441 results about "Joint rotation" patented technology

A system and method used in total joint arthroplasty of a ball and socket joint such as hip and shoulder replacements for accurate positioning of a prosthesis through pinless surgical navigation during replacement surgery according to a predetermined distance from the center of rotation of the replaced joint and/or articular surface to obtain the proper length, offset, and biomechanics of the replaced joint.

The present invention is a wrist mechanism and a method for making robotic devices in which the transmission of motion, force and/or torque around a revolute joint can be accomplished without coupling. This construction allows mounting the actuators on the base or lower elements of a mechanism, so that only linkage elements move the end-effector. Thus reducing inertia of the moving elements and increasing performance of the device. The decoupled motion of the end-effector or links is achieved by routing their transmission cables around idler pulleys placed parallel to the joint rotation axis on an optimal position such any stretch on the transmission cable is minimized. In particular, this construction can be use for robotic surgical tools that have two independently driven jaws, decoupled and orthogonal from its articulating wrist.

A transtibial patellar tendon bearing (PTB) prosthesis for below the knee amputees is disclosed. The prosthesis includes a socket, and a foot prosthesis attached to a modular shank component using a foot rotator device. Using the rotator device, the foot component of the prosthesis may be smoothly and axially rotated internally or externally ±150° with respect to the shank component about the axis of the shank component. The wide range of axial rotation enables a more even load distribution on the whole lower limb of an amputee and enables an amputee to comfortably assume a wide range of biomechanical positions, such as sitting or kneeling. A recoil spring, having a selectable tension, is positioned within the rotatable component and selectively limits and retains the relative rotation of the upper portion and the lower portions. A locking mechanism selectively prevents rotation when the foot component is engaged.

The invention discloses a method for uniquely solving the inverse kinematics numerical value of the joint type mechanical arm, belongs to the technical field of modern intelligent manufacturing, relates to the technical field of industrial robots, relates to a method for uniquely solving the inverse kinematics numerical value of a joint type six-degree-of-freedom mechanical arm with shoulder joints facing forward. According to the method, a mechanical arm joint coordinate system is built according to an improved DH parameter method, four structural geometrical parameters between adjacent joints of the mechanical arm are determined, a homogeneous coordinate transformation matrix of two adjacent coordinate systems is calculated. For a given pose matrix of a tail end coordinate system O6, animproved newton iteration method, namely a Levenberg marquardt iterative algorithm is adopted, the inverse kinematics solution of the joint coordinate system is calculated by using a jacobian matrix J, and the six joint rotation angle values theta i which correspond to the pose matrix and meet the precision requirement are obtained. The method overcomes the requirement that a traditional newton iteration method needs to fully rank the jacobian matrix j, the modeling method is simple, clear and effective, the method has the characteristics of being high in solving precision, high in solving speed and simple and feasible in solving process.

In order to achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator 10) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator 26) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate 30) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar 25) having an expandable and contractable means. In this way, deformation in lateral and torsional directions of the first linkage means and expansion/contraction of the second linkage means can absorb a deviation in position between the joints of the user's body and the assisting force generators.

A pressure plate subassembly for a friction clutch includes a housing connectable to an abutment arrangement for joint rotation about an axis of rotation, a pressure plate arranged in the housing so that the pressure plate is rotatable together with the housing about the axis of rotation (A) and so that the pressure plate is displaceable relative to the housing in the direction of the axis of rotation, and a force accumulator for generating a pressure force, the force accumulator being supported on the housing and on the pressure plate. The force accumulator is arranged outside the housing.

The invention discloses a suspension type self-adaptive weight reducing device for rehabilitation training and a rehabilitation training robot. The device comprises a foldable mobile training frame, alower limb training assistive device carrying device, a weight reducing vest, a pulley rope system and a self-adaptive weight reducing box, the box is internally provided with a rope winding device and a self-adaptive gravity following device, the rope winding device is connected with a rope roller through a coupling by means of a servo motor cooperating with a speed reducer, and the reduced gravity is provided for a patient by winding or releasing the rope; the rope is led out by the rope roller and winds around a pulley on the side face of a mounting plate to be connected with the weight reducing vest through a pulley block on the self-adaptive gravity following device, the gravity position is calculated by collecting the joint rotation angle of the patient, a motor of the self-adaptivegravity following device is controlled to drive a lead screw to rotate through the coupling, and a shifting board connected with a lead screw nut drives a movable pulley to do liner motion. In this way, the length of the suspension rope in the training process of the patient is adjusted, gravity following is achieved, and the roughly constant reduce gravity is maintained.

The invention discloses an upper arm of a robot. The upper arm comprises a wrist joint power input device and a wrist joint. The wrist joint power input device comprises a fourth joint servo motor, a fifth joint servo motor, a sixth joint servo motor, and a motor protection cover. The wrist joint comprises a fourth joint reducer, a fifth joint reducer, a sixth joint reducer, a fourth joint power shaft, a fifth joint power shaft, a sixth joint power shaft, a fourth joint rotation arm, a fifth joint rotation arm and a tail-end mechanical flange. The fifth joint power shaft is arranged in the sixth joint power shaft, and the sixth joint power shaft is arranged in the fourth joint power shaft. The upper arm of the robot is compact in structure, easy to assemble, high in transmission efficiency, adjustable in gear clearance, small in overall volume of wrists of the industrial robot, flexible and portable; the fifth and sixth joints are same in modulus optimization, part specifications can be reduced, butch production can be facilitated, and the problems about dispersion of power distribution and routing of servo motor cables in an original structure can be solved.

An emitting light device of the present invention is realized on the bicycle to generate and conserve electric power, to light the emitting light device. In practice a driven wheel combined with rotating portion (i.e. rear wheel) of the bicycle to form a center-pivot type of axis-joint rotating structure. A bicycle dynamo includes 1. an actuated wheel and a dynamo with a set of differential gears between them, 2. a PCB, and 3. a battery accumulator. A transmission belt is rotated around the driven and actuated wheels; an emitting light base has conducting cords connected to PCB of the dynamo. As the driven wheel rotates, the actuated wheel is driven to rotate by the transmission belt. The speed ratio of transmission is changed by a set of differential gears to run the dynamo generate DC electricity and conserve electricity for battery. DC electricity can be applied to light LED.

The invention relates to a method for the step-by-step correction of the position of the longitudinal axes of segments of the lower extremities in the horizontal and/or frontal and/or sagittal planes, that comprises the simultaneous dosed correction of the imbalance of forces in the muscles supporting the corresponding joints, the reduction of the pathological configurations of the segments, and the fixation of corrected segments using at least one module of a modular exoskeleton capable of individual adjustment for bringing, during each step, the position of the longitudinal axis of each segment closer to the physiologically correct position, and for permitting movements about the corrected rotation axes of the joints within a predetermined range defined by the modular exoskeleton. The proposed device for correcting pathological configurations of segments of the lower extremities comprises a modular exoskeleton, the modules of which can be used independently or in various combinations. The modular exoskeleton comprises at least one adjustable pelvis belt (1, 47), at least one means (3, 51) for holding the thigh in a given position, at least one means (4, 89) for rotating the tibia, at least one means (5, 121) for holding the tibia in a given position, at least one means (6, 130) for correcting the position of the foot and the movement range thereof at the foot-tibia joint, at least one means (7, 146) for accommodating the foot, and a set of fixation members each in the form of a cylindrical rod (8, 9, 10, 11, 37, 52, 83, 90, 124, 141, 142) capable of linear positioning movement and/or rotation and/or free linear movement.

The invention provides a method for acquiring 3d (three-dimensional) coordinates of human skeleton joint points on the basis of deep learning. The method comprises the following steps of: data preparation, i.e., loading a standard FBX model to unity software, setting a joint rotation quaternion of the FBX model and acquiring 3d coordinates and 2d coordinates of each joint point; data preprocessing, i.e., carrying out normalization processing on 3d coordinate data and 2d coordinate data and inputting into a convolutional neural network; network training, i.e., calculating a training set loss and a verification set loss; and real-time acquisition of the 3d coordinates of the human joint points, i.e., after detecting out the 2d coordinates of the human joint points in an image and carrying out normalization processing, inputting to the convolutional neural network, and combining and utilizing anti-normalization to acquire the 3d coordinates of the human joint points under a camera coordinate system. Compared to the related art, the method for acquiring the 3d coordinates of the human skeleton joint points on the basis of deep learning, which is provided by the invention, is low in hardware cost, high in accuracy and wide in application range.

The invention discloses a robot tool central point calibration method using a two-dimensional measurement functional tablet. A robot is controlled to enable a TCP to make contact with a measurement area of a calibration tool more than three times in different postures in the calibration process, joint coordinate information of the robot is recorded in the contact process, and the two-dimensional coordinates of the contact points in a measurement plane are output through the two-dimensional position measurement function of the calibration tool; the coordinates of the TCP in a robot tail end tool coordinate system are calculated according to measured joint rotation angle information of the robot and the coordinate data of the contact points on the tablet and in combination with the structural parameters of the robot, and the calibration accuracy is evaluated. According to the calibration method, the TCP of the robot does not need to coincide with the same fixed point multiple times, the point-point coincidence requirement is weakened to point-surface coincidence, and operation is easy. When the TCP of the robot has small deviation, autonomous calibration can be realized.

The invention discloses a flexible mechanical arm synchronous measurement method and a flexible mechanical arm synchronous measurement system with the synchronous measurement method. The flexible mechanical arm synchronous measurement method includes the following steps that typical characteristic information of a flexible mechanical arm is acquired; coordinate system conversion is carried out, sothat the relative posture relationship of a base, all joint rotation centers and the tail end of the flexible mechanical arm is acquired; posture information of all rotation joints and the tail end of the flexible mechanical arm and a hand-eye camera relative to the movable base is acquired through the relative posture relationship; and a flexible mechanical arm motion model is established according to the posture information, the typical characteristic information of the flexible mechanical arm is rapidly acquired, coordinate conversion is carried out, then the posture information of all therotation joints and the tail end of the flexible mechanical arm is precisely acquired, and the flexible mechanical arm motion model is precisely established. According to the flexible mechanical armsynchronous measurement method, system and device, the flexible mechanical arm motion model can be precisely established, and precision measurement is carried out.

Structuring system for synchronising devices for a gearbox, whereby the synchronising device comprises: a carrier (6) which is mounted on, and for joint rotation with, a gearbox shaft (4) and which has not only a hub portion (8) connected to the shaft but also a web portion (10), which carrier supports for joint rotation with it but axial mobility relative to it a surrounding shift sleeve (16) whereby the carrier can be coupled to a coupling element (22',22'') fastened firmly to a gearwheel mounted rotatably on the shaft; at least one inner synchronising ring (28, 40) with conical outer friction surface; an outer synchronising ring (24a, 24b) with conical inner friction surface and external locking teeth (26); an intermediate synchronising ring (34) fitted between the inner and outer synchronising rings. The structuring system is usable for single, double or triple synchronisation versions, and the outer synchronising ring (24a, 24b) has driving protrusions (36a, 36b) which engage at least halfway in the web portion of the carrier. Each driving protrusion is situated in an engagement aperture (38). The synchronising ring (28, 34) immediately within the outer synchronising ring provided with locking teeth (26) has on its side facing away from the web portion of the carrier axial driving protrusions (30a, 30b) which each engage in respective adjacent coupling elements (22', 22'').

A tool holder or a disc-shaped working tool (18) has a working tool holding member (14) and a working tool holding counter-member (16) rotatable, together with the working tool holding member, (14) about an operational axis (A) and cooperating with the working tool holding member (14) for receiving therebetween the working tool (18) for joint rotation therewith; central securing element (26) for securing the working tool (18) between the working tool holding member (14) and the working tool holding counter-member (16); and at least one coupling element (44) associated with the working tool holding member (14), radially spaceable from the central securing element (26) and having a rotary stop for forming a releaseable plug-in connection with at least one through-bore (24) formed in the working tool (18).

Systems and methods are described herein to calculate implant orientation measurements of an acetabular cup implant in hip replacement surgery, such surgery performed with minimally invasive incisions. Surgeons may obtain real-time updated implant orientation measurements that compensate for pelvic tilt of a patient, such tilt measured pre-operatively. Implant orientation measurements may be measured from the patient's anterior pelvic plane, supine coronal plane, standing coronal plane or any other reference plane that the surgeon may find useful. Also disclosed are systems, methods and devices to measure hip center of rotation and provide leg length and offset measurements in hip replacement surgery.