66 results about "Knee joint movement" patented technology

The invention provides a knee joint dyskinesia function evaluation method and system. The method comprises the following steps: by collecting lower limb kinematics parameters, plantar pressure distribution data and gait rhythm parameter groups of a subject in a standard gait test, generating a knee joint motion trail map comprising sagittal plane, coronal plane and rotation trail components, dividing a dynamic phase window based on the gait rhythm parameters, calculating a fluctuation feature vector of a sagittal plane track component, performing nonlinear decomposition on a coronal plane and a rotation track component to separate an adduction and abduction motion principal component and a rotation coupling component, constructing a joint stability quantitative index, and performing dynamic space registration on a bilateral knee joint track map to obtain a joint stability quantitative index; and calculating a three-dimensional trajectory similarity weight matrix, and calculating a dynamic symmetry index in combination with the cross-side difference coefficient of the joint stability quantitative index. According to the technical scheme provided by the invention, a scientific basis is provided for personalized rehabilitation treatment.

The invention relates to a self-adaptive knee joint protection method and device based on motion risk prediction. The method comprises the steps that knee joint motion data, environment data and gait data of a user are collected in real time through an embedded inertial measurement unit, a pressure sensor, a myoelectricity sensor and a depth camera; the environment data comprises a ground material, a gradient and illumination intensity; the gait data comprises stride frequency, stride and gait cycle; inputting the knee joint movement data, the environment data and the gait data into a knee joint movement risk prediction model, and predicting the knee joint movement risk of the user in a future period; when the knee joint movement risk exceeds a preset threshold value, the exoskeleton is controlled through the knee joint auxiliary equipment to adjust the flexion and extension damping and the movement range of the knee joint. According to the method, the motion intention is recognized through the risk prediction model, and real-time monitoring and personalized protection of the knee joint motion risk are achieved based on the variable stiffness execution mechanism of the shape memory alloy and the gait mode.

The invention discloses a knee joint assisting exoskeleton, and belongs to the field of exoskeletons. The first and second inertial measurement sensors are arranged on the thigh and shank clamp mechanisms; a shell of the power assisting mechanism is fixed to the thigh clamp mechanism. A first rack and a second rack are arranged on the two sides of the shell in a sliding mode. The motor is fixedly arranged on the shell and sleeved with the first gear, the second gear and the third gear are meshed with the first gear, the fourth gear and the third gear are meshed, and the second gear and the fourth gear are meshed with the first rack and the second rack on the corresponding side. Two ends of the first and second connecting rods are respectively fixed with the lower parts of the two first and second racks; the first ends of the first and second curved beams are respectively sleeved on the first and second connecting rods; two ends of the third connecting rod are fixed with the shank clamp mechanism; the second ends of the first curved beam and the second curved beam sleeve the third connecting rod; the plantar pressure sensor is arranged on the plantar; the first inertial measurement sensor, the second inertial measurement sensor, the motor and the plantar pressure sensor are electrically connected with the development board. Accurate matching of knee joint motion characteristics and rigidity requirements can be achieved.

The application discloses a biped robot with a quick-change hand and a motion analysis method under special working conditions, and belongs to the field of robot technology.The biped robot comprises a trunk unit, an arm unit, a hip joint unit and a leg unit; the arm unit is provided with a mechanical hand through a quick-change structure, and the mechanical hand is divided into a clamping mechanical hand, a scissors mechanical hand and a lock twisting mechanical hand.The robot has the advantages that each movable joint of the robot is designed in a module mode, the integration and the modularization of the robot are greatly improved, a connecting rod mechanism is arranged at the rear side of a knee joint, a design of moving outward of a hinge point is adopted, the motion dead point of the knee joint is offset, the joint module can more smoothly exert force, and the complexity of the joint connecting part is reduced.

The utility model relates to exoskeleton technology, concretely is knee joint power-assisted walking device, including thigh part and shank, both are connected through knee joint, wherein the knee joint includes the hinge part I of setting in the lower extreme of thigh part, and the hinge part II of hinge connection with hinge part I, the drive module for driving knee joint is set in the upper end of thigh part, and drive module is driven the hinge part II deflection through the rope drive structure, power-assisted walking device is used for knee joint power assistance, and the hip joint needs the user to exert force alone, and the drive module for driving knee joint movement is not set in the knee joint, but moves to the upper part of thigh part, that is, the position close to the hip joint, and realizes the purpose of driving knee joint through the rope drive structure, this scheme can improve the gravity center of whole leg assembly, compared with the scheme that the existing drive module is set in the knee joint, when walking, the user, overcomes the leg assembly gravity work less, can effectively reduce the fatigue degree of hip joint.

The invention relates to a sensing technology, in particular to a knee joint multi-sensor fusion sensing method and system based on flexible fabric. The system comprises a flexible fabric sensor array, a signal acquisition module, a fusion sensing module and a classification module, a plurality of sensing units of the flexible fabric sensor array are uniformly distributed in each subarea of the front part of the knee joint; the signal acquisition module is connected to the flexible fabric sensor array and is used for acquiring a multi-channel sensing signal in real time and transmitting the multi-channel sensing signal to the fusion sensing module; the fusion sensing module extracts local time sequence features by using a convolutional neural network, and fuses global time sequence features through a bidirectional long-short-term memory network, and then the attention module weights key time steps to extract multi-dimensional features so as to realize identification of sitting posture leg lifting, standing and walking; and the classification module is connected with the fusion sensing module and is used for outputting a classification result of the knee joint movement mode. According to the invention, efficient feature extraction and adaptive dynamic fusion of multi-channel signals are realized.

The embodiment of the invention discloses wearable knee joint equipment, a knee joint rehabilitation evaluation method and computing equipment. The wearable knee joint equipment comprises a flexible substrate; the sensing unit is integrated on the flexible substrate and comprises an electromyographic sensing module used for collecting surface electromyographic signals of rectus femoris for driving the knee joint to move; the muscular tension sensing module is used for generating a muscular tension signal by detecting skin deformation caused by knee joint movement based on the piezoresistive effect; the joint angle sensing module is used for generating a knee joint motion range signal by detecting knee joint flexion and extension strain based on the piezoresistive effect; the signal processing module is connected with the sensing units and used for processing and wirelessly transmitting the surface electromyogram signals, the muscular tension signals and the knee joint movement signals to a computing device so that the computing device can determine the state evaluation result of the knee joint rehabilitation state based on the signals. The possibility is provided for remote dynamic monitoring of TKA postoperative rehabilitation, and the accuracy of rehabilitation state evaluation is improved.

The application discloses a hydrogel for promoting cartilage repair by piezoelectric effect, a preparation method and application thereof, wherein the hydrogel body comprises biodegradable three-dimensional piezoelectric hydrogel prepared from sodium potassium niobate, polyvinyl alcohol and polyacrylic acid. The polyvinyl alcohol is a gel state with a porous structure, the polyacrylic acid is a polyelectrolyte with a negative charge, and the sodium potassium niobate is a piezoelectric material. The piezoelectric hydrogel with the non-toxic and harmless sodium potassium niobate nanoparticles with excellent piezoelectric performance and the polyvinyl alcohol and polyacrylic acid as the main body develops a biodegradable three-dimensional piezoelectric support. The support is implanted into a knee joint cartilage defect, when the knee joint moves, the three-dimensional piezoelectric support generates an electric charge due to stress extrusion and joint self-friction, the composite piezoelectric hydrogel can generate an electric signal in response to radio stimulation to promote chondrogenic differentiation of stem cells and endogenous angiogenesis, perfect regeneration of hyaline cartilage at the cartilage defect and acceleration of recovery of the motion function.

By using the helical axis in the knee joint movement of subjects during walking, we perform gait analysis that can be used to detect early-stage osteoarthritis of the knee. [Solution] A gait analysis method comprising the steps of: calculating the helical axis of the knee joint based on motion data of the subject's lower limbs during walking; extracting the flexion phase and extension phase during the stance phase of the subject's gait cycle; and obtaining an evaluation value to assess the condition of the knee by quantifying the variability of the helical axis group in one or both of the flexion phase and the extension phase.

A method for producing a partial or total knee prosthesis suitable for human anatomy of an individual patient, the method comprising a design step of taking into account the patient's current and pre-lesion knee motion behavior, and further taking into account the patient's individual hip-knee-ankle joint (HKA) mechanical alignment, and utilizing these inputs, to produce a partial or total knee prosthesis suitable for human anatomy of the individual patient. A knee joint model as natural is recreated, where still the recreated natural knee joint model rather than the diseased knee joint model is used to create a prosthesis that recreates the natural knee joint.

The application discloses a kind of based on knee joint motion mechanism's bionic joint mechanism, belong to bionic mechanical technical field.The bionic joint mechanism includes two bars four cable tensioning support units symmetrically arranged on two sides, is set in two bars four cable tensioning support unit between femur contour movement subassembly, with the femur contour movement subassembly and two bars four cable tensioning support unit cooperation setting bilateral linkage mechanism and drum wheel curved surface cooperation mechanism.The application can simulate the motion characteristics in the process of knee joint flexion by setting femur contour movement subassembly, improve the bionics and motion coordination of mechanism;By two bars four cable tensioning support unit and bilateral linkage mechanism, the mechanism has support ability and adaptability in the process of movement, ensure the consistency of two sides movement.The mechanism has the advantages of compact structure, linkage reliable, motion coordination, and can be applied to bionic robot, exoskeleton device and other related bionic mechanical system.

The present application relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device, comprising a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on a leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a calf adjusting block and a calf supporting rod, the knee joint mounting plate is arranged on the thigh adjusting block, and the calf supporting rod is adjustably arranged on the calf adjusting block; the ankle joint movement mechanism is arranged at the lower end of the calf supporting rod; driving mechanisms are arranged on the hip joint mounting plate and the knee joint mounting plate. The present application is used for gait training of patients with rehabilitation needs of walking disorders, the combined movement process is closer to normal gait walking, and it is more beneficial for gait training and improves the training effect.

The application discloses a knee joint dynamic stability bionic protector and a control method, and belongs to the field of sports bionics. The protector comprises a high polymer composite shell, a partitioned cushion layer, a bionic multi-axis movable joint assembly and a flexible bionic ligament strip. The protector is internally provided with an angle-pressure integrated sensing module, which can collect knee joint movement and stress data in real time, and through an intelligent micro drive unit, dynamic adjustment of the partitioned damping, rigidity and support angle can be realized. The protector has high adhesion and comfort, can automatically adjust the support mode according to the user's activity state, effectively improves the dynamic stability of the knee joint, prevents injury and assists in rehabilitation. The protector is suitable for knee joint function protection in multiple scenes such as sports protection, clinical rehabilitation and daily health management.

The invention discloses a bionic joint mechanism based on a knee joint movement mechanism, and belongs to the technical field of bionic machinery. The bionic joint mechanism comprises two-rod four-cable tensioning supporting units symmetrically arranged on the two sides, a thighbone contour simulating movement assembly arranged between the two-rod four-cable tensioning supporting units, a double-side linkage mechanism and a drum wheel curved surface matching mechanism, wherein the double-side linkage mechanism and the drum wheel curved surface matching mechanism are matched with the thighbone contour simulating movement assembly and the two-rod four-cable tensioning supporting units. By arranging the thighbone contour imitating movement assembly, movement characteristics of the knee joint in the flexion and extension process can be simulated, and the bionic property and movement coordination of the mechanism are improved; and through the two-rod four-cable tensioning supporting units and the linkage mechanisms on the two sides, the mechanism has the supporting capacity and the adaptive capacity in the movement process, and the consistency of movement on the two sides is guaranteed. The mechanism has the advantages of being compact in structure, reliable in linkage and coordinated in movement, and can be applied to relevant bionic mechanical systems such as bionic robots and exoskeleton devices.

A system including a knee ranging tool: including a base configured to locate on a resected proximal face of a tibia in a knee of a patient; defining a tibial reference surface configured to run against a femoral surface of an artificial femoral component, installed on a distal face of a femur of the patient, during articulation of the knee of patient; including a set of stages interposed between the base and the tibial reference surface, configured to locate the tibial reference surface relative to the base, and compliant to medial-lateral translation, anteroposterior translation, and transverse rotation; and configured to indicate a medial-lateral translation offset, an anteroposterior translation offset, and a transverse rotation offset corresponding to a position of the tibial reference surface, relative to the base, that yields elastic deformation of ligaments in the knee over a range of motion of the knee.

The invention discloses a body-building and leg-exercising tricycle, which comprises two groups of flywheels, ratchet mechanisms are arranged in the flywheels, the two flywheels are respectively arranged on a rear wheel shaft, and transmission structures are respectively arranged on the two groups of flywheels; four sets of fixed pulleys are installed in the middle of the frame, and a set of fixed pulleys installed on the front face of a vertical stand column of the frame is sleeved with a linkage rope. The bodybuilding and leg exercising tricycle adopts rope transmission or standard bicycle chain transmission, each pedal only reciprocates on a section of arc in the driving process, the bodybuilding and leg exercising tricycle is suitable for a human body to apply force, can apply force and work by utilizing the gravity of a rider, overcomes the defects that the arm of force is zero, dead points exist and excessive idle work is applied in the running process of a traditional tricycle, and is suitable for being applied to the rider. And the riding is more labor-saving. During riding, the knee joint movement range is small, the knees are protected, and the knees are not hurt during body building and leg exercising. And due to near stepless speed change, a rider can better match the force and the speed.

1. Name of this product design: Knee-opening knee joint exercise trainer (folding model). 2. Application of this design: It is suitable for the treatment of pain and dysfunction in knee osteoarthritis, the rehabilitation treatment of postoperative functional impairment after knee joint surgery, and the rehabilitation treatment of functional impairment caused by knee joint injury. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. The bottom surface of the product is a part that is not easily seen or cannot be seen during use, so the bottom view is omitted.

The invention provides a knee joint motor injury electrical signal early warning protection method, and belongs to the technical field of early warning protection, and the method comprises the steps: obtaining leg posture images and physiological monitoring signals of a target patient in multiple motion states, extracting specific joint features and common joint features, and constructing a physical quality portrait; fusing the first deployment diagram and the third deployment diagram through position mapping of the joint features and the knee joint structure to obtain a comprehensive deployment diagram; configuring a monitoring assembly according to the image, collecting a knee joint electrical signal set and a self-quality feedback signal, and calculating a physical quality positive difference vector; and comparing the electrical signal with a signal standard library to obtain an initial damage-probability signal vector, and outputting early warning protection by matching a vector-early warning mapping table after positive difference vector optimization. Multi-scene adaptation, personalized monitoring and accurate early warning are achieved, the influence of forward change of physical quality on injury risks is fully considered, and reliable support is provided for knee joint movement injury protection.

1. Name of the product in this design: Knee-opening knee joint exercise trainer. 2. Application of this design: It is suitable for the treatment of pain and dysfunction in knee osteoarthritis, the rehabilitation treatment of postoperative functional impairment after knee joint surgery, and the rehabilitation treatment of functional impairment caused by knee joint injury. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention belongs to the field of wearable exoskeletons, and particularly relates to a knee joint exoskeleton adopting double four-bar mechanisms. Comprising a thigh mechanism, a shank mechanism and a transmission mechanism, the thigh mechanism comprises a thigh rod, the shank mechanism comprises a shank rod, and the transmission mechanism comprises a power transmission mechanism and a thigh and shank connection transmission mechanism; the power transmission mechanism is a four-connecting-rod mechanism and comprises a motor, a small gear and a large gear which are mounted on the thigh rod, and a transmission connecting rod of which one end is connected with the large gear through a fisheye bearing and the other end is connected with the shank rod through a fisheye bearing; and the thigh and shank connection transmission mechanism is a four-bar mechanism for realizing the instant center of knee joint movement. The knee joint is driven to move upwards, the overall rotational inertia of the mechanism is greatly reduced, the power assisting capacity is improved, double four-bar linkage synchronous transmission is adopted, the instantaneous center of movement of the knee joint of the human body is better fitted, and the movement comfort of the human body is improved.

The invention provides a rehabilitation robot based on a non-circular gear train-five-bar mechanism, and relates to the technical field of rehabilitation medical instruments, the rehabilitation robot comprises a rack, a left rehabilitation mechanism and a right rehabilitation mechanism; the left rehabilitation mechanism and the right rehabilitation mechanism are symmetrical; the left rehabilitation mechanism comprises a left non-circular wheel train-five-rod mechanism, a left leg connecting rod and a left knee bandage; the right rehabilitation mechanism comprises a right non-circular wheel train-five-rod mechanism, a right leg connecting rod and a right knee bandage. The non-circular wheel train-five-bar mechanism is used for accurately reproducing the motion posture of the knee joint, the problems that the fitness between the motion track of an existing rehabilitation robot and the natural gait of the human body is insufficient, the control torque is large and the like can be effectively solved, and the non-circular wheel train-five-bar mechanism has the advantages of being simple in structure and low in manufacturing cost.

The application discloses a leg nursing bracket for bone surgery and relates to the technical field of medical devices, which comprises a supporting rod and a stabilizing mechanism, wherein the stabilizing mechanism comprises a connecting frame, one end of the connecting frame is slidably connected with a sliding block, a locking unit is arranged on the sliding block, a supporting assembly is mounted on one side of the sliding block and the end of the connecting frame away from the sliding block, the supporting assembly comprises a supporting plate, the supporting plate is rotationally connected with the connecting frame and the sliding block through a rotating shaft, and an end cover is fixed to the end of the rotating shaft, the two angle-adjustable supporting plates are used for supporting and lifting the thighs and the shanks respectively, the height of the supporting plate for lifting the shank is adjustable, thus the two supporting plates can support and lift the legs according to the positions and angles of the thighs and the shanks respectively, the knee joint movement is limited, the healing effect after the knee ligament surgery is ensured, and in addition, the stabilizing mechanism is designed as a wearable type, can be worn on the legs when the patient gets out of bed and continuously maintains the flexion degree of the legs.

The utility model discloses an adjustable knee joint exercise rehabilitation device which comprises a supporting plate, the left end of the supporting plate is connected with a rotating plate in a rotating mode, the rotating plate can be folded at the upper end of the supporting plate, the supporting plate is provided with a limiting mechanism used in cooperation with the rotating plate, and the limiting mechanism is used for fixing the rotating plate when the rotating plate is horizontal. A supporting mechanism used in cooperation with the limiting mechanism is arranged on the rotating plate, and the supporting mechanism and the limiting mechanism are used for fixing the rotating plate when the rotating plate rotates to the vertical state. The rotating plate can be fixed through the limiting mechanism after rotating to the horizontal state, passive knee bending training can be conveniently carried out, the rotating plate can be fixed through the limiting mechanism and the supporting mechanism when rotating to the vertical state, and sliding wall training can be conveniently carried out.

The utility model discloses a rehabilitation assisting device for knee joint movement training, which relates to the technical field of rehabilitation medical instruments and comprises two fixing supports, angle limiters are arranged behind opposite sides of the two fixing supports, and the two fixing supports are in central symmetry by taking the angle limiters as circle centers. The inner side of the fixing support is fixedly connected with a lining protection pad in the same shape, the inner side of the lining protection pad can be tightly attached to the outer side of the leg, and the front end and the rear end of the top end of the fixing support are jointly provided with two fixing bandages. The rotating limiting beam is driven to move by adjusting the position of the angle fixing assembly, the rotating range of the fixing support is limited, the operation mode of the device can be simplified, the convenience of the device is improved, the fixing clamping column and the fixing connecting column can be fixed through the buckle fixing assembly, and the practicability is high. And a user can adjust the device by himself according to requirements, so that the adjustability of the device is improved.

1. The name of this design product: circuit board (pedal control board). 2. Purpose of this design product: used for the pedal lifting control of the open knee joint exercise trainer. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the key points of the design: main view. 5. The left, right, top and bottom views of this design product have been shown in other views, so the left, right, top and bottom views are omitted.

1. Name of the product in this design: Knee brace (intelligent walking aid). 2. Purpose of this design: for knee joint protection, exercise assistance, rehabilitation aid, and exercise data monitoring. 3. The key design elements of this product are the combination of shape, pattern, and color. 4. The image or photograph that best illustrates the design's key points: a 3D model. 5. The design for which protection is sought includes color.

The application discloses a knee joint assisting exoskeleton and relates to the technical field of robots. The exoskeleton can assist a user to complete knee joint movement in different scenes, improve walking efficiency and stability, and reduce the load and impact force of the knee joint. The exoskeleton comprises a knee joint exoskeleton main body, a Bowden wire driving device, a Bowden wire, an inertial sensing unit and a control unit. The exoskeleton main body is bound at the knee joint of a wearer. The Bowden wire driving device and the control unit are arranged at the waist of the wearer. The Bowden wire driving device drives the knee joint exoskeleton main body to assist the knee joint through the Bowden wire. The inertial sensing unit is arranged at the thigh and the lower leg of the wearer and is used for detecting the knee joint angle and the hip joint angle. The control unit can judge the posture of the wearer according to the received knee joint angle information and hip joint angle information, select an assisting mode according to the posture, then select an assisting time point and an assisting curve according to the assisting mode, and control the start and stop of the Bowden wire driving device.

The invention belongs to the technical field of medical instruments, and discloses an artificial limb control system and control method for driving a knee joint by a hip joint, and the control system comprises a hip joint curvature acquisition module, a wireless data transmission module, a knee joint driving device and a battery module, the hip joint curvature acquisition module is used for acquiring a bending angle signal of a hip joint in real time, the wireless data transmission module is used for wirelessly transmitting the hip joint angle signal, and the knee joint driving device is used for receiving the hip joint angle signal transmitted by the wireless data transmission module and controlling the movement of the knee joint according to a preset biomechanical model. The knee joint driving device is used for executing a control instruction sent by the knee joint driving device and driving the knee joint to move, and the battery module supplies power to other assemblies. Hip joint angle signals are collected in real time and wirelessly transmitted through the hip joint curvature acquisition module, knee joints are directly driven to move, signal instability and response lag are avoided, control precision and comfort are improved, and the service life of a battery is prolonged.

The utility model relates to the technical field of intelligent health protection, in particular to a wearable equipment control system for knee joint injury detection and pre-protection, which comprises a controller, an upper computer, a data transmission module, a signal acquisition module, a wearable module and an electrical stimulation module, and is characterized in that the controller controls the wearable module; the upper computer records, checks and modifies personal information and checks the electric quantity of the wearable module; the data transmission module is used for communication between the controller and an upper computer; the signal acquisition module acquires human knee joint movement conditions; the electrical stimulation module is used for stimulating a human muscle system, the system collects knee joint movement conditions in the movement process in real time through the wearable module, judges whether injury risks exist or not based on a knee joint injury early warning algorithm of a deep learning model, and if the injury risks exceed an injury risk threshold value, gives an alarm. If yes, the electrical stimulation module can automatically apply electrical stimulation to the corresponding muscle position, muscle groups are promoted to contract, knee joint restoration is helped, and knee joint ligament injury is monitored and prevented.

The application provides a knee joint energy management system for prosthesis hip-knee coupling movement, which comprises a single-side rod-type knee joint hydraulic cylinder and an integrated energy management module, and realizes the collaborative control of energy dynamic recovery, active driving and damping adjustment by switching the oil path mode through a rotary valve body.The specific scheme is as follows: the energy management module is internally provided with an energy storage cavity, a hydraulic gear pump and a hydraulic active driving motor, the hydraulic oil is compressed to store mechanical energy in the spring of the energy storage cavity in the knee joint flexion stage, and the energy is released to drive the gear pump to generate electricity or reversely output hydraulic power in the extension stage.The communication state of the energy storage cavity and the gear pump is switched through the two-position slot of the rotary valve body, and the passive damping adjustment, active assistance and locking mode are supported.The application realizes the dynamic damping adjustment, active driving control and energy recovery and storage of the knee joint movement.