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31 results about "Right knee joint" patented technology
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Gait-based wearable flexible knee joint robot exoskeleton facility
ActiveCN106420279AOvercome the shortcomings of inflation hysteresisImprove securityChiropractic devicesWalking aidsLeft knee jointPositive pressure
The invention discloses a gait-based wearable flexible knee joint robot exoskeleton facility which comprises a power and control system (4), a left knee joint airbag executing component (5), a right knee joint airbag executing component (6), a left foot pressure switch component (7), a right foot pressure switch component (8), a left foot posture sensor (9), a right foot posture sensor (10) and an air tube component (11), wherein a control circuit system (205) is used for controlling the output flow of a micro air pump A (203) and a micro air pump B (204) in real time, positive pressure and negative pressure are provided for the left knee joint airbag executing component (5) and the right knee joint airbag executing component (6) according to rules of gaits, and torque for assisting knee joints to bend and stretch in accordance with the gaits is provided for left and right legs in the walking process.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Energy-saving semi-passive lower limb exoskeleton based on lasso driving
ActiveCN105643598ATo achieve the purpose of bufferingRealize the effect of mutual conversionProgramme-controlled manipulatorJointsLeft knee jointExoskeleton
The invention discloses an energy-saving semi-passive lower limb exoskeleton based on lasso driving. The energy-saving semi-passive lower limb exoskeleton comprises a hip joint mechanism, a knee joint mechanism connected to the tail end of the hip joint mechanism, an ankle joint mechanism connected to the tail end of the knee joint mechanism, a hip joint motor mechanism arranged on the hip joint mechanism, and an impulse motor mechanism arranged on the hip joint mechanism. The hip joint mechanism comprises a right hip joint mechanism body and a left hip joint mechanism body, the knee joint mechanism comprises a right knee joint mechanism body and a left knee joint mechanism body, and the ankle joint mechanism comprises a right ankle joint mechanism body and a left ankle joint mechanism body. The hip joint motor mechanism comprises a right hip joint motor mechanism body and a left hip joint motor mechanism body, and the impulse motor mechanism comprises a right impulse motor mechanism body, a left impulse motor mechanism body and a back plate. According to the energy-saving semi-passive lower limb exoskeleton, the quantity of active freedom degrees is small, the quantity of passive driving freedom degrees is large, required driving energy is little, the mass and the inertia of moving joints are effectively reduced, and power consumption is lowered.
Owner:SOUTHEAST UNIV +1
Transformers robot toy and method
The invention relates to a Transformers toy, in particular to a Transformers robot toy and a method. The Transformers robot toy is characterized in that: the head is positioned on the trunk; three goods-font steering engines arranged vertically are arranged in a shell of the head; two steering engines arranged vertically are arranged in a left arm support of the trunk; two steering engines arranged vertically are arranged in a right arm support of the trunk; three goods-font steering engines arranged vertically are respectively arranged in chest and belly shells of the trunk; four steering engines are respectively arranged at the left and right thighs, the left and right knee joints, the left and right cruses and the left and right feet of the trunk; and a serial port signal wire of a micro control unit (MCU) of a master control circuit is connected with a communication circuit module RS485. Compared with the prior art, the Transformers robot toy has the advantages that: the structure is novel, a platform for allowing an amateur to program the robot is provided, the action and the form of the robot can be freely programmed, multiple units can receive control commands, and the robot is novel, flexible and high intelligent; and the method is low in implementation cost, convenient to use, safe and reliable.
Owner:周剑
Method for auxiliary evaluation of stress states of knee joints
InactiveCN101627900AUnderstand biological relationshipQuick Auxiliary EvaluationDiagnostic recording/measuringSensorsLeft knee jointPhysical medicine and rehabilitation
The invention discloses a method for auxiliary evaluation of stress states of knee joints. The method comprises the following steps: obtaining sizes of feet and foot progression angles of the left and the right feet during normal walking of a testee, carrying out standardization on data, then analyzing sole pressure data of the left and the right feet, and obtaining the average pressure difference aPDA-1 of soles of the two feet during the normal walking; obtaining the sizes of the feet and the foot progression angles of the left and the right feet of the testee during unilateral knee rotation walking, carrying out standardization on the data, then analyzing the sole pressure data of the left and the right feet, and obtaining the average pressure difference aPDA-2 of the soles of the two feet during the unilateral knee rotation walking; wherein, the standardization applies MATLAB R2006a software for carrying out treatment, if P is less than 0.05 during the comparison of aPDA-1 with aPDA-2, the situation prompts that the stresses of the left knee joint and the right knee joint of the testee are inconsistent. The application of the method can rapidly and accurately understand the physiological relationship between the feet and the knees under different actions, thereby guiding various types of training or movement.
Owner:PEKING UNIV THIRD HOSPITAL
Four-limb exoskeleton rehabilitation robot
PendingCN110025455ARealize continuous adjustmentRealize electric adjustmentChiropractic devicesEngineeringRight shoulder joint
The invention provides a four-limb exoskeleton rehabilitation robot, in which a left-right exoskeleton base frame is installed on a robot turnover bed through a width adjusting guideway and a slider;a left upper limb exoskeleton and a right upper limb exoskeleton are installed at the upper ends of a left exoskeleton base frame and a right exoskeleton base frame, respectively; a left lower limb exoskeleton and a right lower limb exoskeleton are installed at the lower ends of the left exoskeleton base frame and the right exoskeleton base frame, respectively; a width adjusting mechanism is installed between the left exoskeleton base frame and the right exoskeleton base frame, and fixed on the robot turn-over bed; a shoulder height adjusting mechanism is installed at the upper parts of the left upper limb exoskeleton and the right upper limb exoskeleton, and fixed on the robot turn-over bed; a leg length adjusting mechanism is installed on the left lower limb exoskeleton and the right lower limb exoskeleton; and a left-right shoulder joint rotary mechanism, a left-right hip joint rotary mechanism, a left-right knee joint rotary mechanism and a left-right ankle joint rotary mechanism are installed on shoulder joints of the left upper limb exoskeleton and the right upper limb exoskeleton and hip joints, knee joints and ankle joints of the left lower limb exoskeleton and the right lower limb exoskeleton, respectively. The invention realizes the adjustment of size range by electric push-rod motors, and uses servo motors to control joint movement, and the invention has the characteristics of saving cost, adjusting time and simplifying control process.
Owner:法罗适(上海)医疗技术有限公司
Femur measuring device
PendingCN111407471AEasy to measureImprove surgical efficiencyJoint implantsBone drill guidesLeft knee jointFemoral osteotomy
The invention provides a femur measuring device. The femur measuring device comprises a body; a positioning plate is arranged at the bottom of the body; a sliding rod capable of moving up and down androtating left and right along the body is inserted into the top of the body; a detection needle capable of moving along the top of the sliding rod is inserted into the top of the sliding rod; a specification scale line I is arranged on the detection needle; a scale line II is arranged on the front side of the body; an external rotating plate is arranged on the rear side of the body; a knob capable of driving the external rotating plate to rotate is arranged on the front side of the body; and the front side of the body is provided with an R scale and an L scale which are arranged around the knob. The femoral measurement device integrates femoral parameter measurement of a left knee joint and a right knee joint and the internal-rotation and external-rotation positioning function into a whole, and continuous internal-rotation and external-rotation angles can be selected for adjustment, so that the femoral measurement device is greatly convenient for a doctor to measure the femoral parameters, select types of femoral prosthesis and position the internal-rotation and external-rotation angles of femoral osteotomy, and operation efficiency is improved.
Owner:BEIJING LIDAKANG TECH
Rope pulling-type flexible lower limb exoskeleton power-assisted robot and motion control method thereof
ActiveCN112603752AGood combination of human and machineComfort experienceDiagnosticsChiropractic devicesLeft knee jointExoskeleton robot
The invention discloses a rope pulling type flexible lower limb exoskeleton power-assisted robot and a motion control method thereof. An existing flexible lower limb exoskeleton robot is insufficient in driving precision and poor in active power assisting performance. The device comprises a waist wearing binding piece, a waist control box, a right thigh inclination angle sensor, a left thigh inclination angle sensor, a right shank inclination angle sensor, a left shank inclination angle sensor, a left hip joint driving device, a right hip joint driving device, a left hip joint assisting steel rope, a right hip joint assisting steel rope, a left thigh wearing binding piece, a right thighwearing binding piece, a right shank wears wearing binding piece, a left shank wearing binding piece, a right knee joint drive device, a left knee joint drive device, a right knee joint power-assisted steel rope and a left knee joint power-assisted steel rope. The leg lifting willingness of a wearer can be accurately judged, the walking posture of a healthy person is simulated to assist in leg lifting, the left leg and the right leg are independently controlled, and better experience is brought to the wearer.
Owner:ZHEJIANG SCI-TECH UNIV
Portable walking assistant mechanism functioning on knee joint
The invention discloses a portable walking assistant mechanism functioning on knee joint. The mechanism comprises an output device, an assistant torque actuator and a drive force transmission component. The assistant torque actuator functions on the assistant torque actuating components of both the left and right knee joints respectively. The mechanism applies the human body weight as the drive force without the requirement of additional external power and energy inputs. The mechanism is based on the leverage principle and the structural principle of the crank-slider, applies the working manner of the left and right foot alternating input, uses the human body weight and uses the brake cable as the medium of drive force transmission. The left foot power output component provides drive force to the assistant torque actuating components of the right leg knee joint. The right foot power output component provides drive force to the assistant torque actuating components of the left leg knee joint. The torques are generated for assisting the bending and extending of both the left and right knee joints during the walking process to achieve the purpose of assisting the walking.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Exoskeleton control method, device and system for powered lower limbs
The application provides an exoskeleton control method, device and system for powered lower limbs. The system comprises a first motor controller, a second motor controller, a third motor controller, afourth motor controller and a master control unit, wherein the first motor controller and the second motor controller separately acquire left and right knee joint angles and left and right knee jointcurrent signals sent from left and right knee joint motors and send the left and right knee joint angles and the left and right knee joint current signals to the master control unit; the third motorcontroller and the fourth motor controller separately acquire left and right hip joint angles and left and right hip joint current signals sent from left and right hip joint motors and send the left and right hip joint angles and the left and right hip joint current signals to the master control unit; and the master control unit calculates distances from feet of exoskeletons to the ground and a ground acting force according to the left and right knee joint angles, the left and right knee joint current signals, the left and right hip joint angles and the left and right hip joint current signalsand controls the exoskeletons to execute corresponding movement actions according to the distances from the feet of the exoskeletons to the ground and the ground acting force. Thus, the cost of the exoskeletons of the lower limbs in the aspect of data acquisition can be reduced, the complexity of a control system is lowered, and the stability of movement of the exoskeletons is improved.
Owner:TSINGHUA UNIV
Biped robot and leg damping and energy recycling device thereof
ActiveCN107672686AImprove stabilityReduce energy consumptionMechanical energy handlingVehiclesLeft knee jointMechanical energy
The invention discloses a biped robot and a leg damping and energy recycling device thereof. Four-bar linkage mechanisms are arranged at a left knee-joint assembly and a right knee-joint assembly correspondingly, each four-bar linkage mechanism is internally provided with four pulling lines, a permanent magnet block and a magnetic wire coil, the permanent magnet blocks are located in the magneticwire coils, the inner side ends of each four pulling lines are connected with the corresponding permanent magnet block, the outer side ends of every four pulling lines a are connected with four connecting points of the corresponding four-bar linkage mechanism correspondingly, an electric energy storage device is further arranged in a hip-joint assembly, and the magnetic wire coils are electricallyconnected with the electric energy storage device through connecting lines. Because the four-bar linkage mechanisms are adopted at knee joints and every four pulling lines are utilized to pull the corresponding permanent magnet block to rotate in the corresponding magnetic wire coil to generate electricity, mechanical energy can further be converted to electric energy to be stored while effectiveshock buffering is conducted, so that the stability of the biped robot is improved, energy consumption of the biped robot is reduced, the endurance and operation capabilities of the biped robot are improved, and the biped robot particularly adapts to walking on a complex road surface.
Owner:深圳市行者机器人技术有限公司
Novel wheel foot robot capable of moving in all-around mode
The invention discloses a novel wheel foot robot capable of moving in an all-around mode, and belongs to the technical field of robots. A joint brake is reduced through a joint coupling way, so that the problem that an existing wheel foot robot is complex in leg structure design is solved, and control difficulty is reduced. The novel wheel foot robot comprises a body, wherein the bottom of the body is connected with a hip joint assembly; left and right sides of the hip joint assembly are separately connected with a left thigh assembly and a right thigh assembly; the left thigh assembly is hinged with a left shrank assembly through a left knee joint assembly; and the right thigh assembly is hinged with a right shank assembly through a right knee joint assembly. According to the wheel foot robot in the prior art, the hip joint is coupled with knee joints, so that drive units of the knee joints are cancelled, and therefore, the novel wheel foot robot is simple and compact in structure, and basic functions of the wheel foot robot are also generally integrated.
Owner:UNIV OF ELECTRONICS SCI & TECH OF CHINA
Wearable walking aid robot
InactiveCN112476419AEasy climbing with heavy loadImprove athletic abilityProgramme-controlled manipulatorPhysical medicine and rehabilitationLeft knee joint
The invention relates to a wearable walking aid robot. The wearable walking aid robot comprises a backpack support, a battery box, a left leg support, a right leg support, a left robot joint module, aright robot joint module, manual clutches, a lower left joint, a lower right joint, a left pressure switch and a right pressure switch. The left robot joint module and the right robot joint module are equivalent to a left hip joint and a right hip joint of a human body. When a left manual clutch and a right manual clutch are separated, the left hip joint and the right hip joint move freely, and aleft knee joint and a right knee joint move freely. The wearable walking aid robot is equivalent to an unpowered human body exoskeleton walking aid, and the burden of a traveler is effectively supported. When the left manual clutch and the right manual clutch are combined, the wearable walking aid robot is equivalent to a powered human body exoskeleton walking aid, stepping, walking and pausing of an exoskeleton can be accurately controlled according to the intention of a user, the walking speed of the exoskeleton can be controlled according to the intention of the user, and the exercise capacity and the load bearing capacity of the human body are effectively improved.
Owner:朱幕松
Intelligent lifting type exoskeleton robot
InactiveCN113172608ADoes not affect homeostasisOvercoming complex activitiesProgramme-controlled manipulatorJointsHuman bodyExoskeleton robot
Owner:朱幕松
Wearable lower limb rehabilitation exoskeleton control method
PendingCN113208866AImprove efficiencyImprove rehabilitation effectGymnastic exercisingChiropractic devicesExoskeleton robotPassive movements
The invention discloses a wearable lower limb rehabilitation exoskeleton control method which comprises a passive control mode and an active control mode, in the passive mode, gait data of left and right hip joint angles and left and right knee joint angles of corresponding heights are obtained and processed by a central processing unit, and signals are transmitted to a motor module; the lower limb rehabilitation exoskeleton is driven to complete passive movement of the patient according to the corresponding gait data; according to the active control mode, electromyographic signals of all actions of a patient need to be collected firstly, the signals are amplified and filtered, the electromyographic signals of all the actions are established to serve as a known action intention library of rehabilitation training, one-to-one mapping of the actions and the electromyographic signals is conducted on the filtered electromyographic signals, and gait data is obtained according to the height of the patient; the gait data of the knee joints and the hip joints are converted through the central processing unit. The wearable lower limb rehabilitation exoskeleton robot aims at solving the technical problems that an existing wearable lower limb rehabilitation exoskeleton robot is single in rehabilitation training mode and poor in patient initiative.
Owner:深圳沃立康生物医疗有限公司
Spherical joint doll
The invention discloses a spherical joint doll, a neck joint piece is movably connected with a head component and a chest component; a chest joint piece is movably connected with the chest component and the waist component; a waist joint piece is movably connected with the waist component and the left and right thigh joint pieces; a hip component is clamped on the left and right femoral joint pieces and is arranged between the waist component and the left and right femoral joint pieces; the left and right knee joint pieces are movably connected with the left and right thigh components and the left and right shank components; the left and right ankle joint pieces are movably connected with the left and right shank components and the left and right foot components; the left and right shoulder joint pieces are movably connected with the chest component and the left and right big arm components; the left and right elbow joint pieces are movably connected with the left and right large arm components and the left and right small arm components; the left and right wrist joint pieces are movably connected with the left and right forearm components and the left and right hand components; and the left and right forearm components are inserted into the left and right wrist joint pieces. The spherical joint doll not only can realize more shapes and decorations, but also can keep a human shape in a fixed shape without deformation.
Owner:福建一九八三文化创意有限公司
Femoral guide for ACL repair having reduced profile for left/right knee configurations
Owner:TYCO HEALTHCARE GRP LP
A biped robot and its leg shock absorption and energy recovery device
ActiveCN107672686BImprove stabilityReduce energy consumptionMechanical energy handlingVehiclesLeft knee jointMechanical energy
The invention discloses a biped robot and a leg damping and energy recycling device thereof. Four-bar linkage mechanisms are arranged at a left knee-joint assembly and a right knee-joint assembly correspondingly, each four-bar linkage mechanism is internally provided with four pulling lines, a permanent magnet block and a magnetic wire coil, the permanent magnet blocks are located in the magneticwire coils, the inner side ends of each four pulling lines are connected with the corresponding permanent magnet block, the outer side ends of every four pulling lines a are connected with four connecting points of the corresponding four-bar linkage mechanism correspondingly, an electric energy storage device is further arranged in a hip-joint assembly, and the magnetic wire coils are electricallyconnected with the electric energy storage device through connecting lines. Because the four-bar linkage mechanisms are adopted at knee joints and every four pulling lines are utilized to pull the corresponding permanent magnet block to rotate in the corresponding magnetic wire coil to generate electricity, mechanical energy can further be converted to electric energy to be stored while effectiveshock buffering is conducted, so that the stability of the biped robot is improved, energy consumption of the biped robot is reduced, the endurance and operation capabilities of the biped robot are improved, and the biped robot particularly adapts to walking on a complex road surface.
Owner:深圳市行者机器人技术有限公司
Preparation method of novel rat osteoarthritis model
InactiveCN108452305AAttributes are stableImprove securityEnergy modified materialsArticular cavityLigament structure
The invention discloses a preparation method of a novel rat osteoarthritis model. The preparation method comprises the following steps of (1), preparing a photothermal nano material Cu9S5@SiO2; (2), conducting intraperitoneal anesthesia on abdominal cavities of SD male rats at the age of 6-8 weeks and with the weight of 180-240 g by using 1% pentobarbital at a dose of 40 mg / Kg, injecting 100 microliters of 100 Mug / ml evenly mixed Cu9S5@SiO2 solution into articular cavities, and injecting into knee joint cavities of the rats through infrapatellar ligaments of the rats; (3), using a 980 nm, 0.72W / cm<2> near-infrared laser for irradiation of rat knee joints, wherein the irradiation continues to be conducted for 10 min after the maximum temperature of the rat knee joints exceeds 50 DEG C; (4), after 4 weeks, taking right knee joints of the SD rats to evaluate the damage situation through knee joint cartilage HE staining. The method is simple to operate, quantification and precise controlof energy damage can be achieved, and the temperature rise condition can be monitored under a thermal imager to achieve the visualization of the damage process.
Owner:SHANGHAI FIRST PEOPLES HOSPITAL
Artificial intelligence wearable walking system special for rehabilitation and physical therapy of war-fighting military personnel
InactiveCN108743248AConform to walking postureImprove recovery effectWalking aidsTotal DeafnessSurvivability
The invention discloses an artificial intelligence wearable walking system special for rehabilitation and physical therapy of war-fighting military personnel. The system includes a body, a wearable set, a power supply system, a battery pack, a central processing unit, a left arm power drive moduleand a right arm power drive module, a left arm bracketand a right arm bracket, a left platen buttonanda right platen button, a total power drive system, a left hip power adjustment systemand a right hip power adjustment system, a left thigh power electric drive systemand a right thigh power electricdrive system, a left knee joint conversion mechanismand a right knee joint conversion mechanism, a left calf power hydraulic systemand a right calf power hydraulic system, a left foot rotation mechanismand a right foot rotation mechanism, a left foot walking pedal anda right foot walking pedal, an anti-drop belt, a helmet, a left earphoneand a right earphone, an obstacle detector, and a mask.The system mainly uses the left and right platen buttons under the wrist of the war-fighting military personnel to remotely detect the limb movement, so that the system drives the war-torn soldiers to freely control the walking speed, and play an active physiotherapy role to enhance the survivability of rehabilitation training and recovery of the disabled soldiers, and help the soldiers with paraplegia, blindness, deafness or prosthetic limbs to stand and walk.
Owner:FOSHAN SANSHUI DISTRICT XIWANG HUOJU EDUCATIONAL TECH CO LTD
Adjustable lower-limb integral control walking-correcting band
The invention discloses an adjustable lower-limb integral control walking-correcting band. The adjustable lower-limb integral control walking-correcting band comprises a shoe cover ring, a connecting rope, knee-joint section connecting rope rings, hip joint section connecting rope rings, lumbar section connecting rope rings, an plug-in part and a socket which is matched with the plug-in part; the whole correcting band is in a Y shape, the shoe cover ring is connected with one end of the connecting rope, the other end of the connecting rope is connected with the left and right sets of the knee-joint section connecting rope rings, the right knee-joint section connecting rope rings, the hip joint section connecting rope rings, and the lumbar section connecting rope rings separately in sequence, one of the lumbar section connecting rope rings is connected with the plug-in part, and the other lumbar section connecting rope ring is connected with the socket; a hook is arranged between the shoe cover ring and the connecting rope. The adjustable lower-limb integral control walking-correcting band is novel in structure and convenient to use, the effect of an elastic band is effectively utilized to conduct walking function correcting on patients suffering foot drop, strephenopodia, and genu recurvatum, flexion and extension of the hip are promoted, and normal walking of a hemiplegic patient can be restored within a short period; meanwhile, the adjustable lower-limb integral control walking-correcting band is low in cost, which is conducive to wide application and popularization.
Owner:JIANGSU PROVINCE HOSPITAL
An active knee hyperextension lower limb rehabilitation exoskeleton device
ActiveCN111888187BEnhanced voluntary motor controlReduce local pressureChiropractic devicesNon-surgical orthopedic devicesLeft knee jointEngineering
The invention belongs to the related technical field of rehabilitation orthoses, and discloses an active knee hyperextension lower limb rehabilitation exoskeleton device. The rehabilitation exoskeleton device includes a back component, a right waist control component, a left waist control component, a right Knee joint motion executive component and left knee joint motion executive component, the right waist control component and the left waist control component are respectively arranged on the back component, and both are arranged symmetrically; the right waist control The component and the left waist control component are respectively connected to the right knee joint motion execution component and the left knee joint motion execution component. The exoskeleton device not only has the characteristics of comfortable wearing, compact structure, reliable positioning, long battery life, and large bearing capacity, but also can effectively enhance the autonomous control of patients with knee hyperextension, and reduce the weight and The lower limbs are partially compressed during wearing without affecting the patient's functional activities.
Owner:HUAZHONG UNIV OF SCI & TECH
A two-way damper device
ActiveCN105507721BAchieve two-way dampingSimple structureBuilding braking devicesWing openersEngineeringSnubber
Owner:许姜德
Knee restraint strap
PendingCN113171222AHigh activityAvoid oppressionRestraining devicesNursing bedsRight knee jointPhysical therapy
The invention discloses a knee restraint strap which comprises a restraint strap body used for restraining the knees of a patient and fixing the knees to a sickbed, and the restraint strap body comprises a knee fixing component used for fixing the left knee joint and the right knee joint of the patient and a knee adjusting component arranged on the knee fixing component; the knee adjusting component is used for adjusting the knee joint girth of the patient so as to adapt to patients with different knee joint girths, patella holes are formed in the knee fixing component, the patellas of the patient are exposed outside through the patella holes, a patella hole adjusting structure is arranged on each patella hole, an adjusting and fixing assembly adjusts patients with patella holes of different sizes through the patella hole adjusting structures, the whole restraint strap better restrains the bodies of different patients through the patella hole adjusting structures, and more comfortable nursing is provided for the patients.
Owner:ZHUJIANG HOSPITAL SOUTHERN MEDICAL UNIV
Posture measuring system for external-skeleton follow-up control and use method thereof
The invention discloses a posture measuring system for external-skeleton follow-up control and a use method thereof. The system comprises a right crus posture instrument, a right thigh posture instrument, a left crus posture instrument, a left thigh posture instrument, an upper-body posture instrument, a left hip encoder, a right hip encoder, a left knee encoder, a right knee encoder, a left hip joint plate, a right hip joint plate, a left knee joint plate, a right knee joint plate, a data receiving device, a data processing device and a power subsystem. The data processing device judges whether data fed back by the encoders are consistent with data which are given out by a control order and control external-skeleton walking or not, and if not, subsequent feedback control is conducted. By means of the posture measuring system, external-skeleton posture control is conducted, after the external-skeleton posture is measured and fed back, whether movement of the external-skeleton is consistent with movement of a human body or not is judged, subsequent compensation is conducted, and follow-up movement of the external-skeleton along with people is better achieved.
Owner:UNIV OF ELECTRONICS SCI & TECH OF CHINA
Control method, device and system for powered lower extremity exoskeleton
ActiveCN111728827BImprove stabilityReduce the cost of data acquisitionWalking aidsControl systemControl cell
The present application proposes a method, device and system for controlling a powered lower extremity exoskeleton, wherein the system includes: the first and second motor controllers obtain the left and right knee joint angles and the left and right knee joint angles sent by the left and right knee joint motors respectively. The motor current signal is sent to the main control unit; the third and fourth motor controllers respectively obtain the left and right hip joint angles and the left and right hip joint motor current signals sent by the left and right hip joint motors and send them to the main control unit; The control unit calculates the distance from the feet of the exoskeleton to the ground and the ground force according to the left and right knee joint angles, the left and right knee joint motor current signals, the left and right hip joint angles and the left and right hip joint motor current signals, and calculates the ground force according to The distance from the feet of the exoskeleton to the ground and the force on the ground control the exoskeleton to perform corresponding motion actions. As a result, the data acquisition cost of the lower extremity exoskeleton can be reduced, the complexity of the control system can be reduced, and the stability of the exoskeleton can be improved.
Owner:TSINGHUA UNIV
A gait-based wearable flexible knee robot exoskeleton
ActiveCN106420279BOvercome the shortcomings of inflation hysteresisImprove securityChiropractic devicesWalking aidsLeft knee jointPositive pressure
The invention discloses a gait-based wearable flexible knee joint robot exoskeleton facility which comprises a power and control system (4), a left knee joint airbag executing component (5), a right knee joint airbag executing component (6), a left foot pressure switch component (7), a right foot pressure switch component (8), a left foot posture sensor (9), a right foot posture sensor (10) and an air tube component (11), wherein a control circuit system (205) is used for controlling the output flow of a micro air pump A (203) and a micro air pump B (204) in real time, positive pressure and negative pressure are provided for the left knee joint airbag executing component (5) and the right knee joint airbag executing component (6) according to rules of gaits, and torque for assisting knee joints to bend and stretch in accordance with the gaits is provided for left and right legs in the walking process.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Method for auxiliary evaluation of stress states of knee joints
InactiveCN101627900BQuick Auxiliary EvaluationAccurate Auxiliary EvaluationDiagnostic recording/measuringSensorsLeft knee jointPhysical medicine and rehabilitation
Owner:PEKING UNIV THIRD HOSPITAL
Joint movement analysis system and method; knee-joint dynamic evaluation method and system
ActiveUS11039762B2Ensure data stabilityPrecise positioningMedical simulationSurgeryLeft knee jointPhysical medicine and rehabilitation
Owner:SHANGHAI INNOMOTION
Robot motion control system and method based on learnable central pattern generator
ActiveCN108657308BEnabling an intelligent learning processRealize fine controlVehiclesLeft knee jointControl signal
The invention discloses a robot motion control system and method based on learnable central pattern generators. The robot motion control system based on the learnable central pattern generators comprises a robot; the robot comprises a left hip joint, a right hip joint, a left knee joint, a right knee joint, a left ankle joint and a right ankle joint; a corresponding steering engine is arranged onthe internal side of each joint; each steering engine is driven by a control signal generated by the corresponding learnable central pattern generator; each learnable central pattern generator performs training by using history motion data of the corresponding joint; after the training is finished, each learnable central pattern generator is arranged on the controller; each learnable central pattern generator outputs a corresponding control signal according to an input signal; the controller transmits the control signal output by each learnable central pattern generator to the steering engineso as to drive the steering engine of each joint; and therefore, the motion of the robot is controlled.
Owner:SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
Robot motion control system and method based on learnable central pattern generators
ActiveCN108657308AEnabling an intelligent learning processRealize fine controlVehiclesLeft knee jointControl signal
The invention discloses a robot motion control system and method based on learnable central pattern generators. The robot motion control system based on the learnable central pattern generators comprises a robot; the robot comprises a left hip joint, a right hip joint, a left knee joint, a right knee joint, a left ankle joint and a right ankle joint; a corresponding steering engine is arranged onthe internal side of each joint; each steering engine is driven by a control signal generated by the corresponding learnable central pattern generator; each learnable central pattern generator performs training by using history motion data of the corresponding joint; after the training is finished, each learnable central pattern generator is arranged on the controller; each learnable central pattern generator outputs a corresponding control signal according to an input signal; the controller transmits the control signal output by each learnable central pattern generator to the steering engineso as to drive the steering engine of each joint; and therefore, the motion of the robot is controlled.
Owner:SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
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