29 results about "Limb joint" patented technology

The utility model discloses a joint torque measuring device, which comprises a base provided with a slide rail and used for bearing a force measuring unit and abutting against a static limb joint of a joint to be measured; the force measuring unit is mounted on the sliding rail in a sliding manner and is used for receiving and measuring the acting force of a movable limb joint of the joint to be measured; and the displacement measuring unit is arranged on the base and is used for measuring the displacement of the force measuring unit. The device can be used for measuring torques of joints of all positions of a human body, such as joints of upper and lower limbs or fingers, the muscle strength and motion function conditions of the joints can be evaluated only by adjusting the sizes of all parts of the device to be matched with the sizes of the corresponding joints and limbs, and basis is provided for formulation and adjustment of rehabilitation treatment when the device is applied to the rehabilitation treatment; accordingly, a corresponding rehabilitation training scheme is designed, and the patient is helped to recover muscle strength and motion functions.

The invention provides a bionic lower limb robot artificial limb test system and method. The system comprises a humanoid robot test main body, a load module, a support module and a data acquisition module, the humanoid robot testing main body at least comprises human lower limb joints and is used for simulating human lower limb walking; the human body lower limb joint comprises at least one of a knee joint, an ankle joint and a foot modularization, and at least part of the human body lower limb joint can be replaced by an artificial limb to-be-tested unit, so that the humanoid robot test main body can drive the artificial limb to-be-tested unit to carry out a walking test; the load module is arranged on the humanoid robot test main body and is used for providing a target load for the artificial limb to-be-tested unit; the supporting module is used for providing a walking road on which the humanoid robot testing main body can carry out a walking test; the data acquisition module is used for monitoring test parameters when the artificial limb to-be-tested unit is subjected to a walking test. According to the invention, a real use scene can be simulated, and accurate detection of the multi-dimensional performance of the artificial limb can be realized.

The invention relates to a joint angle prediction method and device, wearable lower limb exoskeleton equipment and electronic equipment, and relates to the technical field of exoskeleton equipment control. The method comprises the following steps: acquiring an electromyographic signal when a user walks by wearing the wearable lower limb exoskeleton equipment; classifying the electromyographic signals according to an electromyographic signal classification model, and determining a first electromyographic signal associated with the knee joint and a second electromyographic signal associated with the ankle joint; inputting the first electromyographic signal and the second electromyographic signal into a joint angle prediction model, and determining a joint angle of a knee joint and a joint angle of an ankle joint; wherein the wearable lower limb exoskeleton equipment performs joint control according to the joint angle of the knee joint and the joint angle of the ankle joint. Therefore, the electromyographic signals are disassembled into the signals related to all the lower limb joints, then the joint angles of all the lower limb joints are predicted through the signals related to all the lower limb joints, and therefore the joint angle prediction accuracy is improved.

The utility model discloses a visual interventional therapy operation support for lower limb joints, and belongs to the technical field of adjuvant therapy. The device comprises a support frame; the first telescopic frame is rotationally installed on the supporting frame, the two telescopic frames are rotationally connected, the second telescopic frame is rotationally provided with a sliding block, and the sliding block is installed on the supporting frame in a sliding mode; the foot support is mounted on the second telescopic frame; the first fixing piece is installed on the supporting frame. The lower limbs of a patient are placed above the two telescopic frames, and the angle formed between the two telescopic frames is adjusted, so that the supporting angle between the shanks and the thighs of the patient is adjusted. Through the telescopic function between the telescopic frames, the device can adapt to patients with different lower limb sizes. The lower limbs of a patient can achieve standard treatment body position fixation, the adjusting process is simple and convenient to operate, the patient has good comfort and experience feeling, the requirement for visual guide body position placement and fixation of all joints of the lower limbs is met, and medical humanistic care is embodied.

The invention discloses a lower limb joint flexible traction rehabilitation device, and relates to the technical field of lower limb joint rehabilitation physiotherapy equipment. Comprising a leg traction mechanism and a thigh traction mechanism which are fixedly placed on the ground, the leg traction mechanism is arranged close to the right front of the thigh traction mechanism, and the thigh traction mechanism can conduct stretching and bending action training on the hip joint of a patient and conduct lower limb strength rehabilitation training on the patient at the same time. A rail adjusting assembly and a sliding assembly of the leg traction mechanism are in sliding fit, so that the lower limbs of the patient do reciprocating curvilinear motion along the arc-shaped track of an arc-shaped sliding rail plate, the stretching and bending motion range of the lower limb joints of the patient can be greatly increased, and therefore the lower limb joints of the patient can be effectively exercised; the leg traction mechanism can achieve abduction and adduction action training of the hip joint of the lower limb of the patient, and the thigh traction mechanism can achieve stretching and bending action training of the hip joint of the lower limb of the patient, so that the hip joint of the patient obtains multi-aspect action training.

The utility model provides a limb joint function exercise assist device which comprises a supporting frame, a lying plate fixedly arranged on the supporting frame and a lower limb flexion and extension assembly movably arranged on the supporting frame. The lower limb flexion and extension assembly comprises a connecting rod, an elastic band and two rolling wheels, two pedals are movably arranged on the connecting rod, the elastic band is connected with the connecting rod and the lying plate, and the two rolling wheels are arranged at the two ends of the connecting rod in a sleeving mode respectively and arranged on the supporting frame in a rolling mode. According to the auxiliary device, a patient with mobility difficulty can exercise in a lying mode, multiple joints can be exercised at the same time, the exercise efficiency can be improved, and the applicability of the auxiliary device can be improved.

The technical scheme of the present application provides a kind of limbs joint support structure, including upper support part, lower support part and link part, the upper support part and the lower support part can be bent to arc surface shape from both sides, for fitting to the upper limbs and lower limbs at the joint of patient;Two ends of the link part are connected to the upper support part and the lower support part respectively, for fitting to joint position, the width of the link part is less than the upper support part and the lower support part, so that two grooves are formed between the link part and the upper support part and the lower support part.The beneficial effects of the present application form a link part between the upper support part and the lower support part through the groove, the link part is bent and fitted to the joint, avoiding the generation of corner, when bending, it can be simplified, whether the material has enough ductility or not, it can meet the requirements, the structure is simple, the complexity is low, and the production process is simple, the operability is high;Shoulder joint, elbow joint, ankle and other parts are applicable, and the structure design has certain universality.

This invention provides a biomimetic lower limb robot prosthesis testing system and method, comprising: a humanoid robot testing body, a load module, a support module, and a data acquisition module; the humanoid robot testing body includes at least human lower limb joints for simulating human lower limb walking; the human lower limb joints include at least one of a knee joint, an ankle joint, and a foot module, and at least a portion of the human lower limb joints can be replaced with a prosthesis test unit, enabling the humanoid robot testing body to drive the prosthesis test unit for walking tests; the load module is disposed on the humanoid robot testing body for providing a target load to the prosthesis test unit; the support module provides a walking path for the humanoid robot testing body to perform walking tests; and the data acquisition module monitors the test parameters of the prosthesis test unit during walking tests. This invention can simulate real-world usage scenarios and achieve accurate testing of multi-dimensional prostheses.

The invention relates to the technical field of joint passive restorers, in particular to an upper limb joint passive restorer, according to the technical scheme, the upper limb joint passive restorer comprises a base, a rehabilitation assembly, a fixing assembly and a bandage assembly, two supporting pads are mounted on the two sides of the bottom of the base through threaded structures, and an electrical box is fixedly mounted at the position, close to the front face, of the top of the base; a fixing assembly is fixedly installed on one side of the top of the base and comprises a supporting frame. A rehabilitation assembly is fixedly installed on the other side of the top of the base and comprises a bearing plate. The palm rest is installed on one side of the rotating shaft, so that when a user conducts joint passive recovery exercise, the user can conduct rotation exercise of the forearm autonomously, arm muscles are pulled while the forearm is rotated, and compared with a traditional joint recovery device, the exercise effect can be further improved, the exercise range can be expanded, and the user experience is improved. The practicability of the joint passive restorer is improved, and the functionality of the device is increased.

This invention discloses a variable stiffness lower limb exoskeleton robot based on a dielectric elastomer. The exoskeleton robot includes a lumbar support beam, two hip joint modules, two knee joint modules, and two ankle joint modules. A hip joint module is located at each end of the lumbar support beam. The lower ends of the hip joint modules are connected to the knee joint modules via hip joint connectors, and the lower ends of the knee joint modules are connected to the ankle joint modules via calf adjustment plates. This invention utilizes a novel driving principle based on dielectric elastomers, which are lightweight, have high energy density, and fast response speed, thus improving the exoskeleton robot's mobility. Based on the motion mechanism of human lower limb joints, the functions of each joint in the lower limb exoskeleton robot are optimized, enhancing its motion assistance performance. This invention can be well applied to lower limb medical rehabilitation, assisting hemiplegic patients in completing walking training, and has significant practical value.

The invention provides an intelligent anti-falling system based on multi-mode perception, and relates to the technical field of medical monitoring, a mattress is firstly divided into a back area, a middle area and a leg area, a pressure monitoring threshold value is set, and the pressure of each area, a user state and an electromyographic signal are obtained; when the pressure of each area is greater than a monitoring threshold value, the pressure of the middle area is maximum and the user is identified to be awake for the first time, entering an on-bed preparation period, analyzing whether the lower limb joint movement is completed or not during the period, ending the period and counting the duration when the pressure of the back and leg areas is less than the threshold value and the pressure of the middle area is greater than the threshold value, and judging to enter a bedside adaptation period; during the period, whether neck rotation, natural drooping of the two feet and stretching of the upper limbs are completed or not is judged, when the pressure of each area is smaller than a threshold value, the period is ended, the duration is counted, then when it is confirmed that the two feet stand front and back through knee coordinates, the standing stable period is started, and the duration of the period, the synchronous broadcasting duration and the corresponding action conditions are counted.

The utility model discloses an artificial limb joint and an artificial limb, the artificial limb joint comprises an upper joint and a lower joint, the upper joint is hinged with the lower joint; an opening is formed in the rear portion of the lower joint in the length direction of the lower joint, a reinforcing plate is arranged in the opening, and the reinforcing plate is connected with the inner walls of the two sides of the lower joint in the width direction. According to the embodiment of the utility model, the two side walls of the lower joint are connected and supported through the reinforcing plate arranged in the opening at the rear part of the artificial limb joint, so that the torsional strength of the artificial limb joint can be obviously enhanced, the artificial limb joint is not easy to deform in the use process, and the service life of the artificial limb joint is further prolonged.

The invention belongs to the technical field of knee joint arbor treatment equipment, and particularly relates to a knee joint force line appliance which comprises a body and a pressure mechanism, the body comprises a main body supporting frame, a thigh binding assembly and a shank binding assembly, and the thigh binding assembly and the shank binding assembly are in sliding connection with the main body supporting frame; after sliding in place, the main body supporting frame is fixed, and then the main body supporting frame is bound to the thigh and the shank respectively; the pressure mechanism is located between the thigh binding assembly and the shank binding assembly, and the pressure mechanism applies adjustable pressure to the key position of a force line to adjust the form of the force line of the lower limb joint, reduce and improve the development speed of gonitis lesion and reduce knee joint pain. Gradient pressure is applied to the outer side, the lower limb force line is guided to be corrected towards the outer side, and joint load redistribution is achieved. The structure of the device adopts an arc-shaped fitting design conforming to ergonomics, and it is ensured that a pressure acting point is accurately located at a key position of a knee joint force line.

The invention relates to the technical field of rehabilitation equipment, in particular to a limb joint rehabilitation apparatus which comprises a support, a leg frame is hinged to the top of the support, a guide sliding rail with an opening in the bottom is fixedly connected to the top of the leg frame, a guide sliding block is slidably connected into the guide sliding rail, and a follow-up sliding table is fixedly connected to the bottom of the guide sliding block. One end of the follow-up sliding table is symmetrically and rotationally connected with a three-point bracket, rod type sliding seats penetrate through three tail ends of the three-point bracket, massage balls are spherically hinged to the tops of the rod type sliding seats, the bottom of the leg frame is fixedly connected with a foot stand, one end of the foot stand is provided with a foot support, and the middle section of the foot support is hinged to the foot stand; the top of the leg frame is symmetrically and rotationally connected with first leg supports. When the rehabilitation assembly drives the foot support to simulate ankle flexion and extension movement and carry out joint motion range training, the transmission assembly can synchronously drive the follow-up sliding table to move, the follow-up assembly further drives the massage balls to carry out rolling massage on the shanks, and a mode of synchronously carrying out training and nursing is formed.

The invention discloses a temperature-adjustable and temperature-controllable pain relieving device for four-limb joints, and relates to the technical field of medical devices. The temperature-adjustable and temperature-controllable pain relieving device for the four-limb joints comprises an equipment shell, the joint adjusting assemblies are mounted on the left side and the right side of the equipment shell through screws; the binding rope is mounted on the outer side of the joint adjusting assembly through the positioning bulge; the controllable joint relieving structure is arranged in the equipment shell and extends to the outer side; the controllable joint relieving structure comprises a worm driving assembly which is installed on the top of the equipment shell and extends to the inner side; and the gear structure is in meshed connection with the worm driving assembly and is movably arranged in the equipment shell. According to the invention, the painful joint part of the patient can be automatically massaged, which is simple and convenient. Meanwhile, it can be guaranteed that heat is transmitted into the joints of the patient during massage, the capacity and effect of relieving the joints of the patient are improved, and the heat used for relieving joint pain is more easily transmitted into the joints of the patient.

This invention discloses a method and system for predicting lower limb joint angles, comprising the following steps: collecting first original joint angle time series from multiple healthy test subjects continuously performing various typical movements; collecting second original joint angle time series from multiple healthy test subjects performing any type of typical movement; standardizing the first original joint angle time series to obtain standard samples, wherein a portion of the standard samples constitutes the training set, and the remaining standard samples serve as the first samples; standardizing the second original joint angle time series to obtain second samples; using both the first and second samples as test samples, and all test samples constitute the test set. This invention can effectively improve the prediction accuracy and real-time computation efficiency of the prediction model, and enhances the cross-scene adaptability of the prediction model while ensuring prediction accuracy, facilitating practical use.

This invention relates to the field of orthopedic medical device technology, specifically to a joint protector for orthopedic joint correction and rehabilitation, solving the problem that joint protectors cannot provide comprehensive protection for joints and joint skin. It includes a fixed ring, a rotating ring, a support bar, and a spliced ​​ring. There are two fixed rings, each with a circular array of slots on its outer side. A first limiting hole is provided within each fixed ring. An auxiliary ring is integrally formed at the ends of the two fixed rings that are far apart from each other. There are two rotating rings, each rotating within the ends of the two fixed rings that are close to each other. A second limiting hole is provided within each rotating ring. This invention can be worn over a limb joint, providing comprehensive protection using the support bar and fixed rings without adhering to the limb skin, thus avoiding friction. Furthermore, the deformation of the support bar allows the device to adapt to different bending angles of the limb.

The invention discloses a skeleton robot based on a pneumatic driver, and belongs to the technical field of robots. The robot is mainly composed of a double-upper-limb joint system, a waist joint system, a double-lower-limb joint system, various driving parts, connecting parts and fixing parts, and simulation of human body joint movement is achieved by adopting a cooperative driving mode of a pneumatic tendon, a rotary lifting module, a swing air cylinder, a motor and a sliding table electric cylinder. Wherein the waist joint is independently driven by a plurality of pneumatic tendon muscle groups or is driven by a combination of the pneumatic tendon muscle groups and a motor; the hip joint and the knee joint are driven by the rotary lifting module; the ankle joint is jointly driven by the rotary lifting module and the oscillating cylinder; the shoulder joint is driven by the combination of a sliding table electric cylinder and a motor; the elbow joint is driven by a combination of a pneumatic tendon and a motor; and the paws are driven by a plurality of pneumatic tendons. The robot has the advantages of being large in motion range, high in bearing capacity, multiple in motion freedom degree and capable of achieving linear motion and rotary motion, and can be widely applied to the fields of teaching, exhibition, industrial carrying and the like.

The invention discloses a lower limb joint angle prediction method and system, and the method comprises the following steps: collecting a first original joint angle time sequence in the process that a plurality of health testers continuously complete a plurality of typical motions, and collecting a second original joint angle time sequence in the process that a plurality of health testers complete any typical motion; standardization processing is conducted on the first original joint angle time sequence, standard samples are obtained, part of the standard samples form a training set, and the remaining standard samples serve as first samples; standardizing the second original joint angle time sequence to obtain a second sample; and taking the first sample and the second sample as test samples, and forming a test set by all the test samples. According to the method, the prediction precision and the real-time calculation efficiency of the prediction model can be effectively improved, the cross-scene adaptability of the prediction model is improved on the premise of ensuring the prediction precision, and actual use is facilitated.

The invention provides a length-adjustable aviation lifesaving dummy for a wading test, and relates to the technical field of wading tests, the length-adjustable aviation lifesaving dummy comprises a head cover bone, the top of the head cover bone is fixedly provided with a wireless charging pile; a control box is erected at the bottom of the head cover framework; a connecting rod is fixedly erected on the rear side of the bottom of the head cover bone; a clavicle beam is fixedly arranged at the bottom of the connecting rod; an H-shaped frame is fixedly arranged at the front end of the clavicle beam, and a counterweight barrel is fixedly arranged at the bottom of the H-shaped frame; a row of spine joints connected end to end are fixedly arranged at the bottom of the clavicle beam, and a hipbone beam is hinged to the bottom of the lowest spine joint; parameter adjustment is flexible, the simulation effect is comprehensive, the height is adjusted through the remote control electric cylinder, and the tested skin can be stretched synchronously; the weight can be greatly adjusted by loading and unloading the counterweight through the counterweight barrel; postures are fixed through rotation of parts such as limb joints and a self-locking structure, simulated hands and feet can be assembled, and different human body states can be simulated.

The invention provides a target dummy with a thermal signal feedback function, which relates to the technical field of target dummies and comprises a dummy main body and a trunk section, the exterior of the trunk section is wrapped with a carbon fiber heating sheet; the inner side of the carbon fiber heating sheet is fixedly connected with a unified connection block; an outer connector is fixedly connected to the outer wall of the unified connection block; heating lines are arranged in the carbon fiber heating sheet; the carbon fiber heating piece wraps the surface of the main position of the dummy body and is matched with the heating line, the heating intensity can be rapidly adjusted according to a control instruction, timely and accurate thermal signal feedback is provided for training, meanwhile, the adjustability of the dummy action is greatly improved through the limb connecting blocks and the elbow connecting blocks, various complex actions can be simulated, and the training efficiency is improved. The training authenticity and diversity are remarkably enhanced, and the problems that a traditional target dummy is limited by inactivity of joints, only can maintain static standing or simple translation actions, and is difficult to present a complex action mode close to an actual combat are solved.

1. The name of the design product: lower limb joint activity training device. 2. The use of the design product: for training the flexion and extension amplitude of lower limb joints. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The utility model relates to the technical field of medical care teaching, and discloses a lower limb joint nursing model which comprises a lower limb model, the lower limb model is composed of a knee model, a first adapter, a tibia model, a second adapter, an inductor, a fibula model, a detection assembly, a retention piece and simulation leather, the knee model comprises a knee component, a connecting groove is formed in the knee component, and the first adapter is connected with the second adapter. And a first adapter is mounted in the connecting groove. A lower limb model is composed of a knee model, a tibia model, a fibula model, a first adapter and a second adapter, sensors are installed on the side portions of the knee model and the second adapter, right-angle connecting pieces are installed at the two ends of the fibula model, the right-angle connecting pieces are installed at the receiving ends of the sensors, and the fibula model is located on the side edge of the tibia model; when binding and binding are simulated, the fibula model is close to the tibia model to trigger the sensor, so that the binding and binding strength and stability are detected, and the strength and stability accuracy during nursing and binding simulation is effectively improved.

According to embodiments, a method and apparatus for refining specific virtual keypoint locations of an upper limb of a primate subject is provided. The method includes calculating a wrist joint center and elbow joint center; refining the wrist joint center based on the elbow joint center, a median forearm length, and a directional vector associated with the elbow and wrist joint centers; and based on the refined wrist joint center, a rotated unit vector and median wrist radius, determining refined specific virtual keypoint locations. The rotated unit vector is associated with metacarpophalangeal joint positions marking fingers of the subject, the directional vector and a forearm cone formed by the elbow joint center, refined wrist joint center, and some upper-limb virtual keypoint locations. Further embodiments provide a method / system for enhancing measurements of distal upper-limb joint angles and / or body segment rolling angles of the subject using refined specific virtual keypoint locations.

The invention discloses a limb joint restrictive external fixing splint, and relates to the technical field of orthopedic orthotics, the limb joint restrictive external fixing splint comprises a main splint, a plurality of groups of auxiliary splints and two groups of bandages, the two ends of the main splint are slidably connected with first telescopic frames, and the two ends of the plurality of groups of auxiliary splints are slidably connected with second telescopic frames. The orthopedic device for the orthopedics department is jointly composed of the main clamping plate, the auxiliary clamping plates and the binding band, one end of the binding band is fixed to one side of the main clamping plate, the other end of the binding band sequentially penetrates through the auxiliary clamping plates and then penetrates through the main clamping plate, and the binding band can be tightened by manually pulling the end, penetrating through the main clamping plate, of the binding band; according to the orthopedic device for the orthopedics department, the multiple sets of independent clamping plates form an integral part under the action of the binding belts, and the multiple sets of independent clamping plates can be connected with the main clamping plate and the multiple sets of auxiliary clamping plates; the problems that when a plurality of independent clamping plates are used, the integrality is poor, and operation of medical staff is tedious are effectively solved.

This invention discloses a method for estimating lower limb joint moments based on deep learning using physical information, belonging to the field of lower limb joint moment estimation technology. The method includes: acquiring data from three six-axis inertial measurement units (IMUs) set on the lower limb during movement and corresponding reference joint moment data based on an open-source lower limb biomechanical dataset; constructing a temporal input after preprocessing; building a TCN-BiLSTM model combining a temporal convolutional network and a bidirectional long short-term memory network; establishing a loss function containing physical information constraints based on prior knowledge of lower limb dynamics; training the model using the loss function; and simultaneously estimating the joint moments of the hip, knee, and ankle joints in the sagittal plane using the trained model. Compared with existing technologies, this invention can achieve high-precision estimation of lower limb multi-joint moments under various movement modes with a small amount of inertial sensor data input, improving the model's physical consistency, generalization ability, and ease of application.

Powered joints (e.g., knee, ankle, etc.) can modulate the impedance / position controller based on the thigh velocity. The higher the thigh velocity is, the more assistance received by the user receives; and the lower the thigh velocity is, the higher the resistance received by the user. Additionally or alternatively, the impedance / position controller may enter a thigh tracking control mode in response to the thigh angle exceeding a threshold.

The invention discloses an orthopedic splint, which relates to the technical field of medical instruments and comprises an upper main frame, a connecting disc, a lower main frame, a pneumatic assembly and a transmission mechanism, the two connecting discs are symmetrically arranged at the lower end of the upper main frame, the lower main frame is arranged on the two connecting discs, the pneumatic assembly is arranged between the upper main frame and the lower main frame and used for adjusting the angle between the upper main frame and the lower main frame, and the two transmission mechanisms are arranged on the two connecting discs respectively. Through cooperative application of the pneumatic assembly and the transmission mechanism, the affected limb can be quickly clamped, the joint can be positioned and clamped, and the clamping stability is improved; after recovery for a period of time, arm bending movement can be conducted on joints of the affected limb, meanwhile, tight muscle groups are kneaded and massaged during arm bending, and muscle stiffness and muscular soreness symptoms caused by the same posture for a long time are prevented.

The utility model relates to the technical field of lower limb joint rehabilitation, in particular to a lower limb joint rehabilitation fixing device which comprises a groove body, an end plate connected with the groove body, a binding assembly connected with the groove body, a heating assembly detachably connected with the end plate and a filling assembly. The filling assembly is provided with a flexible working face and arranged in the through groove, the end plate is located at one end of the through groove, and the heating face of the heating assembly faces the through groove. The filling assembly is arranged in the through groove, the feet of a patient are directly placed on the filling assembly during use, direct rigid contact with the through groove is avoided, unsmooth blood circulation caused by extrusion of the feet of the patient is avoided, and the heating assembly is arranged to heat the feet of the patient under the condition that blood circulation of the feet of the patient is guaranteed through the filling assembly. Blood circulation of the feet of the patient is further promoted, and rehabilitation is promoted.