312 results about "Large legs" patented technology

The invention discloses a double-clutch variable-stiffness knee joint exoskeleton, and relates to the technical field of wearable lower limb exoskeletons.The double-clutch variable-stiffness knee joint exoskeleton comprises a gait sensing module arranged outside and a limb connecting arm module used for being connected with a human body, and an energy storage module is installed on one side of the limb connecting arm module; a sensor module is mounted on the other side of the limb connecting arm module; the limb connecting arm module comprises a limb connecting arm assembly I used for being connected with the thigh of the human body and a limb connecting arm assembly II used for being connected with the shank of the human body, the limb connecting arm assembly I and the limb connecting arm assembly II are each provided with a clutch unit, and the core speed increaser is installed between the limb connecting arm assembly I and the limb connecting arm assembly II. The energy storage module and the sensor module are arranged on the two sides of the core speed increaser, and the core speed increaser is connected with the energy storage module. The device has the advantages of compact structure, variable rigidity bandwidth and good motion adaptability, can realize high energy recovery efficiency in a multi-gait mode, and reduces the metabolic consumption of a human body.

An exoskeleton system comprising a leg actuator unit that is configured to be coupled to a leg of a user. The leg actuator unit includes: an upper arm and a lower arm that are rotatably coupled via a rotatable joint, the rotatable joint configured to be positioned at a knee of the user with the upper arm coupled about an upper-leg portion of the user above the knee and with the lower arm coupled about a lower-leg portion of the user below the knee. The upper arm is configured to be coupled to the upper-leg portion above the knee via a first set of couplers that includes a first upper-leg coupler, the lower arm is configured to be coupled to the lower-leg portion below the knee via a second set of couplers that includes one or more lower-leg couplers associated with a lower-leg brace, and an actuator extends between the upper arm and lower arm, the actuator configurable to move the upper arm and lower arm.

An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

An exoskeleton is provided and includes a garment to be worn by a user, an exoskeleton interface provided on a backside of the user when wearing the garment, and an exoskeleton mechanism adapted to be connected to the garment via the exoskeleton interface. The exoskeleton mechanism includes an actuator system having a spring-loaded assembly coupled a torso anchor and pivotally coupled to a waist anchor, and a resilient element connected to the casing. The spring-loaded assembly is operable to generate a force upon deformation or deflection of the resilient element. The exoskeleton mechanism also includes actuator links rotatably coupled between the waist anchor and respective thigh anchors. Each actuator link is operatively coupled to and adapted to operate the spring-loaded assembly upon rotation of the casing or the actuator links. The force generated upon operation of the spring-loaded assembly is transferred to the user via the exoskeleton interface and the garment to assist the user in performing a movement.

The utility model discloses an integrated leg support for an automobile seat, which comprises a seat frame, the front part of the seat frame is provided with a first driving mechanism and a supporting framework capable of sliding back and forth, the supporting framework is used for supporting thighs of passengers, and the first driving mechanism is used for driving the supporting framework to slide out of the front part of the seat frame or retract into the seat frame; a second driving mechanism and a shank supporting assembly connected with the supporting framework in an overturning mode are arranged on the front portion of the supporting framework, the shank supporting assembly is used for supporting the shank of the passenger, and the second driving mechanism is used for driving the shank supporting assembly to conduct overturning movement relative to the supporting framework. The seat has the advantages that through the combined design of the thigh support and the shank support, the legs of a passenger are completely supported, and then the riding comfort of the passenger is guaranteed.

The invention relates to the technical field of robots, in particular to a hybrid drive leg device and a humanoid robot. The leg device comprises a thigh assembly and a shank assembly. The thigh assembly comprises a first driving mechanism, a second driving mechanism, a thread shifting device and a pair of first structural plates. The first driving mechanism comprises a first motor, a first conical wheel, a first guide wheel and a first rope. The first motor drives the first conical wheel to rotate and drives the first structural plate to swing. The shank assembly comprises a pair of second structural plates, and the second driving mechanism is used for driving the second structural plates to swing. The thread shifting device drives the first rope to move in the axial direction of the first conical wheel and drives the second rope to move in the axial direction of the second conical wheel, so that the leg device can stably operate under the conditions of different gaits and loads. In addition, the leg device of the scheme comprises the elastic buffer piece and the hydraulic damper, the elastic buffer piece and the hydraulic damper can absorb impact force borne by the leg device in real time in the movement or landing impact process of the leg device, and the overall stability of the leg device is improved.

A foldable electric bed includes pivotally connected front and rear frames, first buttock and back supporting units linked together and slide on the front frame, a first actuator disposed with the first buttock and back supporting units, a bottom frame slidably disposed with the rear frame, second buttock, thigh and lower leg supporting units linked together and disposed with the bottom frame, a quick release connected with the first and second buttock supporting units, and a second actuator disposed with the thigh supporting unit and the bottom frame. When the back supporting unit is driven by the first actuator to swing upwardly, the first and second buttock supporting units, the bottom frame, and the thigh and lower leg supporting units are driven to slide forwards.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

The invention relates to the technical field of robots, and discloses a mechanical leg structure and a robot, and the mechanical leg structure comprises a hip A-axis motor and a hip B-axis motor which are suitable for rotating around an A axis and a B axis respectively; the two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are suitable for rotating around the two-axis motor adapter respectively; the hip B-axis motor structural part is connected with a hip B-axis motor, the hip B-axis motor is suitable for driving the hip B-axis motor structural part to rotate relative to the two-axis motor adapter, and the hip B-axis motor structural part is provided with a thigh hinge part; the thigh structural part is hinged to the thigh hinge part, and the thigh structural part is suitable for rotating around the C axis relative to the hip B-axis motor structural part; and the A shaft, the B shaft and the C shaft are concentric. According to the mechanical leg structure, the mechanical leg structure can freely rotate in multiple directions, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

The utility model relates to the technical field of waist stools, and discloses an adjustable waist stool strap structure for infants, which comprises a protective plate, a stool is mounted at the upper part of the front side of the protective plate, a protective strap is connected to the front side of the top of the stool, shoulder straps are mounted on the outer sides of connecting straps, first elastic bands are sewed at the rear parts of the shoulder straps, and a second elastic band is sewed at the rear parts of the first elastic bands. First buckles are mounted at the inner ends of the first elastic bands; the second elastic bands are sewn on the front side and the rear side of the strap, buttons are arranged on the front side and the rear side of the protecting band and the inner sides of the second elastic bands, a first binding band is connected to the lower portion of the left side of the strap, and a second binding band is connected to the lower portion of the right side of the strap. According to the adjustable waist stool strap structure for the infant, the second elastic band is separated from the button, so that the two legs of the infant can be changed into a free moving state, blood circulation of the legs can be improved, and the situation that the blood vessels on the inner sides of the thighs are possibly pressed by a diverging sitting posture is avoided.

The invention provides protective garments tailored for ice hockey players to safeguard critical areas susceptible to blade injuries. The garments include an upper body garment with a collar, left and right sleeves with specific upper arm and forearm portions, and a torso portion, as well as a pair of pants with strategically placed protective elements. Strategically integrated portions of cut-resistant ultra-high-molecular-weight polyethylene (UHMWPE) material are present in the collar, forearm sections, inner thighs, and above the knees on the front of the thighs. Some embodiments also incorporate other fabrics, such as aramid variants, while non-cut-resistant sections may be made from blends like polyester and spandex. The collar may take various forms to provide the wearer with configurable protection, and the pants offer additional features such as Velcro straps for hockey socks and pockets for optional groin cups.

This invention discloses an integrated chair for defecation assistance and pelvic floor muscle training in proctology, comprising a steel pipe support frame and a pelvic floor muscle monitoring device. The pelvic floor muscle monitoring device is fixedly installed inside the steel pipe support frame. Electrode plates are fixedly connected to the side of the pelvic floor muscle monitoring device via cables. A threaded support column is fixedly connected to the front of the steel pipe support frame. A bracket is provided in the middle of the steel pipe support frame. Connecting kits are fixedly connected to both sides of the bracket, and the connecting kits are sleeved on the threaded support column. A fecal storage box is provided below the bracket. A buttock pad is fixedly connected to the top of the bracket via a rubber ring. The buttock pad is hollow inside, and a small vibration motor is fixedly connected inside the buttock pad. By sliding the foot pedal between two front support plates, the foot pedal can be adjusted to a suitable height. The patient can step on the foot pedal, raising both knees and bringing the thighs closer to the abdomen, effectively reducing the anal angle and optimizing the angle between the rectum and anus, making defecation smoother.

This invention relates to a hydraulically driven humanoid robot pelvis, within the field of humanoid robots. It addresses the problems of complex structure and large size in existing hip joint pelvic structures. The pelvic support frame integrates printed hydraulic circuits. A lumbar joint base is mounted on one side of the pelvic support frame along its length. Two hip joint mounts are symmetrically mounted on either side of the pelvic support frame along its width, with the axis of the hip joint mounts aligned with the width of the pelvic support frame. The thickness of the pelvic support frame is less than the outer diameter of the hip joint mounts. A lumbar joint is mounted on the lumbar joint base and drives the pelvic skeleton to achieve posture adjustment. Each hip joint mount contains one hip joint, enabling roll and yaw movements. Each hip joint is connected to a thigh, and the pitch movement of the pelvic skeleton is achieved through the drive of a hydraulic cylinder on the thigh. This invention is applicable to robots that need to carry heavy objects or perform tasks requiring great strength.

The application discloses a kind of leapable wheel-foot mobile robots, belongs to mobile robot technical field, including body and active attitude control system, the two sides of body are equipped with four jumping motors, the output end of jumping motor is connected with adaptive shock absorbing leg, adaptive shock absorbing leg is equipped with travel assembly on the side away from body.The application is coordinated through active attitude control and adaptive shock absorbing leg, can real-time correct attitude in the process of jumping off ground, air adjustment and landing recovery, ensure that wheeled structure lands downward, realize wheel-foot mode stable switching, utilize thigh, lower leg connecting rod and rotating joint cooperation torsional spring, grade absorption impact energy in full stroke, reduce landing impact peak value and assist leg reset, can improve landing stability, the lower leg connecting rod of body same side adaptive shock absorbing leg is fixed in same travel assembly, realize wheel-foot structure and shock absorption system coordination.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

The utility model discloses an embodiment of a humanoid robot, including torso device, the both sides of torso device are equipped with arm device, and the bottom of torso device is equipped with crotch device, and the both sides of crotch device are equipped with leg device, and torso device includes head acquisition control unit, torso support, waist torsion motor module, waist tilting motor module, neck torsion motor module, neck tilting motor module, neck motor mounting bracket, head mounting bracket, waist mounting bracket, and leg device includes thigh fixing piece, small shank fixing piece, knee motor rotating mechanism, first foot drive motor, first leg connecting rod, second foot drive motor, second leg connecting rod, foot palm piece. The utility model discloses compact structure, and the degree of freedom of each joint is high, and transmission efficiency is high, and has promoted the motion efficiency and reliability.

This invention provides a variable stiffness actuator, a knee exoskeleton, and a control method for the variable stiffness actuator, belonging to the field of rehabilitation robot technology. The variable stiffness actuator includes a variable stiffness component, which consists of a zero-length frame hinged four-bar linkage, an elastic link assembly, a stiffness adjustment mechanism, and a T-screw assembly. The input and output disks have coaxial rotation centers. The elastic link assembly includes a linear spring and a Bowden wire. The T-screw assembly is used to change the geometric configuration parameters of the four-bar linkage, achieving stepless adjustment of the stiffness range. The knee exoskeleton includes a rotation drive assembly, a thigh assembly, a lower leg assembly, and the variable stiffness actuator. The control method includes establishing a stiffness model, real-time estimation of human-machine interaction torque, compliant control based on gait phase, and adjustment of the stiffness mode. This invention achieves stepless stiffness reconfiguration over a wide range and structural lightweighting, enabling precise compliant control without the need for torque sensors.

This invention relates to the field of robotics, specifically to a hybrid-driven leg device and a humanoid robot. The leg device includes a thigh assembly and a lower leg assembly. The thigh assembly includes a first drive mechanism, a second drive mechanism, a cable puller, and a pair of structural plates. The first drive mechanism includes a first motor, a first conical wheel, a first guide wheel, and a first rope. The first motor drives the first conical wheel to rotate and causes the first structural plate to swing. The lower leg assembly includes a pair of second structural plates, and the second drive mechanism is used to drive the second structural plates to swing. The cable puller drives the first rope to move axially along the first conical wheel and the second rope to move axially along the second conical wheel, enabling the leg device to operate stably under different states and load conditions. Furthermore, the leg device of this solution includes an elastic buffer and a hydraulic damper, both of which can absorb the impact force received by the leg device in real time during movement or landing impact, improving its overall stability.

The utility model relates to the technical field of demonstration robots, in particular to an action demonstration robot for non-genetic culture learning, which comprises an upper limb mechanism and a head mechanism mounted at the upper end of the upper limb mechanism, a lower limb mechanism is mounted at the lower end of the upper limb mechanism and used for action switching, and the lower limb mechanism comprises thigh components mounted on two sides of the lower end of the upper limb mechanism; the crus assembly comprises a crus connecting piece arranged below the thigh assembly, a crus upper steering engine is installed at the upper end in the crus connecting piece and rotationally connected with the lower end of the thigh assembly, the output end of the crus upper steering engine is fixedly connected with the lower end of the thigh assembly, and a crus lower steering engine is installed at the lower end in the crus connecting piece; the foot assembly comprises a foot connecting piece rotationally mounted at the lower end of the lower shank steering engine, and a foot steering engine is rotationally mounted at the lower end of the foot connecting piece; through the thigh assembly, the shank assembly, the foot assembly and the moving assembly, the performance posture and the moving state can be quickly switched, and both the artistic performance and the stage scheduling efficiency are considered.

The application relates to a single-leg mechanism of a foot-type robot with high jumping ability, which comprises a thigh assembly, a shank assembly, a foot plate, a shank driving device, and a foot plate driving device. The first end of the shank assembly is hinged to the second end of the thigh assembly; the foot plate is hinged to the second end of the shank assembly; the shank driving device comprises a shank driver arranged on the thigh assembly and a stroke amplification device driven by the output end of the shank driver; the output end of the stroke amplification device is hinged to the shank and amplifies the displacement stroke of the output end of the shank driver; the foot plate driving device comprises a motor arranged on the thigh assembly, a driving energy storage device driven by the output shaft of the motor, and a foot plate linkage assembly connected between the output end of the driving energy storage device and the foot plate and keeping the rotation angle between the foot plate and the ground when the shank assembly and the thigh assembly rotate. The shank assembly and the foot plate of the robot are designed to be light in weight, so that the robot can realize high gravity center arrangement, reduce the inertia of the shank assembly part of the robot, and greatly improve the jumping height of the robot.

The invention relates to a waist walking aid exoskeleton control method and structure, and belongs to the technical field of exoskeletons. The control method comprises the following steps: determining a power gear upper limit according to the electric quantity of a battery and the temperature of a motor, and determining a current power gear and a working mode according to user settings; determining the numerical value of a motor torque control parameter according to the current gear and the working mode; performing gait detection and generating a target torque based on a gait state; limiting and smoothing the target torque based on the set motor torque control parameters; the absolute value of the included angle of the left and right thigh connecting rods is monitored in real time, and if the absolute value exceeds a threshold value, the target torque is forcibly set to be zero; and sending the finally obtained target torque to a motor for execution. The device can adapt to gait changes of a user in different scenes such as uphill and downhill, timely and appropriate waist and lower limb assistance is provided, the human body load is effectively relieved, and the exercise comfort and safety are improved.

This invention discloses a damped adjustable robot leg system and its control method. The leg system includes a thigh, a lower leg, a link, an adjustable damper, wheel feet, and a wheel-side motor. One end of the thigh is hinged to one end of the lower leg, while the lower leg is hinged to the other end of the thigh via a link, forming a parallelogram mechanism. The wheel feet are located at the other end of the lower leg, and the wheel-side motor is fixed to the side of the wheel feet to drive their movement. The adjustable damper is fixed between the wheel-side motor and the other end of the lower leg. The adjustable damper can adjust the damping of the leg system. When the adjustable damper is locked, the leg system is in a fully rigid state. This invention not only increases the robot's obstacle-crossing ability when walking on wheels, but also reduces the vibration of walking on bumpy roads and reduces damage to the joint motors.

The utility model discloses a sitting posture self-adaption thigh adduction training device which comprises a frame body, a counter-balanced carriage is arranged on one side of the frame body, a seat is arranged on the other side of the frame body, one end of the seat abuts against the middle of one side of the counter-balanced carriage, a backrest is hinged to the other side of the seat, and the other side of the seat is provided with a backrest. The middle of one side of the backrest is connected with the upper surface of the seat through an elastic cushion, the outer side of the vertical rod is fixedly connected with an adjusting disc, the top end of the vertical rod is fixedly connected with a supporting rod, the other end of the supporting rod is fixedly connected with an inward-retracting check block, and the interior of the adjusting disc is rotationally connected with a wire coil. And the wire coils are rotationally connected to the middle parts of the vertical rods through ratchet wheels. The fitness equipment is more fit with the back of the body of a trainee, can be more suitable for being used by a body builder, and is convenient and quick.

The utility model discloses a pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion, and relates to the technical field of cushions, the pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion comprises a cushion body, the bottom of the cushion body is fixedly provided with a silica gel bottom cushion, and the outer side of the cushion body is fixedly provided with an air inlet pipe and an air outlet pipe. An electric telescopic rod drives a connecting plate to perform reciprocating motion, so that a second rack moves along with the connecting plate, a second gear is driven to rotate back and forth in an engaged mode, a rotating shaft rotates back and forth along with the connecting plate, a plurality of first gears are driven to rotate together, and first racks on the two sides of the first gears are driven to perform reciprocating up-down motion; and the plurality of massage heads can perform point pressure massage on thighs of a human body through the plurality of massage convex points, so that the condition that the thighs are pressed for a long time to cause numbness when people sit for a long time and blood cannot circulate is effectively prevented, and the using effect of the cushion is improved.

An exosuit leg gripping system may include an upper leg grip configured to encircle a thigh of a person wearing the exosuit leg gripping system, a lower leg grip configured to encircle a shank of a person wearing the exosuit leg gripping system, an upper leg grip connection interface carried by the upper leg grip, and a lower leg grip connection interface carried by the lower leg grip. The upper leg grip connection interface is configured to releasably connect the upper leg grip to a thigh link of an exosuit drive system. The shank link connection interface is configured to releasably connect the lower leg grip to a shank link of an exosuit drive system.

The utility model relates to the technical field of sock performance testing, in particular to a walking simulation sock performance testing device which comprises a rack, a pavement base is arranged on a table top of the rack, a connecting frame is fixedly connected to the upper portion of the front end of the rack, and a motor is fixedly installed at the left end of the connecting frame. The output end of the motor is connected with a double-throw crankshaft through a coupler, the double-throw crankshaft is connected with two thigh rods through shaft pins, the ends, away from the double-throw crankshaft, of the two thigh rods are connected with shank rods through shaft pins, and the ends, away from the thigh rods, of the two shank rods are provided with combined samples; the rear ends of the two shank rods are connected with connecting rods through shaft pins, and pulleys are arranged on the upper portion of the left end and the upper portion of the right end of the rack. According to the sock performance testing device capable of simulating walking, the walking action of a human body can be simulated through linkage of a mechanical structure, so that the testing result has more practical significance.

The invention provides an upper and lower limb stroke rehabilitation seat. The seat comprises a chassis, a mechanical arm, a telescopic rotating rod and a seat displacement device. The seat has the function of switching between an active mode and a passive mode and an upper and lower limb rehabilitation mode. When an upper and lower limb rehabilitation mode is selected, an upper air cushion of the mechanical arm is used for fixing a big arm and a thigh respectively, and a lower air cushion is used for fixing a small arm and a shank respectively; the passive mode is suitable for initial rehabilitation, and the active mode is suitable for advanced rehabilitation; the seat device adopts a hip radian seat surface, and displaces through a strong rope and a take-up reel system; the mechanical arms on the two sides are each provided with a telescopic rotating rod, transmission is achieved through double motors and bevel gears, a conveying belt is driven to control the movement amplitude of upper and lower limb joints, each mechanical arm is provided with a myoelectricity induction chip and a sliding rod induction assembly, data are collected in real time, and the training intensity is dynamically adjusted. And the matched APP provides a gamification interaction interface, synchronizes training data and generates a personalized scheme. By means of the device, the rehabilitation seat can improve the rehabilitation efficiency.