1120 results about "Multi degree of freedom" patented technology

The invention discloses a multi-freedom wearable robot for hand function recovery. The robot comprises mechanical arms and mechanical fingers; the mechanical fingers consist of a mechanical thumb, a forefinger, a middle finger, a ring finger and a little finger, wherein the forefinger, the middle finger, the ring finger and the little finger have the same structure as that of the thumb; the mechanical forefinger mainly comprises air muscle, a finger end bracket, a first middle connecting piece, a finger front end bracket and a second middle connecting piece which are connected in turn through a connecting rod; the air muscle drives the second middle connecting piece to move through a rigid string so that the finger of a patient makes lituate and adduction exercises; the inside of each connecting piece is provided with a pressure spring; and inside walls of the two connecting pieces are distributed with rolling beads to reduce friction between the connecting rod and the connecting pieces. The invention also provides a control system and an integrated electricity stimulation system of the robot to assist a patient to rebuild muscle function. The robot provides an assisted exercise mechanism for the fingers, has multiple freedom degrees and dimension adjustable movement mechanism, and can effectively assist the patient to finish repeated training of composite exercise for fingers and complicated finger dividing exercise.

A system for manipulating a planar substrate such as a semiconductor wafer is provided. The manipulator is typically used in conjunction with an XY stage to focus and planarize a wafer with respect to a tool. The manipulator employs redundant actuators of different types and a control system that uses low-bandwidth, high efficiency actuators to provide low frequency forces and high-bandwidth, but less efficient, actuators to provide all other forces. The manipulator provides support and manipulation of a substrate while minimizing errors due to thermal distortion.

A multiple-degree-of-freedom anti-explosion mechanical arm relates to an anti-explosion mechanical arm. The anti-explosion mechanical arm comprises a six-degree-of-freedom joint component, a double-camera system, a distributed control system and an expansion system, wherein a front paw can be operated flexibly and diversely through the cooperative control of six joints; the double-camera system is used to provide front vision for rear operating staff so that the mechanical arm can be conveniently controlled to complete special tasks, the double-camera system comprises a main camera fixed on a front arm and a front-end camera fixed on a paw joint; the main camera has broad vision, the focus of the front-end camera is fine; the distributed control system is used to control the synergy movement of the six-degree-of-freedom component and various movements of the six-degree-of-freedom component, the distributed control system comprises a distributed control module, a magnetic absolute position sensing system and the like; and the expansion system is used to add different functions to meet different demands and increase the application range of the mechanical arm.

The invention discloses a robot motion control system, relates to the technical field of robot motion control, and aims to solve the problems of poor universality, poor extensibility and poor system openness existing in the existing robot motion control system. A control terminal subsystem comprises a human-computer interaction interface and a working thread module; a server terminal subsystem comprises an instruction interpreter, a server and an interaction module; a user transmits an operation instruction through the human-computer interaction interface; the operation instruction is converted into an instruction which can be recognized by the instruction interpreter by using the working thread module and is transferred to the instruction interpreter through network; the instruction interpreter is used for converting the received instruction into a joint path command by calling MoveIt ! and releasing on a node of an ROS (Read Only Storage) server; a PMAC (Programmable Multi Axis Controller) interconnection module receives the joint path command from the ROS server and converts into a motion control instruction through a PMAC communication protocol and transfers to PMAC through network. The system has higher modularization degree and extremely strong universality and can be compatible with various multi-degree-of-freedom series robots.

The invention discloses a multi-degree-of-freedom 3D printer of a fiber reinforced composite material and a printing method thereof. The 3D printing can be performed with any angle and any movement locus by making use of the flexibility of a manipulator; and a 3D printing head mounted on the multi-degree-of-freedom 3D printer can perform the 3D printing of a high-strength short fiber reinforced composite material, and can perform the splicing and the weaving of continuous resin-based long fiber to produce a structural body of a continuous fiber reinforced resin-based composite material. The multi-degree-of-freedom 3D printer can precisely control the orientation of reinforced fiber in a composite material part in the 3D printing process, and can realize the quick production of the composite material part with specific mechanical, electric and thermal performances and a complex structure. Meanwhile, a mold customized beforehand and a pretreated fiber prepreg tape are not needed in the process; and the multi-degree-of-freedom 3D printer is not only suitable for the production of large parts, but also suitable for the large-batch production of small parts, so that the production cost and the production period are largely reduced, and the wide application of the composite material parts is further promoted.

An industrial gripper includes a base plate, at least three finger units to be moved relative to the base plate, a supporting unit to support the finger units, a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object, and a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units. Each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.

The present invention relates generally to medical devices and methods. The present medical devices comprises a platform comprising a magnetically-attractive material, and a camera coupled to the platform and configured to be moved in at least three degrees of freedom relative to the platform, where the camera's movement in each respective degree of freedom is controlled by a separate actuator coupled to the platform. The medical devices further comprise a housing disposed around at least a portion of the camera, the housing being at least partially transparent, and a wiper arm configured to move relative to the housing. Some embodiments of the present multi-degree-of-freedom cameras for a medical procedure, comprises a platform comprising a magnetically-attractive material, an apparatus to moving the platform within a body cavity of a patient when the apparatus is outside the body cavity, the apparatus comprising a magnetic assembly, and a camera coupled to the platform, and configured to be moved in at least three degrees of freedom relative to the platform, where the camera's movement in each respective degree of freedom is controlled by a separate actuator coupled to the platform.

The invention relates to a parallel multi-degree-of-freedom ankle joint rehabilitation trainer which comprises a thigh support seat, a thigh support seat inner rod, a thigh support seat outer rod, a calf jointing sleeve, a pelma supporting plate, a base plate, a first kinematics limb, a second kinematics limb and a third kinematics limb, wherein the lengths of the first kinematics limb, the second kinematics limb and the third kinematics limb are adjustable, the upper ends of the first kinematics limb, the second kinematics limb and the third kinematics limb are connected with the pelma supporting plate through a spherical hinge, and the lower ends of the first kinematics limb, the second kinematics limb and the third kinematics limb are connected with the base plate through a hook joint.In the invention, a 3-UPS/S-shaped parallel mechanism is adopted, the ankle joint rehabilitation trainer has three rotational degrees of freedom, and the rotational center is an ankle joint, and three types of movements of ankle back stretching and plantar flexion, introversion and extroversion, and internal rotation and external rotation are realized; the ankle joint rehabilitation trainer of the invention has a rigid structure and high carrying capacity, and can relieve the burden of the impaired joint effectively; and the ankle joint rehabilitation trainer invention ensures that the spherical surface movement of the ankle joint can be simulated actually, and has high bio-imitability.

An electromagnetic type multi-degree of freedom virtual roaming platform comprises a moving platform, a platform tilt actuating mechanism, a platform tilt perception system, two mats, a foot motion perception system, a corresponding flotation structure, a pressure sensor and the like, wherein the moving platform is composed of an array magnetic-driven unit, and the two mats are suspended on the platform and allow a user to directly tread. By means of the virtual reality technology, forward road situations and surrounding panoramic environments are displayed in real time on a helmet displayer or specific glasses of the user, and the user can select and move forward according to the situation. A control system can precisely control the mats so that the mats can bear the feet of the user to equivalently finish walking, running and other motions in the range of the platform, corresponding virtual scenes are changed synchronously according to the specific forwarding situations of the user to achieve the roaming effect. The user can move linearly on site on the platform and can turn left and right, particularly, real ground slope experience can be obtained through proper tilt of the platform.

The invention relates to an anti-terrorist explosive-removal robot with a manipulator with multiple degrees of freedom and heavy load, which belongs to the field of anti-terrorist equipment. The anti-terrorist explosive-removal robot consists of a walking chassis, a manipulator, a control system, an electric generator, a camera system, an external housing and the like. The waling chassis is a track structure, the electric generator is positioned at the tail part of the waling chassis, the manipulator is positioned at the front end of the walking chassis, the control system is arranged at the periphery of the manipulator seat, and the waling chassis, the electric generator and the manipulator seat are packed by the external housing. The camera system is provided with four cameras, wherein, a first camera is arranged in front of the robot for observing the front situation, a second camera is arranged on the manipulator for observing the action of a gripper, a third camera and a fourth camera are arranged above the external housing at the tail part of the robot, the operation condition of the mechanical arm is observed by the third camera, and the peripheral condition of the robot is observed by the fourth camera. In the operation environment of open ground, by the far distance control of an operator, questionable objects with large size can be inspected by the robot with an X-ray machine grasped by the mechanical arm, and questionable objects can be treated. The safety of the explosive-removal personnel can be effectively guaranteed during the treatment of the questionable objects.

Systems and methods are provided for navigated placement of bone engaging elements, such as support pins used to support a cutting block on a bone for resection. In one embodiment, a tool configured to drive a pin into a bone is outfitted with a position tracking element. The system includes a localizing device that senses a signal from the position tracking element and feeds position information to a processor that makes a real-time comparison of the position of the tool to a location on the bone for placing the pin. When the tool spatial position coincides with the location on the bone, an annunciator is activated providing an audible or visible signal to the surgeon to operate the tool. In another embodiment, when the spatial position coincides, the processor directs an on-board controller of the tool to activate the tool. In another embodiment of the invention, the tool is continuously operating and the on-board processor controls a sheath that initially covers the working end of the tool. In yet another embodiment, a guide apparatus is configured to be mounted to a bone and provides multi-degree of freedom gross and fine adjustments of a pin guide. The pin guide carries a position tracking element so that its real-time spatial position relative to a location on the bone can be evaluated.

The invention discloses an improved RRT<*> obstacle avoidance motion planning method based on a multi-degree-of-freedom mechanical arm, and belongs to the field of mechanical arm motion planning. A six-degree-of-freedom mechanical arm model with seven connecting rods and six rotary joints is built; parameters in a to-be-searched space are determined; if the distance is shorter than the distance of a path with lowest cost, the distances between a near node in a set to an initial point and the distance between the node to a random point are temporarily determined as the minimum path; a newly generated sigma is subjected to collision detection, and the node and the path are added if the newly generated path does not collide an obstacle interval; the steps are repeated until the optimal path is found; and the generated path is added into a path planning device. Compared with the prior art, the method has the following advantages that the random search characteristic is changed in a mode of adding normal distribution, the algorithm convergence rate can be increased through the heuristic search, the RRT<*> algorithm has the evolutionary optimization path, and a large number of calculations is not needed; and after Gaussian distribution of an inspiration point near a target point is added, the convergence rate is increased, and the search time is shortened.

The invention relates to a detecting and training method of EMG controllability which is used for installing a pattern-recognition-based artificial hand with EMG control and hyperdactylia multiple degrees of freedom. The technical proposal of the method comprises procedures as follows: a signal acquisition module is used for collecting the myoelectric signal data of the surface of a stump; a signal analysis module is used for carrying out preliminary analysis for the collected data to determine that the collected myoelectric signal data of the surface of the stump has separability and the feature value of the optimal separability; an off-line recognition module is used for performing network training and recognizing the data to be recognized to the collected myoelectric signal data of the surface of the stump to determine an optimum classifier, the options of the optimal feature values and the selection of specific parameters; and a sufferer can do control training and on-line training by using an on-line recognition module and a control training module according to the determined combination of the optimal classifier and the options of feature values.

The invention discloses a force control traction and swinging multi-degree-of-freedom mechanical arm control device and method. A force signal sensor is mounted on a flange plate at the tail end of a mechanical arm in a specific mode by a mounting connector, and the pose information and force/moment information of the tail end of the mechanical arm are sampled synchronously. Based on feedback control of external action force, force feedback information is converted into pose offset information of the tail end of the mechanical arm. The pose and speed of the tail end of the mechanical arm are changed along with the external action force through a force-pose offset control algorithm and a force-speed control algorithm, and accurate swinging can be achieved when manual traction is stopped. According to the force control traction and swinging multi-degree-of-freedom mechanical arm control device and method, a tail end tool can achieve traction operation conveniently in real time according to the will of an operator, the current pose can be kept without external force action, and accurate positioning is achieved; meanwhile, the operator can change the motion trail of the tail end of the mechanical arm by exerting external force in the process that the mechanical arm moves to a target spot, and the mechanical arm can achieve emergent obstacle avoidance in the movement process.

The invention discloses a multi-degree-of-freedom two-wheeled robot with a variable gravity center. The robot is remodeled on the basis of a common two-wheeled robot; two degrees of freedom are increased to change the gravity center, so that the balance of a two-wheeled vehicle is preferably maintained in the motion. One degree of freedom is that the two-wheeled robot is integrally inclined to balance the centrifugal force of the two-wheeled robot during turning; during rapid turning, the two-wheeled robot can overcome the centrifugal force through adjusting the inclination angle of the robot, so that the robot more smoothly finishes the turning action; the other degree of freedom is that a slide block is born on the two-wheeled robot; and through adjusting the position of the slide block on an article carrying plate of the robot, the position of the gravity center is changed, so that the climbing action of the robot is controlled more easily and greater stability of the robot during climbing is obtained.

The invention discloses a three-degree-of-freedom reflector adjusting device, which can achieve inclination and pitch adjustment of a reflector by using the multi-degree-of-freedom work principle of gimbal and achieve linear displacement adjustment of another degree of freedom by controlling the distance between an adjusting pedestal and a reflector frame. The adjusting device comprises the reflector frame and the adjusting pedestal, wherein the a reflector is arranged on one side of the reflector frame; the other side of the reflector frame is opposite to the adjusting pedestal; a linear displacement adjuster connected with the reflector frame and the adjusting pedestal, the linear displacement adjuster is universally connected with the side of the reflector frame opposite to the adjusting pedestal at one end and is axially connected with the adjusting pedestal at the other end; and the connection position of the linear displacement adjuster and the reflector frame corresponds to the geometric center of the reflector.

A multi-degree-of-freedom flexible robot used for a single-port celiac minimally invasive surgery relates to a robot for a minimally invasive surgery and aims at solving the problems of an existing minimally invasive surgery robot that the whole integration level is not high, mechanical parts are too simple, the personified degree of freedom cannot be completely realized and the whole size is larger. A first motor realizes bending movement of a first flexible arm through a first arm driving screw; a second motor realizes bending movement of a second flexible arm through a second arm driving screw; a third motor realizes bending movement of a third flexible arm through a third arm driving screw; a fourth motor realizes axial rotary movement of a wrist shaft rotary joint through a fourth joint driving screw; a fifth motor realizes pitching motion of a wrist joint through a fifth joint driving screw; a sixth motor realizes opening and closing movement of a first clamping pincers joint through a sixth joint driving screw; a seventh motor realizes the opening and closing movement of a second clamping pincers joint through a seventh joint driving screw. The multi-degree-of-freedom flexible robot is used for the single-port peritoneoscope minimally invasive surgery.

The invention relates to the field of plate processing, in particular to a multi-angle plate polishing device. The multi-angle polishing device is characterized in that a length adjusting component isfixedly connected to the front end of a base; a left plate and a right plate are separately fixedly connected to the two ends of the length adjusting component; an angle adjusting component is connected to the upper end of the left plate; the number of plate clamping pieces is two; the two plate clamping pieces are separately fixedly connected to the inner sides of the angle adjusting component and the right plate; a grinding plate sliding seat component is fixedly connected to the rear end of the base; and a grinding component is connected onto the grinding plate sliding seat component in asliding manner. A plate can be polished from multiple angles and in multiple directions according to the self characteristics and the grinding requirements of a product, the multi-degree of freedom polishing of the plate is realized, or the omni-directional polishing and local polishing of the plate are realized, the polishing limitation of an existing automatic polishing machine is improved, andmanual operation is replaced with mechanical automatic processing, so that the production efficiency is improved, and the production quality of the product is ensured; and the multi-angle plate polishing device is applicable to plates of different sizes or shapes.

The invention relates to an aileron rotary folding and unfolding type flapping wing device, which includes aileron rotary folding and unfolding type flapping wings and a related drive device, wherein the wings are divided into main wings and ailerons along the wingspan direction, exterior edges of the main wings and exterior edges of the ailerons which are connected via butt hinge can relatively rotate on the wings plane with the butt hinge as an axis, and the aileron plane can be folded under the main wings plane, the drive device comprises a main wings drive device and an aileron drive device which are driven to be connected via a main drive shaft, the main wings drive device is positioned in the head section, and composed of two symmetrical crank rocker mechanisms which respectively drive the left wing and the right wing, and the aileron drive device is positioned in the middle-rear portion of the wings chordwise direction. The aileron rotary folding and unfolding type flapping wing device employs a bevel gear pair to realize rotation shaft changes, thereby multi-degree-of-freedom motion can be driven by single power, approximately saving one main drive shaft and related motors, and greatly reducing weight.

The invention discloses a multi-degree-of-freedom vibration isolation bearing platform which comprises a computer, a control card and a rotary vibration isolation bearing platform, wherein the bottom of a support leg of an azimuth platform in the rotary vibration isolation bearing platform is fixedly connected with a laminated vibration isolation rubber support. A Z-axis drive motor in the support leg is connected with the azimuth platform. An X-axis guide rail, an X-direction platform, an X-axis screw and an X-axis drive motor arranged on the azimuth platform are sequentially connected; and a Y-axis guide rail, a Y-direction platform, a Y-axis screw and a Y-axis drive motor arranged on the X-direction platform are sequentially connected. The Y-direction platform is provided with a Z-axis rotation drive motor and a stage. The Z-axis drive motor, the X-axis drive motor, the Y-axis drive motor and the Z-axis rotation drive motor are electrically connected with the control card respectively; and the control card is electrically connected with a computer. According to the invention, 4-degree-of-freedom adjustment can be performed on the platform in a vibration isolation condition, the pitching and rolling degree of freedom can be subjected to micro adjustment, and horizontal adjustment of the platform can be realized. The multi-degree-of-freedom vibration isolation bearing platform disclosed by the invention has the advantages of simple structure, heavy load, high position accuracy, automatic control and wide application.

The invention discloses an MEMS three-axis gyroscope based on a thermal expansion flow and a machining method thereof and belongs to the field of inertia measurement. The gyroscope mainly comprises an upper sealing layer, a lower base layer and a middle detection layer, wherein the middle detection layer is provided with a cross-shaped detection cavity, and a metal resistance bridge heating element and a metal resistance bridge thermosensitive element which are located in the detection cavity. According to the MEMS three-axis gyroscope based on the thermal expansion flow disclosed by the invention, the detection layer with a ladder structure, the cross-shaped detection cavity and a suspended metal resistance bridge are arranged so as to realize simultaneous measurement of a space three-axis angular speed; the MEMS three-axis gyroscope has a very high integration level; the interferences on the measurement of an angular speed signal by a Z-axis acceleration input can be eliminated, so that the multi-degree of freedom measurement of the MEMS three-axis gyroscope based on the thermal expansion flow is realized. Furthermore, the detection layer, the base layer and the cross-shaped detection cavity of the micro-gyroscope can be formed by adopting an MEMS silicon micro-processing process, so that the MEMS three-axis gyroscope based on the thermal expansion flow has the advantages of small size, low power consumption, low cost and the like.

The invention relates to an MDOF (Multi-Degree-of-Freedom) and parallel-type ectoskeleton anklebone of artificial limb, which belongs to a rehabilitation engineering technical field and comprises a thenar support plate, a humanoid leg jacket, an upper platform, a lower paltform, a first active branched chain guide, a second active branched chain guide and a third active branched chain guide, wherein, one end of the first active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the second active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the third active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; the thenar support plate is fixedly connected with the lower platform through baffles of the thenar support plate on two sides; the humanoid leg jacket is fixedly connected with the upper platform. The ectoskeleton anklebone of artificial limb of the invention has high mechanism rigidity, simple structure and good stability and can meet flexibility requirement of human anklebone.

A connecting branch structure for the parallel robot is composed of the sequentially connected multi-freedom hinge, parallelogram mechanism and moving set. A six-freedom parallel robot using said connecting branch structure consisting of movable platform, fixed platform and three said connecting branch structures. Its advantages are high flexibility and high rigidity.

The invention discloses a clamp for coupling a welding light-emitting device. The clamp comprises a bottom plate, an XY horizontal moving platform, a Z-axis sliding platform and a clamping device, wherein the clamping device is composed of an upper lifting component, a lower clamping component and an upper clamping component; the XY horizontal moving platform and the Z-axis sliding platform realize the fine adjustment of the welding component in the light-emitting device in longitudinal direction and transverse direction via fine adjustment screws. The clamp disclosed by the invention can realize the position adjustment of multi degree of freedom; the adaptability is strong and the flexibility is great; the alignments of ferrules, light component bases and laser diodes in X direction, Y direction and Z direction can be realized; the whole operation is convenient; the time for the coupling welding of the light-emitting device can be shortened, and the working efficiency is improved.

A catheter system allows for percutaneous intervention on the fast-moving structures inside the heart. The device consists of a steerable catheter sheath, an actuated, multi-degree of freedom moving catheter, and a catheter end effector, such as a fixation device. An actuator controls the motion of the catheter guide-wire in the catheter sheath to follow the motion of the target tissue. A control system controls the actuator and compensates for mechanical characteristics of the system including friction and backlash. A 3-D imaging system can be used to view the motion of the target tissue and the catheter end effector and produce 3-D imaging data. The 3-D imaging data can be used by the control system to track the target tissue and accurately position the end effector with respect to the moving target tissue allowing a clinician to repair the target tissue while it is moving. The system can be used to perform mitral valve annuloplasty wherein the actuated catheter compensates for the heart valve motion and an end effector fixation device is used to place fixation items, like anchors or staples, into the heart valve tissue to fix the annulus.

The invention discloses a capsule endoscope magnetic control navigation device for medical treatment. The capsule endoscope magnetic control navigation device for medical treatment is used for actively controlling movement of capsules in the use process of a capsule endoscope, so that the stomach wall can be completely and effectively detected. The device comprises a hybrid magnetic field generator, a multi-DOF (multi-degree of freedom) motion mechanism and a controller, wherein the multi-DOF motion mechanism is used for carrying the hybrid magnetic field generator to move in a detection area so as to adjust spatial distribution of a magnetic field; the hybrid magnetic field generator comprises a permanent magnet and an electromagnetic coil, can generate a strong magnetic field used for guiding the capsules to move and can adjust the intensity of the magnetic field to a certain degree according to control signals; the controller controls the multi-DOF motion mechanism to move by receiving a control instruction of an operator and feedback signals of a sensor and controls coil current of the hybrid magnetic field generator. The device can guide the capsule endoscope to move in the stomach of a human body in the fixed modes including floating, fixed point floating, posture adjustment and the like, and accordingly, the capsule endoscope can automatically and completely detect the whole stomach wall.

The invention discloses a multi-degree-of-freedom vehicle dynamics test platform which comprises a double-rod vertical loading hydraulic cylinder with an axial force sensor, a measurement and control system, a roller, a rotating disk, a position servo hydraulic cylinder, a six-degree-of-freedom Stewart platform, an outer rotor motor, a six-force-component sensor and the like. The use of the multi-degree-of-freedom vehicle dynamics test platform can simulate the changes of geometrical shape and mechanical properties of a road pavement and the incentive role of the changes to wheels, the exertion of any one-dimensional or multi-dimensional force in six-dimensional pavement incentive force on the wheels can simultaneously carry out pavement simulation, static load simulation and dynamic load simulation, and the wheels can change the direction relative to the roller, thereby realizing the simulation of large tire sideslip angle caused by turning of a vehicle, being capable of measuring steering angles of the wheels and six-dimensional force born on the wheels, carrying out better simulation and testing on the practical driving working status of the vehicle, realizing the comprehensive research of the multi-degree-of-freedom vehicle dynamics and providing the vehicle dynamics test platform with more excellent performances.

A remote controlled work robot including a remote controlled actuator and a support device therefor. The remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling structure for alteration in attitude, and a drive unit housing connected with a base end of the spindle guide section. The distal end member rotatably supports a spindle for holding a tool. The support device includes a single degree-of-freedom system, in which the remote controlled actuator has a degree of freedom in one direction, or a multi-degrees-of-freedom system, in which the remote controlled actuator has a two or more degrees of freedom relative to a base on which the support device is installed. A drive source and is also provided for driving the degree-of-freedom system.

A long term bi-directional axon-electronic communication system that provides signaling capability at the level of individual nerve fascicles, bundles of axon and even axons is disclosed. The bi-directional communication system is a modular approach for achieving a chronic enduring interface to peripheral or central nerve atoms for the purpose of restoring function to disabled persons or animals with sensory and/or motor impairments. One embodiment of the communication system includes a multi-channeled nerve-muscle graft chamber for making the nerve-muscle connection. Another embodiment includes a regeneration based microtube nerve interface for bi-directional communication. The interface communication system permits amputees to obtain simultaneous control of multi-degree of freedom powered prostheses by means of naturally produced neural activity from the stamps of the amputated nerves in their residual limbs.

The invention belongs to the technical field of mechanical-electrical integration and drive control and discloses a power-driven six-degree of freedom motion platform high-precision control system and control method. The power-driven six-degree of freedom motion platform high-precision control system comprises an embedded controller, a real-time Ethernet bus network and a driver; the embedded controller transfers a control instruction to the driver through the real-time Ethernet bus network, a power-driven cylinder is connected with a servo motor, the driver drives the servo motor directly, the servo motor drives the power-driven cylinder to perform telescopic motion, and the motion of a six degrees of freedom motion platform is achieved. The power-driven six-degree of freedom motion platform high-precision control system and control method have the advantages of being high in control real-time performance, good in motion synchronism of all branches, high in reliability, simple in structure, flexible in extension and easy to maintain. Based on the flexible software design platform, not only can the motion simulation be achieved, but also the high-precision multi-degree of freedom location can be achieved.