676 results about "Lower limb" 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.

The present application relates to the field of medical devices, and provides a back plate adjustable exoskeleton, comprising: a column structure and a control module, the column structure is slidably connected with a back plate mechanism, and a lower limb exoskeleton connected with the back plate mechanism, and the back plate mechanism is provided with a back plate which can move up and down relative to the back plate mechanism; further comprising: a binding device arranged on the lower limb exoskeleton and a foot bottom exoskeleton, the foot bottom exoskeleton is provided with a pressure sensor. When the human body wears the exoskeleton and changes from a sitting posture to a standing posture, the back plate mechanism adjusts the back plate mechanism along the column structure to the height matched with the user according to different body shapes of the user; and when the user changes the posture in the walking process in the standing posture, the foot bottom exoskeleton detects the change of the foot bottom pressure, so that the control module can control the up and down movement of the back plate relative to the back plate mechanism according to the foot bottom pressure to adjust the human body posture.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

The invention discloses a lightweight multi-mode lower limb motion intention recognition method and system, and relates to the technical field of biomedicine. The method comprises the steps that multi-channel surface electromyogram signals sEMG of a target lower limb and joint angle signals and joint torque signals of lower limbs on the same side are synchronously collected; performing feature extraction by using a double-branch structure to obtain muscle-related deep time sequence features and joint-related high-level semantic features; performing feature fusion through a bidirectional cross attention mechanism to obtain cross attention fusion features; and performing flattening, nonlinear mapping, regularization and Softmax classification on the cross attention fusion features, and outputting the motion intention of the target lower limb. Through double-branch input, depth feature extraction and a bidirectional cross attention mechanism, on the premise of ensuring recognition precision, a lightweight attention module, a residual structure and a cross-modal interaction mechanism are introduced, and the parameter quantity and calculation overhead are reduced.

The invention relates to the technical field of intelligent control, and discloses a power-assisted control method of a lower limb pneumatic flexible exoskeleton and a lower limb pneumatic flexible exoskeleton system.The method comprises the steps that healthy side plantar pressure data are obtained, healthy side key gait event nodes are recognized, and the power-assisted control method of the lower limb pneumatic flexible exoskeleton is obtained according to the healthy side key gait event nodes and ankle joint angle data; estimating an uninjured side continuous gait phase, and calculating an affected side target gait phase according to the uninjured side continuous gait phase; according to the target gait phase of the affected side, auxiliary torque and tension are determined; according to the auxiliary torque and the pulling force, target air pressure for supporting the airbag and shrinking the airbag is determined, an electromagnetic valve is controlled to execute deflation or inflation operation according to the target air pressure, and the internal pressure of the airbag is controlled within a target range. The invention aims to provide flexible assistance conforming to the biomechanical characteristics of the ankle joint of a human body for people with ankle joint dysfunction, improve the walking ability and improve the safety and comfort of rehabilitation training.

The present disclosure describes self-adjusting sockets for lower limb prostheses in which each step transmits motion to a resilient resistive element coupled to an actuator configured to cycle between a rest position and an actuated position. The resistive element can transmit the motion to the actuator to cycle the actuator. Each cycle of the actuator acts through a mechanical linkage to tighten the socket around the residuum, until a desired threshold tightness on the residuum is reached. After the threshold tightness is reached, the resistive element yields and absorbs the motion rather than transmitting the motion, so that the actuator ceases to cycle on each step, preventing further tightening beyond the threshold.

The invention discloses a variable stiffness external fixing device for accelerating lower limb fracture healing, which comprises two oppositely arranged fixing rings, a plurality of support arms connected between the two fixing rings, and kirschner wires arranged inwards along the radial direction on the fixing rings, and is characterized in that the fixing rings are also provided with kirschner wire applied stiffness adjusting mechanisms. The rigidity change of the fixing end of the external bone fixing device can be adjusted, the structure is simple, adjustment is convenient and fast, and the rigidity adjusting requirements of different stages in the bone rehabilitation process can be better met.

The invention discloses a training mode determination method and system for a lower limb exoskeleton rehabilitation robot. The method comprises the steps that angle data, joint torque data and plantar pressure data when a patient executes multiple target actions are collected; according to the angle data and the joint torque data, calculating to obtain a joint motion range, and according to the angle data and the plantar pressure data, calculating a joint output torque; acquiring a pain score of the patient, and calculating a training mode score according to the joint motion range, the joint output torque and the pain score of the patient; and according to the training mode score, determining a training mode of the lower limb exoskeleton rehabilitation robot, wherein the training mode comprises a passive mode, an auxiliary mode and an anti-resistance mode. The motion range of the hip, knee and ankle joints can be accurately quantified, the joint motion range can be dynamically evaluated, the optimal training mode is dynamically recommended in combination with the training score calculated in real time, therefore, the rehabilitation efficiency can be improved, and the method can be widely applied to the technical field of rehabilitation training.

An apparatus for an active exoskeleton boot is provided. The apparatus can include a foot plate disposed within a boot of a user. The apparatus can include a first adapter extending from a side surface of the foot plate having a slot and an actuator module comprising a chassis and a post, and the post coupled to the chassis. The apparatus can include a second adapter extending from an end surface of the post. The slot of the first adapter can be configured to engage the second adapter when the actuator module is positioned at a first angle relative to the first adapter. The first adapter can be configured to lock with the second adapter when the actuator module rotates from the first angle to a second angle relative to the first adapter.

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 discloses a method and system for driving and controlling a lower limb exoskeleton through brain-computer interface intention confidence, and relates to the technical field of medical rehabilitation. The method comprises the following steps: firstly, identifying an original electroencephalogram signal to obtain intention confidence, and mapping an impedance parameter group containing joint stiffness and a damping coefficient in combination with gait phase information; secondly, extracting a motion position and an interaction force error, comparing an intention confidence coefficient with an actual execution state by using a sliding time window to obtain a nerve matching error, and fusing the three into a total composite error; meanwhile, the human-machine coupling compliance is evaluated based on the human body joint angle and the exoskeleton torque variation, and a safety gain coefficient is discriminated and generated; and finally, performing gain operation on the total composite error based on the impedance parameter group, and performing safety gain coefficient correction to obtain a target control torque to be output to a driving actuator. In this way, a nerve-force-motion three-closed-loop framework is constructed, and compliant self-adaptive on-demand assistance and high-safety man-machine collaborative rehabilitation with defense protection are achieved.

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 discloses a physical training device with a protection function, which relates to the technical field of training instruments and comprises an elastic knee pad, a first strap is formed at one end of the elastic knee pad, a second strap is formed at the other end of the elastic knee pad, locking parts are arranged at two ends of the elastic knee pad, pull rings are arranged on the locking parts on two sides respectively, and the elastic knee pad is provided with a protection area. A supporting part is arranged on the side wall of the protection area, an auxiliary table is arranged at one end of the supporting part, a protection part is arranged on the inner wall of the protection area, and the protection part is filled with memory foam. Meanwhile, the protection area is filled with the patella through memory foam by means of the protection mechanism, the protection range of the knees of the trainee is expanded, a piston plate is driven to be away from the contact of the patella of the knees by means of extrusion force generated when the trainee falls down, therefore, the patella is prevented from being secondarily touched, and the safety performance in the training process is further improved.

The invention relates to the field of medical apparatus and instruments, and provides an exoskeleton with an adjustable backboard, the exoskeleton comprises a column structure and a control module, the column structure is slidably connected with a backboard mechanism and a lower limb exoskeleton connected with the backboard mechanism, and the backboard mechanism is provided with a backboard capable of moving up and down relative to the backboard mechanism; the binding device and the plantar exoskeleton are arranged on the lower limb exoskeleton, and the plantar exoskeleton is provided with a pressure sensor. When a human body wears the exoskeleton and is changed into a standing posture from a sitting posture, the back plate mechanism is adjusted upwards to the height matched with a user along the stand column structure according to different body types of the user; when the user walks in the standing posture state, the posture of the human body changes, at the moment, the plantar exoskeleton detects the change of plantar pressure, and the control module can control the back plate to move up and down relative to the back plate mechanism according to the plantar pressure so as to adjust the posture of the human body.

The invention provides an electrical stimulation and lower limb exoskeleton device fusion control method and system, and the method comprises the steps: driving an exoskeleton to move through bottom admittance control based on the actual human-computer interaction torque and expected torque of a knee joint and reference trajectory data of the knee joint in a gait cycle, and triggering ankle joint electrical stimulation through a fixed stimulation parameter group; after the gait cycle is finished, torque errors are calculated, and periodic iteration updating is conducted on the knee joint reference trajectory data through an iterative learning control algorithm till convergence is conducted to obtain target knee joint reference trajectory data; and then determining a target moment of a gait phase based on the target knee joint reference trajectory data, and obtaining a corresponding target stimulation parameter group from the set stimulation parameter time mapping library to replace the fixed stimulation parameter group for subsequent stimulation. According to the method, through single-cycle and cross-cycle trajectory iteration, the adaptation defect of a traditional fixed trajectory is avoided, the stimulation parameters are synchronously optimized, and the dorsiflexion assisting effect is indirectly improved.

This invention belongs to the field of exoskeleton technology, specifically a lower limb exoskeleton, including a drive system for controlling leg bone movement. This drive system comprises a composite drive component, a thigh linkage, and a lower leg linkage. The composite drive component is mounted on a waist assembly via a central axis, and a fifth hinge axis parallel to the central axis is positioned away from the central axis. The ends of both the thigh and lower leg linkages are movably connected to the fifth hinge axis, forming a parallelogram mechanism with the thigh and lower leg. Driven by a drive motor assembly, the composite drive component rotates, at which point the thigh and lower leg linkages respectively pull the thigh and lower leg to simulate human leg movement. By adding two additional connecting rods to construct the leg bone into a parallelogram mechanism, and driving the two additional connecting rods synchronously via a single drive motor assembly, the leg bone is controlled to simulate human leg movement.

The invention discloses a lower limb ischemia degree evaluation system based on automatic detection of a thermal imaging abnormal region, and the system employs a data processing unit to recognize a part, plan motion, register an image, segment a region, position a temperature measurement point, extract a processing temperature value through deep learning, evaluates the lower limb ischemia degree based on temperature difference and gradient analysis, and generates a report. The problems of lack of automation, standardization and accurate positioning of temperature data acquisition of specific parts of a human body, especially lower limbs, are solved, non-contact thermal imaging acquisition and automatic analysis and evaluation of the acquired data are realized, the accuracy and repeatability of temperature measurement are ensured, an objective and comprehensive ischemia degree evaluation basis is provided, and the accuracy and the repeatability of temperature measurement are ensured. Therefore, the medical diagnosis efficiency and accuracy are remarkably improved, and the burden of medical staff is relieved.

This utility model discloses a rehabilitation device for lower limb dysfunction with adjustable angle, relating to the field of rehabilitation technology. It includes a base frame and a computer operating unit. The computer operating unit is installed on the top of the base frame, which has an adjustable support unit on top and a body support unit on top of the adjustable support unit. The device utilizes four square blocks on both sides inside the foot pedal. Two of the blocks have Velcro fasteners (first type) on top, and the other two have Velcro fasteners (second type) on top. During use, the patient places their foot on the foot pedal, and the Velcro fasteners (first and second types) securely fix the foot to the pedal. This effectively prevents the foot from slipping or becoming unstable on the foot pedal due to weakened muscle strength or poor balance during rehabilitation training, thus ensuring the smooth progress and safety of rehabilitation training.

The application discloses a lower limb venous thrombosis prevention training device and particularly relates to the field of training devices. The device comprises a support frame, both sides of the bottom of the support frame are provided with placing grooves, a sliding block is slidably connected to the support frame, a limiting groove is fixedly connected with the sliding block and slidably connected to the support frame, two driving racks are symmetrically arranged on the two sides of the sliding block and fixedly connected with the sliding block, two first driving gears are respectively engaged with the corresponding driving racks, each first driving gear is rotatably connected to the support frame, two flexible shoes are symmetrically arranged and each flexible shoe can be detachably connected with the limiting groove and the first driving gear, and a driving assembly can be driven by a user to move the sliding block. The application solves the problem that the existing prevention training device is not suitable for the elderly patients with insufficient muscle strength and improves the initiative of patient training.

The invention relates to the technical field of lower limb rehabilitation, in particular to a lower limb rehabilitation device and method.The lower limb rehabilitation device comprises a training vehicle base, a plurality of sliding rollers distributed at equal intervals are rotationally connected to the bottom surface of the training vehicle base, and a protective supporting seat used for supporting a patient is arranged on the top surface of the training vehicle base; a seat linkage frame for driving the supporting seat to ascend and descend is arranged on the surface of the outer side of the supporting seat, a lifting armrest for driving a patient to ascend is arranged at the other end of the seat linkage frame, and a protective grip for holding during training of the patient is arranged on the surface of the top of the training vehicle base. The bottom surface of the protective grip is provided with a front and back protective piece for protection when the patient falls down front and back, and the outer side surface of the protective grip is provided with a side protective piece for protection when the side face of the patient falls down, so that the patient can finish transition from sitting to standing under the assistance of the device; a dynamic protection mechanism is provided, so that immediate protection can be provided when the patient falls down, and immediate support can be provided along with the falling direction of the patient.

A prosthetic foot includes a base spring, a top spring assembly, a connector assembly, and a heel cushion. The top spring assembly includes first and second spring members, and first and second bond connections. The second spring member extends parallel with and spaced apart from the first spring member. The first bond connection is between distal ends of the first and second spring members, and the second bond connection is between a distal end of the second spring member and a top surface of the base spring. The top spring assembly has a first portion arranged horizontally, and a second portion arranged vertically. The connector is connected to a proximal end of the top spring assembly to connect the prosthetic foot to a lower limb prosthesis. The heel cushion is mounted to the base spring at a location spaced forward of a heel end of the base spring.

The utility model discloses a kind of anti-spasm body position laying pad of hemiplegic, it is related to medical instrument technical field, upper limb pad second end is movably connected with lower limb pad first end;Liftable side stop pad is movably equipped on upper limb pad, shoulder groove is equipped on the upper limb pad of one side of side stop pad, arm pad is movably equipped with in cooperation outside shoulder groove, wall groove is opened on arm pad;Two foot supporting members are movably equipped on lower limb pad, leg pad is movably equipped on one side of lower limb pad;By the cooperation of liftable side stop pad and magnetic support plate that can overturn, patient is supported to patient back when side-lying, side stop pad is overturned to first placing groove by 180 degrees, so that side stop pad bottom upper limb pad is flush, after turning out, arm pad can be used for the arm of lateral decubitus to be inserted into the wall groove of arm pad, arm pad is parallelly attached on one side of upper limb pad, can be folded and reduced in size conveniently carried or used for supine position.

1. Name of the product in this design: Hip-assisted exoskeleton. 2. Purpose of this design: This design is used for a lower limb exoskeleton that assists the hip joint. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a human body lower limb joint angle calculation method and device, and the method comprises the steps: collecting a surface electromyogram signal of a subject at a previous moment in a walking state through a surface electromyogram sensor, and calculating a lower limb joint angle estimation value at the previous moment; acquiring a lower limb joint angle measurement value of the subject at the current moment in a walking state by using an IMU; establishing a state equation by using the lower limb joint angle estimated value, establishing an observation equation by using the lower limb joint angle measured value, and constructing a fusion model based on extended Kalman filtering; and on the basis of the lower limb joint angle estimated value at the previous moment and the lower limb joint angle measured value at the current moment, an optimal estimated value of the lower limb joint angle at the current moment is obtained by utilizing a fusion model based on extended Kalman filtering. According to the method, the measurement result of the IMU and the estimation result of the surface electromyogram signal are fused, the stable and advanced joint angle is obtained, and the hysteresis problem of the IMU lower limb joint angle measurement value is solved.

This invention discloses a multi-position adjustable rehabilitation treatment bed, belonging to the field of medical device technology, including a support platform; a tray is provided on the support platform; a lifting adjustment mechanism is provided on the support platform to tilt the tray upwards; a head adjustment mechanism is provided on the front side of the tray to adjust the height of the patient's head; and a lower limb adjustment mechanism is provided on the rear side of the tray to adjust the patient's lower limbs in multiple positions. This invention enables rehabilitation movements such as standing up, leg raising, knee flexion, and head movement without requiring medical staff to manually lift and support the patient's limbs. It changes the traditional situation where rehabilitation exercises require multiple medical staff to operate together, effectively reducing the physical exertion of medical staff, saving the human resource cost of clinical rehabilitation, and solving the problems of high human resource input and high operational difficulty in traditional manual rehabilitation.

1. Name of the product in this design: Human lower limb rear-drive assist device. 2. Purpose of this design: To provide additional assistive force to the lower limbs of the human body. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

A device for compressing limbs and a method for compressing lower limbs by using same are provided. The limb compression device comprises: first to Nth air cells sequentially arranged from a front end of a limb toward a body in the longitudinal direction of the limb; a pressure adjustment unit, which can inject air into the N air cells and discharge the air from the air cells so as to pressurize and depressurize same; and a control unit for controlling operation of the pressure adjustment unit. The N air cells are divided into: a first cell group including one or more air cells arranged closer to the front end of the limb; and a second cell group arranged closer than the first cell group to the body. The control unit performs over-pressurization control in which the first cell group is pressurized up to an over-pressure level and then depressurized, and then performs sequential pressurization control in which the first cell group is pressurized, the second cell group is subsequently pressurized, and then the first cell group and the second cell group are depressurized.

This invention provides a luggage support device with a simple structure that distributes the weight of the luggage from the arms to the abdomen, pelvis, and lower limbs, thereby reducing the burden on specific body parts. [Solution] The device comprises a main body, a belt for attaching the main body to the user's torso, and a luggage support plate positioned in front of the abdomen. By holding the main body in a substantially vertical position relative to the abdomen, the load of the luggage is distributed from the arms to the abdomen, pelvis, and lower limbs.

The utility model relates to multifunctional lumbar vertebra correcting equipment which comprises a correcting bed and two multi-axis mechanical arms arranged above the correcting bed. A chiropractic gun is arranged at the free end of at least one of the two multi-axis mechanical arms; the correction bed comprises a bed frame, and a headrest cushion, a trunk supporting cushion, a hip supporting cushion and a lower limb supporting cushion which are sequentially arranged at the top of the bed frame in the front-back direction; the bed frame is provided with two first driving mechanisms for respectively driving the trunk supporting pad and the lower limb supporting pad to horizontally and relatively rotate; the headrest cushion is arranged on the trunk supporting cushion, and positioning grooves for positioning the hip supporting cushion are formed in the upper surfaces of the adjacent ends of the trunk supporting cushion and the lower limb supporting cushion; in the treatment process, the multi-axis mechanical arm can replace the arm of a bonesetting person to press and correct the lumbar vertebra of the patient, the burden of the arm of a technician can be greatly relieved, and the acting force applied to the body of the patient every time is more accurate and stable.

This invention relates to a fall-prevention mechanical lower limb, belonging to the field of mechanical lower limb technology. It includes two hip connectors, each with a mechanical lower limb arm hinged to one side. Supporting foot shells are fixedly installed at the bottom of both mechanical lower limb arms. The two hip connectors are connected by bolts. Deployment components are provided on the upper surface of each hip connector. An acceleration sensor is fixedly installed on the surface of one hip connector, and vortex air pumps are fixedly installed on the surfaces of both hip connectors above the acceleration sensor. This invention utilizes the eccentric state generated before a fall occurs, using the acceleration sensor to activate the deployment components to protect the user. The device first provides wrap-around protection to the user's upper body using an integrated elastic frame airbag, while the lower body uses adsorption fixation and extended support to prevent the entire device from falling over.