7 results about "Right knee joint" patented technology

The knee joint rehabilitation training device comprises a seat, a motor and a training device, the seat comprises a seat body, armrests and supporting legs, the seat body is provided with a sliding rail, the motor comprises a hydraulic rod and a telescopic machine, one end of the hydraulic rod is connected with the training device, the other end of the hydraulic rod is connected with the telescopic machine, and the end, connected with the telescopic machine, of the hydraulic rod is provided with a cylindrical protrusion. The training device comprises bandages, massagers, a sliding rod and pedals, the training device is in an arc shape and is provided with an outward opening, the bandage A is located on the upper portion of the training device, the bandage B is located on the lower portion of the training device, the massagers are evenly distributed on the outer surface of the training device, the sliding rod is arranged at the lower end of the training device, and the pedals are arranged on the sliding rod. A pedal is arranged at the lower end of the sliding rod. The knee joint training device is simple in structure, a patient can adjust the length suitable for the patient according to the height and leg length of the patient, meanwhile, the training strength can be adjusted, left and right knee joints can move independently, and wearing is very convenient.

The utility model discloses an exoskeleton wearing equipment driving system in the field of exoskeleton driving, which comprises four driving mechanisms respectively positioned at a left hip joint, a right hip joint, a left knee joint and a right knee joint, each driving mechanism comprises a driving motor, and an output shaft of each driving motor and an input end of a reduction gear set are coaxially arranged. The output end of the reduction gear set is coaxially provided with a rotating shaft, the periphery of the rotating shaft is sleeved with a large gear, the end of the rotating shaft is provided with an action executing piece, the large gear is meshed with a small gear, the small gear and the rotary encoder are coaxially arranged, the reduction gear set is arranged in a protective shell, the driving motor is arranged on the protective shell, and the protective shell is fixed to the outer supporting plate through a fastener. A partition plate is arranged on the inward side of the outer supporting plate corresponding to the outer side of the large gear and the outer side of the small gear, an inner supporting plate is arranged on the outward side of the partition plate, a crossed roller bearing is arranged on the inner supporting plate, and the action executing piece is connected with an inner ring of the crossed roller bearing through a fastener. The utility model has the characteristics of compact structure and high precision.

The application discloses a race walking video rule violation action automatic detection method based on 2D human posture estimation and belongs to the technical field of computer vision and sports science, in particular to the following: a video 2D human posture estimation network based on space-time self-attention is constructed and trained, including a picture human posture estimation network, a joint feature embedding module and a space-time self-attention Transformer network with embedded time sequence block moving operation; expert classification of race walking video data sets is performed, input into the trained video 2D human posture estimation network, and the output joint node estimation two-dimensional coordinates are input into a logistic regression model together with the calculated left and right knee joint angles for training to obtain a logistic regression model for different rule violation actions, which is used for rule violation action automatic detection. The application uses the space-time self-attention mechanism to fuse the rich time information between video frames, obtains more accurate human two-dimensional coordinates, and then combines the logistic regression model to learn the race walking rule violation action, so that the automatic detection and classification of the race walking rule violation action are realized, and the detection accuracy is high.

The invention relates to a wearable amphibious assistance and control system which is characterized in that an exoskeleton right structure assembly is fixed on the upper and lower sides of a right leg knee joint of a user, an exoskeleton left structure assembly is fixed on the upper and lower sides of a left leg knee joint of the user, and a right propeller assembly is fixed on the upper part of the exoskeleton right structure assembly; the left propeller assembly is fixed to the upper portion of the exoskeleton left structure assembly. The multifunctional waist bag is fixed to the waist of a user, an integrated electric control system is installed in the multifunctional waist bag, the integrated electric control system is connected with the exoskeleton right structure assembly and the exoskeleton left structure assembly through watertight cables, and a land movement mode and / or an underwater movement mode are / is achieved so that the assisting function can be achieved for left and right knee joints of the user; the integrated electric control system is connected with the right propeller assembly and the left propeller assembly through watertight cables, and the diving propelling function on a user in the underwater movement mode is achieved. The structure portability of the power assisting device can be improved, and various power assisting propelling functions of the propeller on land and in water can be expanded.

The lower limb structure comprises a left lower limb, the left lower limb comprises a left thigh, a left knee joint and a left shank which are sequentially connected from top to bottom, a left knee joint motor and a left connecting rod mechanism are installed on the left thigh, and the left knee joint motor is in transmission connection with the left shank through the left connecting rod mechanism; the right lower limb comprises a right thigh, a right knee joint and a right shank which are sequentially connected from top to bottom, a right knee joint motor and a right connecting rod mechanism are installed on the right thigh, and the right knee joint motor is in transmission connection with the right shank through the right connecting rod mechanism; wherein at least one of the left connecting rod mechanism and the right connecting rod mechanism is offset towards the outer side of the lower limb structure, so that the distance between the left knee joint and the right knee joint is larger than the distance between the left thigh and the right thigh.

This invention relates to a flexible hip joint assistive exoskeleton and its control method. The exoskeleton includes a posterior drive unit, a right anterior drive unit, a left anterior drive unit, a left posterior Bowden line, a right posterior Bowden line, a left knee joint flexible binding structure, a right knee joint flexible binding structure, a flexible bionic vest, a left anterior flexible band, and a right anterior flexible band. The left posterior Bowden line connects the posterior drive unit and the left knee joint flexible binding structure, and the right posterior Bowden line connects the posterior drive unit and the right knee joint flexible binding structure. The posterior drive unit controls the tightening and releasing of the two Bowden lines. The left anterior flexible band connects the left anterior drive unit and the left knee joint flexible binding structure, and the right anterior flexible band connects the right anterior drive unit and the right knee joint flexible binding structure. The two anterior drive units control the tightening and releasing of their respective flexible bands. Through the cooperation of the flexible bands and Bowden lines, the exoskeleton assists in hip joint flexion and extension. The method controls the exoskeleton through dual-layer sensing technology. The upper layer of sensing uses multi-sensor data to identify the timing of exoskeleton assistance, while the lower layer of control uses a dual-modal switching control strategy to achieve coordinated control of the tightening and releasing of Bowden lines or flexible belts.

A humanoid robot, including an upper portion including a torso, a head, and left and right arm assemblies; a lower portion including left and right lower leg assemblies; a central portion coupled to the upper portion and including a spine, a pelvis, and left and right upper leg assemblies. Each upper leg assembly includes a hip flex actuator coupled to the pelvis and having a hip flex axis positioned at a non-zero downward angle relative to a transverse plane of the humanoid robot. The upper leg assembly also includes left and right knee actuators, wherein each knee actuator is an electric rotary actuator, has a knee axis that is co-planar with the hip flex axis, and has a momentary peak torque greater than a momentary peak torque of the torso twist actuator. The humanoid robot lacks a distinct torso pitch actuator and wherein the hip flex actuators are collectively arranged to provide for pitch movements of the torso.