1038 results about "Multi joint" patented technology

A medical instrument includes a hollow shank and an instrument section arranged pivotable to the hollow shank proximate the distal end of this hollow shank. An instrument part is mounted in an axially movable manner in the pivotable instrument section. This instrument part, which may be a part acting in a direct manner on organs, tissue or the like, or preferably serves for movement coupling to such a part in the pivotable instrument section, is coupled in movement via a forcibly guided multi joint arm to an actuator, which is axially movably guided in the hollow shank

Multi-jointed and pivoted mounting systems for support of a flat panel video display and / or keyboard tray, incorporating a plurality of pivot points providing for pivotal motion of one or more components about a plurality of vertical and horizontal axes. Support arms having elevational pivot assemblies, including plastic friction washers and gas springs, offer elevational arm control requiring constant and predetermined positioning effort on the part of the video display operator and keyboard operator.

Systems and techniques are provided for tracking multi joint subjects in real space having a plurality of cameras. The field of view of each camera overlaps with at least one other camera. The plurality of cameras produce respective sequences of images of corresponding fields of view in the real space. A processing system is coupled to the plurality of cameras. In one embodiment, the processing system comprises image recognition engines receiving sequence of images from the plurality of cameras and generating corresponding arrays of joint data structures. A tracking engine is configured to receive the arrays of joint data structures and generate candidate joints having coordinates in the real space. The processing system includes the logic to identify sets of candidate joints having coordinates in the real space as multi-joint subjects in the real space.

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.

An instrument for measuring kinetic and kinematic variables of multijoint motor tasks comprises a linkage having four links connected at four joints, each joint having articulation about an axis, the four axes of articulation being substantially parallel, limb coupling means for coupling a limb to the linkage, the limb coupling means maintaining alignment of centers of rotation of two joints of the limb with centers of rotation of two joints of the linkage, means for providing a load to at least one of the two joints of the linkage, means for obtaining data respecting angular position of at least one of the joints of the linkage. In an alternative embodiment, the linkage has only two links. The invention also provides methods for detecting, monitoring, and / or treating neural and / or muscular problems associated with impaired movement of limbs.

According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward / backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized. One-click button function of readily and rapidly attaching / detaching endoscope to / from endoscope manipulator can increase convenience of use.

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

The invention provides a five-freedom exoskeleton type robot for healing upper limbs, which comprises a mounting deck used for mounting the robot. The mounting deck is provided with a lead rail, an erector is arranged on the lead rail and is provided with a height adjustment mechanism, a rotatable mounting arm is arranged on the erector by a rotatable axis. A healing mechanical arm body composed of a shoulder width, an upper arm, a forearm and a hand lever is installed on the rotatable mounting arm. Five freedom joints and five drive motors are respectively arranged on the rotatable axis of each joint; four torque sensors which are connected with the drive motors in a cascading way are respectively arranged on the parts of shoulder, elbow and wrist, wherein, the shoulder parts are provided with two torque sensors, the elbow part is provided with one torque sensor and the push-up part of the wrist part is provided with one torque sensor. The torque sensors that are taken as transfer devices and detecting devices are connected with a motor reducer and an executing mechanism. The robot provides single joint movement of each joint and three-dimension multi-joint compound movement for suffers as well as provides simple and basic movement training of daily life.

The invention relates to an articulated flexible manipulator which belongs to the technical field of the robots and the electromechanical integration. The manipulator is provided with three skillful fingers which are respectively arranged on three jaws of a three-jaw chuck, and the three skillful fingers produce chucking force by the function of fluid driving expansion muscle; each skillful fingeris provided with single artificial expansion muscle and a plurality of articulations with single degree of freedom, the artificial expansion muscle is flexible, axially-expandable, each smart fingeris assembled with a hinge framework or flexible hinge framework through the expansion muscle, the smart finger comprising a plurality of articulations with single degree of freedom is designed; the flexibility of the single expansion muscle and the structure of the articulations can realize the flexibility of the degree of freedom and the buffer of the chucking force, the skillful fingers have thecharacteristics of degree flexibility of freedom and chucking force buffer; and the manipulator is applied to chuck breakable brittle bodies and special bodies with shape and size change.

An upright type vacuum cleaner is provided that includes a main body containing a filtering device that filters out foreign materials entrained in sucked air, a suction nozzle device connected to a lower portion of the main body to be pivoted on a first joint portion, so as to suck the air with the entrained foreign materials and guide the sucked air into the main body, and a handle that is connected to an upper portion of the main body to be pivoted on a second joint portion. The handle is provided with a third joint portion in the middle of the handle so that the handle may be folded at certain angles, and grasped by a user in use. The main body, the suction nozzle device, and the handle are connected to one another through the three joint portions in various configurations and at different angles so that users having various physical conditions may conveniently use the vacuum cleaner in various manners.

The invention provides a connection and installation method for LED filaments. The connection and installation method is used for assembling wicks in filament type LED bulbs. As the difference from the prior art of welding the lead-out ends of the LED filaments to a guide wire of a glass core column through a spot welding method, the electrode lead-out ends of the LED filaments are connected through elastic metal thin wire spiral parts, and therefore the LED filaments are connected in series one by one in an end-to-end manner according to the polarity to form a multi-joint LED filament series-connection system which can be bent. Then, the metal thin wire spiral parts at the head lead-out end and the tail lead-out end of the filament series-connection system are clamped on and fixed to corresponding core column side rod guide wires, and the metal thin wire spiral parts between the adjacent filaments are placed on corresponding filament hooks on the core column one by one so that the filaments can be arranged in order. By means of the connection and installation method, the defects that in the prior art, due to spot welding, the production efficiency is low, the finished product rate is low, and filament stress is large are overcome, and the production efficiency of filament type LED bulbs can be easily improved and the finished product rate of the filament type LED bulbs can be easily increased.

A substrate-planarizing device and method of using the device comprising a substrate storage stage outside a room, and on a base inside the room, a multi-joint transfer robot, a temporary alignment platform, a movable transfer pad, a grinding process stage in which substrate holders that compose three stages of a substrate loading / unloading stage, a rough grinding stage, a finish grinding stage are arranged in a concentric pattern on the first index rotary table, and a polishing process stage that has a substrate holder table composing a substrate loading / unloading / finish polishing stage as well as a substrate holder table composing a rough polishing stage arranged in a concentric pattern on the second index rotary table.

Methods and devices are provided for repairing or replacing damaged, injured, diseased, or otherwise unhealthy posterior elements, such as the facet joints, the lamina, the posterior ligaments, and / or other features of a patient's spinal column. In one exemplary embodiment, an implant is provided having an anterior portion that is adapted to be positioned between adjacent vertebrae and a posterior portion that is adapted to be positioned around a spinal cord and to couple to a posterior surface of at least one adjacent vertebra. In use, the implant can allow the adjacent vertebrae to move relative to one another, thereby restoring normal function to the vertebrae.

The wiper device for removing foreign substances that are stuck on a windshield can include: a lever assembly, having a plurality of levers in a tournament type coupled thereto; a contact member, being supported by the lever assembly and formed in the shape of a blade in close contact with the windshield so as to wipe out the foreign substances; and a cover member, provided in a plurality, each being coupled to the lever connecting a corresponding joint of the lever assembly. Accordingly, the parts of the lever assembly having the multi joint structure are effectively covered by the plurality of cover members, allowing for a simple appearance, and since each cover member is coupled with a corresponding lever and moves with the corresponding lever in an integrated manner, it becomes possible to prevent the levers from being exposed to an outside even while the wiper device is activated.

An industrial delta robot with an arm system rotatable in space and including a base section, a moveable plate, several multi-jointed pull rods and a telescopic axle arranged between the base section and the moveable plate, opposite ends of the pull rods and of the telescopic axle being connected with the base section and the moveable plate respectively, and the telescopic axle comprising an inner axle and an outer tube arranged on the inner axle and displaceable in a longitudinal direction where a pair of end-to-end torsional rigid bushings are arranged in a stationary manner on the outer tube in which the inner axle is mounted to be displaceable, the bushings being spaced apart at confronting inner ends to form a transversely extending lubrication pocket for continuous lubrication of the inner axle during movement relative to the bushings.

The invention relates to a pneumatic single tow rope multi-joint flexible manipulator with damping. The manipulator comprises two or more flexible fingers and has a simple structure, convenience for maintenance and low requirement on operating environments. Each flexible finger is provided with a cylinder, a single tow rope and a triple cascade hinge with two rotational freedoms. The manipulator can generate and retain force to grab objects only depending on twisted springs on two hinge spindles of the triple cascade hinge, and enable triple cascade hinge to stretch to an initial position by the driving force of the cylinder and the effect of the tow rope for loosening the objects. The manipulator is actively driven to loosen the objects, passively grabs the objects under the action of the twisted springs, and has the characteristics of flexible freedom and acting force buffer, can realize flexible self-adaption to shapes and sizes of objects and grab force, can be applied to grabbingfragile objects and objects deforming in shape and size, and belongs to the application technology field of robots and mechatronics.

Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.

The invention provides a method and device for controlling multi-joint moving robot to avoid an obstacle. The method is characterized in that a vision guidance device and the infrared obstacle avoidance device are mutually coordinated to control the robot to move during the process that the robot moves from a starting point to a target point along a pre-planned global optimal route; when a vision system detects the obstacle in the preset distance, a robot base is stopped marching, the movement posture of each joint can be automatically adjusted by grade on the basis of a pre-constructed kinematic geometric model of each joint, and the joints can be swung, from a tail end performer to the base, within a feasible region of each joint, so as to avoid the obstacle by grade; a servo system can control the pose position of each joint and the chassis movement direction, so as to continuously control the robot to move toward the target point until the robot reaches the target point; the movement postures of each joint and the base can be synchronously adjusted during the infrared obstacle avoiding process, thereby avoiding subsequent repeated adjusting, and as a result, the obstacle avoiding efficiency of the multi-joint moving robot can be improved.

The invention discloses a four-feet electromagnetic adsorption wall climbing robot. The four-feet electromagnetic adsorption wall climbing robot is formed by three parts, i.e. a chassis, walking legs and a foot adsorption apparatus. The walking leg comprises a multi-joint serial-connection mechanism connected onto the chassis and driving mechanisms installed at various joints, and a free end of the multi-joint serial-connection mechanism is connected with the foot adsorption apparatus; the foot adsorption apparatus comprises a plurality of disc mounting plates and electromagnetic suckers which are connected with the multi-joint serial-connection mechanism by virtue of passive ball hinges; and in the wall climbing process of the robot, the rotation action of each joint of the walking leg cooperates with the opening-closing state of an electromagnetic switch, so that the robot flexibly climbs a plane, a cylindrical surface and a spherical surface of any curvature and can flexibly realize the actions such as cornering and transverse movement. By adopting the four-feet electromagnetic adsorption wall climbing robot, the defects in the wall climbing process of a conventional wall climbing robot can be solved, the contradiction between the wall adsorption and the movement operation is well solved, the flexibility and applicability of the wall climbing robot in real engineering application are improved, and the popularization of the robot technology is facilitated.

The present invention discloses a wearable upper extremity rehabilitation training robot device, including shoulder joints, upper arms, elbow joints, forearms, wrist joints and palms. The robot device of the present invention has eight free degrees to simulate the free degrees of the joints of the human upper extremities and can provide more free degrees, so as to guarantee the main joints of the human upper extremities to get assisted training during the rehabilitation training; the present invention uses the wearable structure, the structure is simple, the weight is light, which can be worn on the patients with the good comfort, furthermore, the present invention can directly act on the affected limb, so the pertinence of the training is strong and the effect is good. The structural design of multi-free degree can meet a variety of control methods and assist the affected limb to carry out the rehabilitation training of the single joint movement and multi-joint compound movement, so as to achieve the purpose of assisting the patients to fulfill the necessary things in the daily lives.

The invention discloses a control method, equipment, a system, and construction machinery for a multi-joint mechanical arm support. The control method mainly comprises the steps that a moving track path of the tail end of the mechanical arm support is divided into a plurality of sub track paths; aiming at each sub track path, the length value that the tail end of the mechanical arm support can move within a set duration, and current position information of each joint of the mechanical arm support is collected to calculate the required moving angle information of each joint of the mechanical arm support under the position information of subgoals capable of being reached by the tail end of the mechanical arm support; the obtained angle information of each joint in converted into control instructions, so that each joint of the mechanical arm support is controlled to move; the track path of the tail end of the mechanical arm support is subjected to discrete programming; and aiming at the sub track paths after programming, the moving angle information of each other joint of the mechanical arm support are determined according to the inverse kinematic principle. Therefore, the operation stability of the tail end of the arm support is guaranteed sufficiently, and the control precision for the tail end of the multi-joint mechanical arm support is improved.

The invention relates to an improved multi-joint and multi-path transmission method, which comprises the following steps that: a host machine A is connected with a host machine B on the network through two network ports, application data to be transmitted between the host machine A and the host machine B are divided into a plurality of logically-independent data streams; each data stream between the host machine A and the host machine B is bound on a specific path to be transmitted; when continuous congestion packet loss and fault paths do not happen, path switching of the data stream transmission is not allowed; when the continuous congestion packet loss and the fault paths happen, a transmitting terminal starts switching mechanism of the path, and all the data on the fault paths are transferred to new paths to be transmitted; and the host machine A detects the new available paths and deletes the old fault paths, and transmits dynamic addresses to the hose machine B to add and delete the data blocks so as to dynamically add the new paths and delete the old paths. The method is used for establishing and realizing multi-joint and multi-path data transmission.

The present invention aims to estimate a more consistent posture in regard to a multi-joint object. A target range image is first input, a human body region is extracted from the input range image, a target joint position candidate is calculated from the input range image, and a joint position is finally determined based on the calculated joint position candidate and a likelihood of each joint to estimate the posture. At this time, joint position permissible range information concerning inter-joint distance and angle of a human body model previously set by learning is obtained from a human body model storing unit, consistency is evaluated for a relation between the joint position candidates of a certain joint and other joint based on the obtained information, and thus the posture corresponding to the best combination of the joint positions is determined.

The invention relates to a multi-joint creeping high-altitude cleaning robot comprising a robot body (1), a creeping part (2) and a cleaning part (3), wherein the robot body (1) comprises an adsorption system and an air source system, and the adsorption system and the air source system are both arranged on a base plate of the robot body (1); the creeping part (2) comprises six feet, the six feet are respectively provided with three joints and uniformly distributed at both sides of the robot body (1), and each feet is articulated with the base plate of the robot body (1); the cleaning part (3) comprises a middle cleaning system and a rear cleaning system, wherein the middle cleaning system is arranged below the base plate of the robot body (1), and the rear cleaning system is fixed on the tail part of the robot body (1). The invention realizes the functions of spanning barriers or cracks and being absorbed on a curved surface, has good cleaning effect and high efficiency and can be adapted to a more complex high-altitude operating environment, thereby greatly reducing the unsafe hidden dangers under manual operation.