180 results about "Joints movement" patented technology

The invention relates to an arm exoskeleton comprising a moving system of joints placed in parallel with the joints of the human arm, the exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton, and a wrist exoskeleton. In all, the exoskeleton has sixteen joints providing sixteen degrees of freedom. A support worn on the torso of a human operator comprises a rigid front plate and a rigid back plate. The shoulder exoskeleton has its proximal end fixed to the front plate, whereby the front plate provides a fixed reference for all movements of the exoskeleton, and the wrist exoskeleton is fixed to a rigid glove worn on the hand of the operator. Active joints are controlled by flexible cable tendons bridging the exoskeleton, said tendons themselves being actuated by control units disposed on the rigid back plate. Inflatable cushions prevent the wrist exoskeleton and the shoulder exoskeleton from moving relative to the arm of the operator. The invention is applicable in particular to remotely controlling a robot in space.

A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

Systems, methods and devices for restoring or enhancing one or more motor functions of a patient are disclosed. The system comprises a biological interface apparatus and a joint movement device such as an exoskeleton device or FES device. The biological interface apparatus includes a sensor that detects the multicellular signals and a processing unit for producing a control signal based on the multicellular signals. Data from the joint movement device is transmitted to the processing unit for determining a value of a configuration parameter of the system. Also disclosed is a joint movement device including a flexible structure for applying force to one or more patient joints, and controlled cables that produce the forces required.

A joint balancing insert with sensors and an actuated mechanism is disclosed. The joint balancing insert is used to balance a joint during arthroplasty surgery, as the sensors provide force, position and angular data relating to the movement of the joint, while the actuated mechanism allows for highly accurate and dynamic adjustments of the joint based on the data from the sensors. Various configurations of actuated mechanisms and sensors may be implemented in the insert to provide for manual or real time control of the insert, and customized interfaces are provided for visualized feedback of adjustments. Sensor data may also be collected and compared with expected or preferred data sets to provide adjustment recommendations and achieve better outcomes based on historical data.

An instrument for measuring kinetic and kinematic variables of multijoint motor tasks comprises a linkage having four links connected at four joints, each joint having articulation about an axis, the four axes of articulation being substantially parallel, limb coupling means for coupling a limb to the linkage, the limb coupling means maintaining alignment of centers of rotation of two joints of the limb with centers of rotation of two joints of the linkage, means for providing a load to at least one of the two joints of the linkage, means for obtaining data respecting angular position of at least one of the joints of the linkage. In an alternative embodiment, the linkage has only two links. The invention also provides methods for detecting, monitoring, and / or treating neural and / or muscular problems associated with impaired movement of limbs.

The invention provides a five-freedom exoskeleton type robot for healing upper limbs, which comprises a mounting deck used for mounting the robot. The mounting deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a shoulder width, an upper arm, a forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder, elbow and wrist, wherein, the shoulder parts are provided with two torque sensors, the elbow part is provided with one torque sensor and the push-up part of the wrist part is provided with one torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor reducer and an executing mechanism. The robot provides single joint movement of each joint and three-dimension multi-joint compound movement for suffers as well as provides simple and basic movement training of daily life.

The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. Said exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.

An operation input device that has multi jointed arms includes: a holding unit that holds proximal ends of the multi-jointed arms in a state in which a relative positional relationship between the proximal ends is fixed; a detection unit that detects a joint movement amount that represents a movement of a joint by a rotation angle or a translational displacement from an unknown initial joint value; engagement units that are provided in distal ends of the multi jointed arms; a data acquisition unit that acquires a plurality of sets of joint movement amounts detected by the detection unit in a time series when engaging and moving the distal ends; and an initial value calculation unit that calculates the unknown initial joint value under a condition that a relative positional relationship between the distal ends is fixed via the engagement units.

The invention discloses a double-lasso driving flexible joint used for an exoskeleton robot, which comprises a drive mechanism, a pre-tightening mechanism, a lasso transmission mechanism, a flexible mechanism and an exoskeleton joint. A motor drives a drilling roller to rotate; the two ends of a rope are respectively fixedly connected with the driving roller and a load roller; a driving torque is delivered to the load roller through the lasso transmission mechanism; the load roller is fixedly connected with the exoskeleton joint to drive the joint to move; a positioning hole and a positioning groove both capable of limiting the motion range of the joint are formed in the load roller; the pre-tightening mechanism adjusts a pre-tightening force of a rope by changing the screwing depth of a pre-tightening bolt so as to avoid looseness of a drive system; the flexible mechanism enables the joint to achieve flexibility and can measure an output torque based on a displacement offset of the motor and the joint. The double-lasso driving flexible joint used for the exoskeleton robot can realize separation of the motor and the exoskeleton robot, overcomes the problems of the quality of each joint of the exoskeleton and too great inertia, and can perform precise position control and force control on the drive joint.

The invention provides systems and methods for a writing instrument that can be manipulated into an infinite number of shapes and configurations. The invention can be applied to relieve minor stress as well as strengthen hand muscles, rehabilitate finger and joint movement, and improve overall range of hand motion. A textured coating can be applied to the surface of each segment that gives the writing instrument a unique feel, thereby creating a pleasant sensation and feel to the hands and fingers. Segments can operate as a holder for a writing instrument body, and similarly can be arranged to provide a creative sculpture. Segments can be removed as desired by the user.

Some embodiments of the present invention provide systems and methods for treating diminished muscle function. Some systems include an electrical member that delivers electrical energy to a hand region of a body that comprises a dysfunctional muscle; a joint motion assembly that couples to the body and provides, to a joint adjacent the dysfunctional muscle, a motion made up of a cycle of opposing joint movements; and a control unit that provides an operator of the system with control of a timing of electrical energy delivery and an amount of electrical energy delivered. Some systems time the electrical energy delivery to occur when the moving joint is near an inflection point and deliver electrical energy delivered in amounts effective to result in a depolarization of the dysfunctional muscle, a nerve in proximity of the joint, and / or a muscle of substantially normal function in proximity of the joint.

The invention relates to a lower limb movement pose quick predicting system based on fusion of a plurality of sensors. The lower limb movement pose quick predicting system comprises surface myoelectricity sensors, inertial sensors, a pose responding module, a pose resolving module and an external auxiliary device, wherein the external auxiliary device is worn to the waist and the lower limbs of awearer; the surface myoelectricity sensors are used for obtaining muscle surface myoelectricity signals of the lower limbs of the wearer in a real-time manner; the inertial sensors are fixed to the external auxiliary device; the pose responding module is used for determining the motion state corresponding to the current muscle surface myoelectricity signal of the lower limbs according to the collected sequencing of each muscle surface myoelectricity signal; and the pose resolving module is used for performing short time dynamic weighting data fusion on each joint movement angle collected by the inertial sensors and the joint movement angle estimated by resolving, so that the lower limb movement posture and the position coordinates of the joints of the wearer are obtained in a real-time manner. The invention further provides a lower limb movement pose quick predicting method. Through the adoption of the lower limb movement pose quick predicting system and method disclosed by the invention, the movement pose of the lower limbs of the human body can be quickly predicted, and besides, the estimating accuracy of the continuous movement amount is improved.

The invention relates to a pneumatic humanoid robot system. The system adopts an air cylinder to drive the movement of hip joints, knee joints, foot joints, waist joints, shoulder joints, elbow jointsand wrist joints of a humanoid robot, and has a function of completely simulating joint movement of a person. The system is composed of a linear air cylinder, a swinging air cylinder, belt wheels, lead screws, bevel gears, toothed belts, toothed wheels and connecting pieces, the hip joints and the shoulder joints are driven by the swing cylinder through the belt wheels, the knee joints are drivenby the lead screws and the air cylinders in a combination manner, the foot joints are driven by a plurality of air cylinders, the elbow joints are driven by the swing cylinder, the wrist joints are composed of two groups of variable-distance swing parts and an air cylinder parallel mechanism, the hip joints, the knee joints, the foot joints, the waist joints, the shoulder joints, and the elbow joints and the wrist joints have 2, 1, 4, 6, 2, 1, 4 degrees of freedom correspondingly and a total of 34 degrees of freedom. According to the pneumatic humanoid robot system, a cylinder and cylinder combination driven are adopted, the system has the characteristics of large stroke, large working space and compact structure, and can be used for teaching and demonstration.

The embodiment of the invention provides an impedance control method and device, an impedance controller and a robot. The method comprises the steps of acquiring joint motion information and joint stress information of a mechanical arm in a joint space and actual interaction force received by a tail end, and solving actual motion information of the tail end in a task space according to the joint motion information; calculating a corrected expected trajectory by using environmental information and tail end expected interaction force, carrying out calculation to obtain an impedance control moment according to the joint stress information, the actual interaction force, the actual motion information and the tail end expected information containing the corrected expected trajectory, determininga compensation moment according to a nonlinear term in a constructed dynamic equation, and therefore controlling the joint moment of the mechanical arm. According to the technical scheme, the impedance control law is corrected to realize directional decoupling impedance control, so that the interaction between the tail end and the environment is safer and more compliant, and the force control precision can be improved; and control complexity can be simplified through the nonlinear term in the compensation dynamic equation

A mechanical limbs combined robot series for recovering the limb movement function of hemiparalysis patient is an improvement on the walk learning machine, and features that a mechanical hand cradle and a mechanical foot cradle are respectively installed to the hinged rods for arm and leg in order to drive the wrist joints of arm and leg and the finger joints.

An adjustable keyboard having a number of keys is formed in at least two segments which are mutually movable relative- to one another using a hinge or joint. Each of the segments of the keyboard has keys mounted thereon. The adjustable nature of the keyboard reduces stress and discomfort to the user by reducing contortion to the user's wrists. More particularly, discomfort to the user caused by pronation of the wrists and / or ulnar deviation of the wrists is reduced. The hinge or joint is in the form of a ball and socket-type joint with a locking mechanism, which preferably includes a pivoted handle, in the form of a lever, used for locking and unlocking the hinge or joint. The surface of at least one of the ball and socket of the joint define a plurality of recesses or a plurality of projections, to provide increased resistance to joint movement.

The invention provides a control method of a rehabilitation-treatment intelligent exoskeleton robot for a lower limb. The control method comprises the following steps of collecting the physical sign information, which includes the movement maximum torque of total four muscle driving joints of hip joints and knee joints on two sides of the lower limb, a joint motion range and a lower limb maximum supporting force, of a patient in the movement process of the patient; calculating evaluation result variables, and adopting a passive training mode, an auxiliary-force training mode or a following training mode for the patient according to different evaluation result variables. The control method can be used for intelligently selecting a treatment method adopted by the patient according to a rehabilitation treatment stage at which the patient is, so as to adapt to the rehabilitation movement demand of different rehabilitation stages of the patient and a bottom-layer movement servo mechanism isenabled to be capable of having quite good dynamic characteristic along with both a load change and a speed change.

The invention discloses a robot tail end multi-target position and pose approach method based on joint angle compensation. The method comprises the steps that when target values of all joint angles are determined according to nominal values of geometric parameters of a robot, and all joints of the robot are controlled to move to the target values of all the joint angles, geometric parameter errorsof the robot are identified according to the acquired measured data values of robot tail end position and pose, the identified geometric parameter errors of the robot are converted into correction values of all the joint angles of the robot, and the correction values, of the joint angles, obtained through conversion are combined to calculate to obtain compensation values, of the joint angles, forcontrolling the robot to execute the multi-target position and pose approach action. According to the method, the compensation values of the joint angles can be used for replacing the compensation ofthe geometric parameter errors to control the robot to move, so that the problem that a robot control system is closed or semi-closed, and a user cannot directly compensate the geometric parameter errors obtained through identification is solved, and the precision and efficiency of the robot tail end absolute position and pose are effectively improved.

A controller for robot arms and the like having mechanical singularities identities paths near the singularities and modifies those paths to avoid excessive joint movement according to a minimization of tool orientation deviation to produce alternative paths that minimize changes in the tool orientation such as can affect application such as welding, sealant application, coating and the like.

The present invention relates to an electronic artificial hand including a power section, a tendon section, and a restoring line section for joint movement of a finger group which is capable of preventing unnecessary driving of the power section using tension of the tendon section caused by the joint movement of the finger group and implementing a gripping force similar to a gripping force of a person through a physical configuration using the tension of a spring section and the tendon section and which is easily implemented due to a simplified configuration and has low manufacturing costs.

The invention relates to the technical field of nursing and rehabilitation, and provides a wearable device for monitoring knee joint movement information, which comprises a joint bracket, an acquisition module, a data processing device and a power supply. The data processing device comprises a signal processing unit, a data storage unit and an information prompt unit. When the joint bracket is worn at the knee joint, the acquisition module is used for collecting the signals of the motion information of the knee joint in real time, and transmitting the related signals of the motion informationto the signal processing unit, and the signal processing unit processes the signals of the motion information, storing the processed data in the data storage unit. Once the numerical data corresponding to the signals of the motion information exceeds the preset standard data, the signal prompt unit informs the user of the current knee joint motion condition through the prompt tone and the like, thereby providing reasonable motion advice or the risk warning of a joint damage. The whole device is convenient to wear and has high portability.

The invention relates to a method for real-time determination an optimal corrected surface of a first bone and / or a second bone forming together an articulation, the first and / or second bones presenting an overgrowth deformation, said corrected surface providing a greater range of motion of the articulation, the method comprising the following steps: i) constructing from acquired images of the articulation 3D voxel models of the first bone and the second bone; ii) for each of first and second bone voxel models, constructing a coordinate system defmed by a center and three axes; iii) applying a motion pattern on the coordinate system of the second bone with respect to the coordinate system of the first bone, a motion pattern being a set of contiguous positions of the first or second bone coordinate systems with respect to the other bone coordinate system, the contiguous positions defining a movement of one bone with respect to the other, wherein said motion pattern is initially loaded from a data base of pre-defined motion patterns; iv) determining a resection volume from said motion pattern as being the union of interpenetration volumes of the first or second bone voxel model with the other bone voxel model for each position of the motion pattern; v) determining the optimal corrected surface by virtually removing said resection volume from the first and / or the second bone voxel model.

The invention discloses a bionic robot control method and a bionic robot control device and belongs to the field of robots. The method comprises the following steps: acquiring human joint movement information, wherein the human joint movement information includes human joint movement angle; generating a movement instruction according to the human joint movement angle, wherein the movement instruction includes the human joint movement angle; and sending the movement instruction to a robot to enable the robot to do corresponding joint movement according to the human joint movement angle included in the movement instruction. The bionic robot control method enables a robot to imitate human joint movement and can be widely used in assembly line work. In addition, as the method supports movement instruction storage, a robot is enabled to carry out assembly line work all the time according to a stored movement instruction, and during automated assembly line work, hands-on teaching can be realized, operation is convenient, operation of employees can be unified, and manufactured products are ensured to be high in precision.

The invention discloses a wrist joint motion function evaluation and rehabilitation robot, which realizes all motion forms of a wrist joint according to a human wrist joint skeleton structure and canbe a structure of adjusting equipment for patients with different forearm lengths and different wrist lengths. An elbow position adjusting mechanism is fixedly connected with a support, and a wrist joint ring rotating mechanism, a wrist joint ring rotating axis adjusting mechanism, an ulnar and radial deviation driving mechanism, a metacarpal dorsiflexion driving mechanism and a tail end grabbingmechanism are connected to the end of the elbow position adjusting mechanism. A grab handle of the tail end grab mechanism can be separated from equipment, a gyroscope is arranged in the grab handle,and when the grab handle is separated from the equipment, the movement range of the wrist joint of a patient can be measured through the grab handle; when the grab handle is spliced on the equipment,the human-computer interaction acting force between the patient and the equipment can be measured by utilizing the grab handle. The robot structure is suitable for different patients, evaluates the motion function states of the patients, and achieves personalized and quantitative rehabilitation evaluation and training of wrist joint motion function evaluation and rehabilitation.

Disclosed herein is a wearable robot with improved operability and mobility through improvement of the upper limb structure thereof. The wearable robot includes an upper limb muscular power assist device to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being wearable by a user, and a mobile platform connected to the upper limb muscular power assist device to move according to information regarding movement speed and movement direction of the user in a rolling fashion. Consequently, mobility of the wearable robot and operation efficiency of the user are improved.

Apparatuses are disclosed that is adapted and configured to cause and control joint motion of a patient. Apparatuses comprise, for example, a first motion member configured to engage a patient proximal to a target joint; a second motion member configured to engage a patient distal to a target joint; and a coupling member configured to connect the first motion member to the second motion member and further adapted to allow rotation of the first and second motion member around an axis, wherein the apparatus is engageable with a medical diagnostic device and further configured to capture patient specific data.

Some embodiments of the present invention provide systems and methods for treating diminished muscle function. Some systems include an electrical member that delivers electrical energy to a hand region of a body that comprises a dysfunctional muscle; a joint motion assembly that couples to the body and provides, to a joint adjacent the dysfunctional muscle, a motion made up of a cycle of opposing joint movements; and a control unit that provides an operator of the system with control of a timing of electrical energy delivery and an amount of electrical energy delivered. Some systems time the electrical energy delivery to occur when the moving joint is near an inflection point and deliver electrical energy delivered in amounts effective to result in a depolarization of the dysfunctional muscle, a nerve in proximity of the joint, and / or a muscle of substantially normal function in proximity of the joint.

An intelligent bionic knee joint is used for being connected between an above-knee prosthesis and a below-knee prosthesis and comprises a connector, a knee joint simulation device, a first air pressure damping device, a detection device and a second air pressure damping device. The connector is fixedly connected with the above-knee prosthesis, the knee joint simulation device is fixedly arranged below the connector and used for simulating a human prosthesis, the first air pressure damping device cooperates with the knee joint simulation device in operation, the detection device is used for detecting a current moving state, and the second air pressure damping device responds to the detection device to adjust air pressure damping. Therefore, real-time adjustment of knee joint movement statesaccording to human walking speeds can be realized.

The invention discloses a real-time whole body motion capture system and method based on camera and IMU data mixing. The method comprises the steps of collecting video frame images of a human body; predicting the joint position of the 3D skeleton according to the color information and the depth information of the video frame image; constructing a human skeleton model according to the predicted coordinate position of each human joint in the three-dimensional space; acquiring motion posture information of a human body in real time through camera equipment; acquiring the motion postures of the corresponding joints in real time by utilizing IMU nodes bound at the joints on the human body; fusing the joint motion postures acquired by the camera equipment and the IMU node to correct the motion posture of the human body joint; and driving the human skeleton model to move according to the corrected joint motion posture. The advantages of a visual motion capture technology and an IMU inertial measurement technology are integrated, the acquisition precision of motion capture data can be effectively ensured, and the reliability and stability of driving a human skeleton model to move are ensured.