced, and the application to real-time measurement and control is favorably realized.

The invention discloses an all-hydraulic autonomous moving manipulator and a moving method thereof and belongs to the technical field of manipulators. The all-hydraulic autonomous moving manipulator comprises an omnidirectional moving platform, a double manipulator, a power system, a visual system and a sensing and control system are arranged on the omnidirectional moving platform, a rotary waist device is arranged on the omnidirectional moving platform, the double manipulator is arranged on the omnidirectional moving platform through the rotary waist device and is of a human-simulated double arm structure with multiple degrees of freedom, the power system is in an engine-hydraulic driving mode, the visual system comprises a navigation camera, a large-visual-field servo camera and a hand-eye camera, and the sensing and control system comprises a joint force sensor, a joint position sensor and a six-dimensional sensor. The all-hydraulic autonomous moving manipulator can meet needs on wide-range moving of large-mass workpieces.

Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

A method and implant to treat anterior cruciate ligament (ACL) injuries are disclosed. The method involves advancing the insertion of the patellar ligament to the proximal tibia. The implant includes a spacer (30) which is inserted between the patellar ligament and the tibia and fixed to the tibia. The spacer decreases the angle between the patellar ligament and the tibia plateau and consequently modifies the internal joint force, restoring stability to the joint even if the ACL is ruptured. The method and implants are applicable to both human and canine patients.

The invention provides an exoskeleton type upper limb rehabilitation robot with a man-machine interaction kinetic model. In the rehabilitation training process, upper limbs of a human body are regarded as a two-connecting-rod mechanism with three freedom degrees, a kinetic model of the two-connecting-rod mechanism is combined with the kinetic model of the exoskeleton type upper limb rehabilitation robot, and the exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model is formed. The robot can judge the motion intention of a patient by comparing the joint force moment estimation value with the actually-measured force moment value. The exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model can accurately recognize the motion intention of the upper limbs of the patient in application of engineering, data are stable and reliable, recognition and judgment results are accurate, and the exoskeleton type upper limb rehabilitation robot has expectable great economic values and social values.

The invention discloses a 6R-type industrial robot load identification method. Firstly, all joints are locked up to fix the structure of a 6R-type industrial robot; secondly, connecting rods in the structure are analyzed to find out the equilibrium relation between force and torque relative to a coordinate system of all the connecting rods; finally, in order to maintain the static equilibrium of a connecting rod system of the robot, the torque which needs to be applied to all the joints in sequence is calculated, and then a group of joint driving torque needed for supporting a certain load by an end effector is obtained through the method. When an unknown load is identified, all the joint driving torque of the 6R-type industrial robot is obtained through servo motor controllers of all the joints of the 6R-type industrial robot when the 6R-type industrial robot has no load or is additionally provided with the unknown load, and then the load is calculated. The 6R-type industrial robot load identification method has the advantages that force and torque sensors do not need to be additionally arranged for measuring joint force and the joint driving torque of the robot, and quality, the center of mass and other inertial parameters of all the connecting rods of the robot do not need to be known in advance.

The present invention relates to a method for monitoring the deformation of a tunnel pipe-roof. The method includes the steps of (1) distributed optical fiber strain sensors laying: attaching distributed optical fiber strain sensors to the upper and lower ends of a steel cage, pushing the steel cage into a steel pipe to be measured, and filling cement mortar in the steel pipe to form a joint force bearing deformable body, (2) Data collection: selecting n measurement sections from the steel pipe to be measured with the measurement section distance being delta xi, monitoring vertical deformation of each section under the effect of vertical loads on a real-time basis by a data acquisition instrument and transmitting the vertical deformation to a monitoring host, and (3) deformation calculation and stability judgment: the monitoring host using Brillouin mediation technology and material mechanics theory to calculate the longitudinal strain difference of each cross section and obtain the deflection wi of the steel pipe to be measured. The monitoring method is quick and easy, the monitoring data is high in precision, and temperature is self-compensating. Monitoring equipment is connected with a data acquisition instrument, through which data is transmitted to a monitoring host, to realize real-time on-line monitoring of the pipe-roof deformation.

Provided is a surgical imaging apparatus that includes a multi-link, multi joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.

The invention relates to a multi-propeller wind driven generator which is an energy-collection wind driven generator which is powered by joint forces generated by the working of a plurality of wind propellers and can generate electricity by using a multi-stage transmission mechanism to transmit the joint forces to a rotator in the generator. The generator enhances the wind power quality and improves conversion and utilization rate of wind energy in a joint working way in the situation of small wind force and is superior to the traditional wind driven generator. The wind driven generator is characterized in that the frame of the wind driven generator is a multi-layer frame type; more than two wind propeller sets are evenly distributed on the crossbeam of the frame; the frame, the crossbeam and an inner end are arranged on turntables of each layer; and a drawbench (pull rod) is arranged at an outer end and used for adjusting direction along with wind direction. More than one row of wind propeller set is arranged as required to greatly improve the windward area of the wind propellers and improve the power of generating. The wind driven generator has simple structure, flexible running and reliable working and no environment pollution generated during the development and utilization and is convenient to the utilization of wind energy which is a clean energy.

A semiconductor package includes a semiconductor die having a plurality of bond pads, a first protective layer formed at the periphery of the bond pads of the semiconductor die, UBM (Under Bump Metals) formed at the bond pads of the semiconductor die, a plurality of solder balls wetted to the UBM, and a second protective layer formed at the periphery of the solder balls. The second protective layer includes a thick collar, which is formed from the surface of the solder ball toward its periphery, so that the joint force of the solder ball can be more improved. Further, the second protective layer protects the surface of the wafer from the external environment, and absorbs and alleviates the external stress.

The invention discloses a TBM dual-mode switching pushing hydraulic system. The system comprises an oil source, two pushing modules and a two-position four-way solenoid directional valve, wherein the two pushing models are identical in structure, and the two-position four-way solenoid directional valve achieves mode switching. The mode that four pushing cylinders are controlled together in dual modes is adopted, so that control is easy under the working condition of linear tunnel excavation, and the problem of complexity of grouping control for a long time is solved, output forces of the four oil cylinders are equal, it is strictly guaranteed that the joint force is in the direction of a main beam, and errors, caused by independent control, of deviation from preset trails are eliminated. The left and right module grouping control mode in the dual modes is adopted for substantially reducing internal force at the tunnel turning positions of a TBM and in the process of direction adjusting, the joint force is in the direction of the main beam, and the problems that components and hydraulic elements of the TBM are damaged due to unbalanced pushing force of the oil cylinders, and a tunnel deviates from a preset curve are solved.

The invention provides a novel lining design method of shield tunnel, comprising: respectively establishing stress calculating models of shell unit, tube piece joint unit, and inter-ring joint unit, and considering the soil spring unit to form joint displacement unknown quantity number by the information of tube piece and load and to form structure rigidity matrix and structure load matrix by considering the shell unit and joint unit respectively, solving displacement and joint force of the shell unit by dividing the structure rigidity matrix, and checking whether the result satisfies the iteration condition, if not, returning to reestablish the structure rigidity matrix and structure load matrix, if so, carrying out relative structure design based on the calculation result.

The invention discloses a hydraulically-driven type bionic single-leg double-loop control method. The hydraulically-driven type bionic single-leg double-loop control method is composed of two links including the outer loop force / position control link and the inner loop single-joint force control link. In the outer loop force / position control link, an externally-input original expected foot end position track is received, and replanning, active-disturbance-rejection controlling and redundant optimizing based on the expansion Jacobian are sequentially carried out on the original expected foot end position track to obtain original joint space control amount of joints of a bionic single leg; in the inner loop single-joint force control link, output force information of the joints of the bionic single leg is collected, the original joint space control amount of the joints of the bionic single leg is amended based on the output force information to obtain amended joint space control amount, and motions of hydraulically-driven motion controllers of the joints of the bionic single leg are respectively controlled according to the joint space control amount of the joints of the bionic single leg. The hydraulically-driven type bionic single-leg double-loop control method has the advantages of being good in terrain adaptive capacity, good in supple capacity, high in universality, high in robustness and wide in application scope.

The invention relates to a robot feedforward force moment compensation method. The robot feedforward force moment compensation method comprises the following steps that S1, a motion-value neural network is built; S2, a training track is generated; S3, according to the state at the current moment, corresponding motions are selected, integral of the feedforward force moment increments of the selected motions is carried out, the feedforward force moment increments are output to a motor current ring feedforward passage, and immediate return at the current moment and the next-moment state are obtained; S4, the state of the current moment, the selected feedforward force moment increments, the immediate return and the next-moment state serve as neural network training samples, and the training samples are stored into a queue after being subject to normalization; and S5, parts of training samples are selected from the queue at random, and a stochastic gradient descent method is used for training a motion-value neural network until the maximum training time number is obtained or joint tracking errors are smaller than an error threshold value. According to the method, a complex kinetic modeldoes not need to be built, real-time compensation of industrial robot joint force moment can be achieved, and high-accuracy control is achieved.

The invention relates to a myodynamia training and assessment device and a method thereof. The device comprises a base, wherein a longitudinally adjustable lifting supporting rod is arranged on the base; the upper end of the lifting supporting rod is rotatably connected with a bracket; the bracket is rotatably connected with a power output unit; a rotational axis of the power output unit is vertical to a rotational axis of the bracket; the rear end of an output shaft of the power output unit is provided with a sensor; the front end of the output shaft of the power output unit is fixedly connected with a driving rod; the power output unit is also adjustably provided with a limiting block for limiting a rotation angle of the driving rod; trainings of different modes, such as equal length type, equal tension type, equal speed type and passive type, are realized through control of a motor; and a training effect test can be performed by respectively acquiring signals such as joint force of a tested person and speed of joint motion through a moment sensor and an angle transducer, transmitting the signals to an upper computer after converting the signals by an A / D conversion module of a lower computer, performing real-time display of the converted signals after calculation and analysis, and scientifically displaying a recovery medical effect by forms and graphs. The operation is flexible, convenient, safe and reliable.

A hydroelectric hybrid device of a cooling tower relates to a power system of a cooling tower. A main motor is omitted, and a hydroelectric all-in-one machine is mounted at a position of the original motor outside an air duct of the cooling tower, and consists of a water turbine and an auxiliary motor used for power compensation. A combination mode includes that a joint force output shaft of the water turbine and the auxiliary motor is connected with a transmission shaft, the auxiliary motor also can be combined with an output shaft of the water turbine by a belt pulley or a gear train and then a combination of the auxiliary motor and the output shaft of the water turbine is connected with the transmission shaft, the transmission shaft is connected with a speed reducer, and the speed reducer is connected with a fan. A water inlet of the water turbine is connected with a water feeding pipeline of the cooling tower, a water outlet of the water turbine is connected with a drain pipeline, and the drain pipeline is connected with a water distributing system of the cooling tower and provided with a bypass pipe. The main motor is omitted, the hydroelectric hybrid device is provided with the auxiliary motor matching with the water turbine, kinetic energy of the water turbine is sufficiently utilized, energy consumption of the high-power main motor is saved, and normal running of the hydroelectric all-in-one machine is guaranteed under the condition that the kinetic energy of the water turbine is insufficient by the aid of the low-power compensating motor. Simultaneously, damage to running of the motor due to the excessively close distance from water inlet and outlet pipes of the water turbine to blades of the fan is avoided.

The present invention relates to a method and system for monitoring sport related fitness by estimating muscle power and joint force of limbs, in which the system comprises a sensing module and a force / track detection module, wherein sensor values from the sensing module are fed to the force / track detection module to be used as base for estimating feature parameters and classifying a motion series relating to muscle power and joint force of limbs so as to obtain skill-related fitness parameters corresponding to the sensing of the sensor module.

Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

The invention discloses a force / position switching control method of joints of a single leg of hydraulic four-leg robot. The control method comprises fuzzy control and multi-model control. The method comprises steps of carrying out segment control on the movement of the robot; carrying out joint force control when a foot end of the robot touches the ground so as to reduce impact and disturbance generated by touch between the foot end and the ground; and carrying out joint position control when the foot end of the robot gets away from the ground so as to achieve precise position of the robot. However, transition from no touch to touch or from touch to no touch between the robot and the ground is finished via force / position switching control, and harmful effects such as jumping of system parameters and shaking of the system when a robot system carries out the force / position switching will be produced. According to the invention, switching of control between force and position is finished via the fuzzy multi-model switching algorithm, so stable transition is ensured; and shaking generated during the force and position switching process can be effectively reduced and control precision is quite high.

This invention provides paper line-core composite fiber materials of Chenille Yarn and a technology for spinning not-shed Chenille yarn, in which, according to this invented plan, the skin-core composite fibers used as the core-yarn of the Chenille yarn are spun with 15-30% low melting point modified polyester and 70-85% ordinary polyester, and the core-layer is the ordinary polyester and skin layer is the low melting point modified polyester, and the core-yarn is ring twisted with soft yarn to become Chenille yarn, which is baked under a certain temperature, and part of skin of low melting point is melted to be coated on the joint point of the core and the soft yarn to increase the joint force of them.

The invention discloses an action method of a fully hydraulic autonomous moving mechanical arm, and belongs to the technical field of a mechanical arm. The fully hydraulic autonomous moving mechanical arm comprises an omnibearing moving platform, wherein double mechanical arms, a power system, a vision system and a sensing and control system are arranged on the omnibearing moving platform; a rotary waistline device is arranged on the omnibearing moving platform; the double mechanical arms are arranged on the omnibearing moving platform through the rotary waistline device; the double mechanical arms are of an apery double-arm structure with multi-freedom degrees; the power system uses an engine-hydraulic driving mode; the vision system comprises a navigation camera, a great-vision-field servo camera and a hand-eye camera; the sensing and control system comprises a joint force sensor, a joint position sensor and a six-dimension force sensor. The method can meet the large-range moving operation requirements of heavy workpieces.

This invention relates to one transparent cable connector in electrical connection tool technique field and in detail to one combined transparent clamper. This invention is mainly composed of several connection branches formed by public connectors and the connection branch joint and relative conductor and the conductor and public connector are connected through screw. The cable pass process is fulfilled by the cable joint force screw bolt tighten tool.