28 results about "Right Thigh" patented technology

The application relates to an apparatus for assisting a human torso, comprising a torso link (1) connected to the upper back of a user by a back strap (2), two thigh links (3) each coupled to the left and right thigh of the user by a leg strap (4), two hip joint hinges (5) each placed in alignment with the left and right hip joints of the user and configured to rotatably connect the torso link (1) and the two thigh links (3), and a torque generator (6) coupled to the two hip joint hinges (5) by Bowden cables (7) and configured to generate an assisting torque to reduce the moment load of the user.

The invention relates to a waist walking aid exoskeleton control method and structure, and belongs to the technical field of exoskeletons. The control method comprises the following steps: determining a power gear upper limit according to the electric quantity of a battery and the temperature of a motor, and determining a current power gear and a working mode according to user settings; determining the numerical value of a motor torque control parameter according to the current gear and the working mode; performing gait detection and generating a target torque based on a gait state; limiting and smoothing the target torque based on the set motor torque control parameters; the absolute value of the included angle of the left and right thigh connecting rods is monitored in real time, and if the absolute value exceeds a threshold value, the target torque is forcibly set to be zero; and sending the finally obtained target torque to a motor for execution. The device can adapt to gait changes of a user in different scenes such as uphill and downhill, timely and appropriate waist and lower limb assistance is provided, the human body load is effectively relieved, and the exercise comfort and safety are improved.

Disclosed is a bedsore-preventing cushion structure. The present invention comprises: a lower panel having a plurality of downward-protruding flat air cells into which air is independently supplied by means of a plurality of air adjustment devices; and an upper panel coupled onto the top of the lower panel and having a plurality of upwardly-protruding upper air cells arranged in a grid pattern. According to the present invention, a user experiencing asymmetry in the hips and thighs visually selects and adjusts, according to the characteristics of the body, an air adjustment device corresponding to an area, from among the left hip, right hip, left thigh, and right thigh, for which the height and support strength are desired to be adjusted, thereby allowing use of the bedsore-preventing cushion structure that has been adjusted to match the characteristics of the body of the user experiencing pelvic asymmetry and muscle mass reduction.

An object of the present invention is to provide a novel assist suit capable of adjusting an assist force.SOLUTION: An upper body attachment member 2 to be attached to an upper body, a pair of thigh attachment members 3 to be attached to right and left thighs, respectively, and an upper end connected to an upper end side connector 21 provided on a back side of the upper body attachment member 2, and a pair of elastic members 4 whose lower ends are respectively connected to lower end side connection tools 31 provided in the respective thigh mounting members 3, for reducing the operation load of the wearer (S), wherein the assist force is adjusted by a gap adjustment device 5 for determining a separation distance between the wearer (S) and the elastic members 4 when worn.SELECTED DRAWING: Figure 1

This invention discloses a holistic exercise device that provides exercise for the user's core muscles and legs throughout the range of motion during various physical activities by simultaneously providing counterbalancing tension to the user's core muscles and legs when performing selected physical activities. The exercise device includes a waist ring, a left thigh ring, a right thigh ring, and left and right front and rear straps, all of which are heat-fused or sewn together to provide an elastic material specifically designed for a particular user. When worn by the user, the elastic rear and front straps of the exercise device provide counterbalancing tension to various muscle groups and legs depending on the physical activity being performed, and over time, through repeated use and practice, will provide the user with improved performance or rehabilitation when subsequently performed without the exercise device.

The invention relates to the field of intelligent identification, in particular to a complex maintenance scene-oriented virtual human intelligent motion control method, which comprises the following steps of: performing virtual human physical modeling, and establishing a virtual human model based on a GB10000 human body size standard and a human-machine ergonomics standard, wherein the kinematics architecture divides a virtual human into an upper body and a lower body, the upper body comprises eight joints including a spine, a neck, left / right shoulders, left / right elbows and left / right wrists, the lower body comprises six joints including left / right thigh roots, left / right knees and left / right ankles, and all the joints are abstracted into spherical hinge, hinge or universal joint kinematics mechanisms respectively. Joint angle constraints are set; the technical problem that a mode of designing animations in advance and combining prefabricated animations is adopted on the basis of action methods such as a state machine and a behavior tree, calculation and analysis generally face conventional maintainability tasks, and special and complex maintenance scenes are difficult to meet is solved.

The invention belongs to the technical field of medical apparatuses and instruments, particularly relates to a medical external bone supporting mechanism skeleton for assisting a doctor in a clinical operation, and aims to solve the problem of comfort caused by lower limb fatigue of a surgical knife doctor in a long-time operation. The invention discloses a medical exoskeleton supporting mechanism for assisting a doctor in a clinical operation. The medical exoskeleton supporting mechanism comprises a chest base plate, a waist base plate, a waist-leg left connector, a waist-leg right connector, a thigh left base plate, a thigh right base plate, a left limiting pin, a right limiting pin, a shank left base plate, a shank right base plate, a foot left base plate and a foot right base plate. Through a bionic structure and mechanical optimization, a whole-body dynamic supporting and adjusting function from the chest to the feet is provided, it is ensured that doctors of different heights and body types can maintain comfortable and stable postures in the operation period, muscle fatigue and local tissue compression are relieved, the operation comfort and efficiency of the doctors are remarkably improved, and the operation efficiency of the doctors is improved. And the health rights and interests of medical staff are guaranteed.

An occupant protection device includes a seat having a seat portion and a backrest portion, an elongated restraining member for restraining an occupant in the seat, and a take-up unit that takes up the restraining member. The restraining member is fed out from a housing portion of the seat and pulled up toward an upper end side of the backrest portion in accompaniment to an operation of the take-up unit, forming an occupant supporting portion and a pulling portion. The occupant supporting portion supports a back face side of left and right thigh portions of the occupant. The pulling portion extends from both left and right ends of the occupant supporting portion to the upper end side of the backrest portion, and restrains the occupant against the backrest portion.

The application discloses a lower limb system of a humanoid robot and the humanoid robot. The lower limb system of the humanoid robot comprises a hip mechanism, a left thigh mechanism, a right thigh mechanism, a left shank mechanism and a right shank mechanism, the hip mechanism being capable of being used for supporting an upper body trunk of the humanoid robot; the left thigh mechanism comprises a thigh main body, an upper connecting frame, a lower connecting frame, a first linear actuator, a second linear actuator, a first double-crank mechanism and a second double-crank mechanism; the upper end of the thigh main body is rotationally connected with the hip mechanism through the upper connecting frame, the lower end is rotationally connected with the left shank mechanism through the lower connecting frame, the first linear actuator and the second linear actuator are capable of being respectively elongated or shortened along the length direction of the thigh main body, so that the left thigh mechanism is capable of being rotated relative to the hip mechanism and the left shank mechanism respectively; the structure of the right thigh mechanism is the same as that of the left thigh mechanism. The lower limb system provided by the application can improve the load capacity of the humanoid robot.

To provide a waist belt which is hardly shifted upward by bending and stretching the waist.SOLUTION: A waist belt 1 includes a body 2 and a displacement prevention part 3 that prevents the body 2 from being displaced. The body 2 includes a lumbar support part 20 and a pair of stretchable wrapping parts (left wrapping part 21, right wrapping part 22) extending in the left-right direction from both sides of the lumbar support part 20. The position shift prevention unit 3 includes a pair of thigh belts (left thigh belt 32, right thigh belt 33) whose rear ends 32a, 33a are fixed to the waist support unit 20 and which are wrapped around the left and right thighs, and a pair of thigh belt fasteners (left thigh belt adjuster 30, right thigh belt adjuster 31) for fastening the vicinity of each of the pair of thigh belts wrapped around the left and right thighs near their respective tip ends 32e, 33e. Each of the pair of thigh belt fasteners is attached to one of the pair of wrapping parts.SELECTED DRAWING: Figure 2

The invention discloses a humanoid robot capable of switching forms. The humanoid robot comprises leg assemblies, arm assemblies, a trunk, a head assembly and a crotch assembly. The leg assembly is divided into a right leg assembly and a left leg assembly, and the right leg assembly and the left leg assembly are the same in structure and are bilaterally symmetrical. Hub motors are arranged at the right thigh and the left thigh, knee joint driven wheels and elbow joint driven wheels are arranged at the knee joints and the elbow joints, and rapid maneuverability in the vehicle form is achieved. The quick maneuverability of the humanoid robot can be improved, meanwhile, the loading capacity of the humanoid robot is improved, and the loading and mounting capacity is improved.

According to the auxiliary baby holding device for liberating waist muscles and the working method, the structure is scientific, and posture balance can be automatically adjusted. The baby supporting bag is connected to the main body, is used for placing a baby, is made of a soft safety fabric, and is provided with a reinforcing back plate and a soft cushion; the supporting rods comprise the left supporting rod (31) and the right supporting rod (32) which are fixed to the outer sides of the roots of the left thigh and the right thigh of a user respectively, and the supporting rods support the baby supporting bag. The tension adjusting system comprises contraction tension ropes (41) and an electric motor (42), and the contraction tension ropes are arranged on the two sides of the baby supporting bag respectively, connected with the left supporting rod and the right supporting rod respectively and controlled through retraction and release of the electric motor. The sensor system comprises a plurality of non-contact distance sensors (5) which are distributed on the waist and the thighs of the user, and the sensors monitor changes of relative distances between the two sides of the body of the user and the baby supporting bag; the central control unit is located in the middle of the body, receives data of the sensor in real time, controls the tightness of the contraction pull rope and ensures that the infant supporting bag is kept in a balanced state.

The invention relates to a transformation robot and a transformation method, the transformation robot comprises a trunk part, a left arm, a left thigh, a left shank, a left foot, a right foot, a right shank, a right thigh and a right arm, the left thigh and the right thigh, the left shank and the left thigh as well as the left foot and the right foot are symmetrically distributed on the two sides of the trunk part, and the transformation robot comprises 18 steering engines of three types, the driving mechanism is used for driving the robot to change from a vehicle form to a human form and walk; the human form and the vehicle form comprise a plurality of different postures; the trunk part is detachably provided with replacement parts, the replacement parts comprise a basic part, a forklift and a tilting cart, and the forklift and the tilting cart are detachably installed on the basic part. According to the transformation robot, accessories can be replaced in two different forms of a person or a vehicle, so that different playing method requirements are met; the robot has a human shape and a vehicle shape, and each shape has different postures, so that the playability, operability and interestingness of the robot are greatly improved.

The manufacturing process comprises the following steps: (1) respectively forming skeleton parts by adopting a carbon fiber material, (2) connecting the lower end of a trunk tube with the middle part of the upper end of a crotch skeleton through a first riveting structure, and connecting the left side of the lower end of the crotch skeleton with a left thigh tube through a second riveting structure, the right side of the lower end of the crotch skeleton is connected with a right thigh tube through a third riveting structure, the lower end of the left thigh tube is connected with a left shank tube through a fourth riveting structure, and the lower end of the right thigh tube is connected with a right shank tube through a fifth riveting structure; carbon fiber materials are adopted to form the framework components respectively, and carbon fibers can guarantee strength and reduce weight. The trunk tube, the crotch skeleton, the left thigh tube, the left shank tube, the right thigh tube, the right shank tube, the left shoulder tube, the left large arm tube, the left small arm tube, the right shoulder tube, the right large arm tube, the right small arm tube, the head supporting tube and other components are connected through riveting structures, the assembling speed is high, and joints are bent flexibly.

A seat system for a wheelchair. The seat system comprises: a left-thigh support comprising an upper-thigh support part and a lower-thigh support part; and a right-thigh support comprising an upper-thigh support part and a lower-thigh support part; wherein the lower-thigh support part of the left-thigh support is separate to the lower-thigh support part of the right-thigh support, and either the upper-thigh support part or the lower-thigh support part of each of the left- and right-thigh supports comprises one or more first engagement members and the other of the upper-thigh support part or the lower-thigh support part of each of the left- and right-thigh supports comprises two or more second engagement members, each of the first engagement members being received or receivable between two of the two or more second engagement members such that the one or more first engagement members and the two or more second engagement members are configured to cooperate with one another in a slidable relationship, such that a length of each of the left- and right-thigh supports is adjustable.

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.

The utility model discloses a kind of small humanoid machine inner skeleton systems of modularization quick assembly, it is related to inner skeleton system technical field.9 independent modules are included, and 9 modules constitute the inner skeleton main body of small humanoid robot, and the outside of inner skeleton can be connected with multiple independent external function modules;Quick connection and locking are realized between inner skeleton and independent external function module through plug-in connection structure and magnetic attraction type interlocking mechanism, and the 9 independent modules include torso module, left arm module, left forearm module, right arm module, right forearm module, left thigh module, right thigh module, left shank module and right shank module.The utility model is set up 9 independent modules, and this design makes the assembly process of robot like building building blocks generally simple, greatly reduces assembly difficulty and time cost, simultaneously, modular design also provides great convenience for subsequent function upgrade and maintenance, and user only needs to replace or add corresponding module.

The utility model discloses a lower limb exoskeleton joint rehabilitation training device structure, which relates to the technical field of robots, and comprises a waist fixing plate, the middle part of the front side of the waist fixing plate is fixedly connected with a waist connecting plate, and the bottoms of the left and right thigh adjusting rods are rotatably connected with shank telescopic adjusting assemblies; and shank assisting assemblies are arranged on the rear sides of the left thigh adjusting rod and the right thigh adjusting rod correspondingly, and foot joint angle adjusting assemblies are fixedly connected to the bottoms of the left shank telescopic adjusting assembly and the right shank telescopic adjusting assembly correspondingly. By means of the shank telescopic adjusting assembly, flexible adjustment can be carried out according to the specific shank length of each user or the height of a patient, the effectiveness of training actions is guaranteed, and the shank power assisting assembly, the foot joint angle adjusting assembly, the first power assisting oil cylinder, the hip joint rotating rod and other components are arranged, so that the training effect is improved. A user is assisted in completing actions such as bending and stretching of the lower limbs, the requirement for assistance of shanks and hip joints in the rehabilitation training process is met, and the maximum flexibility of the lower limb exoskeleton is guaranteed.

The utility model discloses a kind of hip pants, including underpants main body and two supporting pieces, two supporting pieces are attached with underpants main body setting, two supporting pieces are respectively corresponding to human posterior hip near left and right thigh root position;The shape of supporting piece is crescent, and there is protrusion in the middle of the concave side of crescent, and the opening direction of the concave side of crescent and the protruding direction of protrusion are all towards obliquely upper, and towards the middle of underpants main body.The utility model's hip pants use the supporting piece of novel design, its shape and position setting can better attach human curve, realize the organization of human hip is pulled up and held up to middle part, hip shaping effect is better, and avoid the problem that underpants is curled or wrinkled in thigh root, thigh root is not pressed when wearer moves and sits, ensure stability, comfort and safety.

The invention discloses linkage type electrical stimulation gait training equipment for spinal cord injury, and belongs to the technical field of medical rehabilitation instruments. The equipment comprises an I-shaped frame, the I-shaped frame is symmetrically sleeved with a supporting frame and a movable frame, the movable frame is connected with a thigh connecting rod through a bearing support, and the thigh connecting rod is hinged to a length-adjustable shank connecting rod and a sole supporting plate; the left and right thigh connecting rods are linked with a traction rope through a pulley to realize collaborative movement of double lower limbs, and a detachable clamping block is arranged at the end part of the traction rope to switch a linkage / independent training mode; an electrical stimulation controller, an integrated electrode patch and a myoelectricity sensor patch are mounted on the outer side of the thigh and shank connecting rod, and electrical stimulation parameters are dynamically adjusted by combining a control module; the H-shaped frame and the movable frame are respectively provided with a width adjusting mechanism and a height adjusting mechanism to adapt to patients with different body types. Through fusion of mechanical linkage and electrical stimulation, a patient is assisted in gait training, neuromuscular control is enhanced, the training intensity can be dynamically adjusted, and the rehabilitation effect is improved.

This product is a training device that stimulates muscles by applying vibrations or weak electric currents to the body, and is made of an elastic material such as rubber. The product can be used, for example, by holding it in the user's hand, pressing it against the neck or shoulders, holding it between the thighs of the left and right legs, or pressing a part of the body against the product placed on the floor. This provides the effect of muscle training and also the effect of a massage.

A unitary exercise device that provides exercise of the core muscles and legs of a user over a full range of motion in performing various physical activities by providing simultaneous counter-balancing tension to the core muscles and legs of the user as he is engaged in performance of the selected physical activity. The exercise device comprises a waist loop, left and right thigh loops, left and right rear and front straps, all of which are elastic materials heat-fused or sewn together to provide an exercise device specifically designed for a specific user. When worn by a user, the elastic rear and front straps of the exercise device provide counter-balancing tension to various muscle groups and legs of the user, dependent on the physical activity being performed, which over time with repetitive use and practice will provide improved performance or rehabilitation to the user when performing subsequently without the exercise device.

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.

The invention relates to the technical field of wounded person carrying, in particular to a bare-handed slope unloading carrying method. A supporting mode of right thigh, lumbar muscle, dorsal muscle and right upper limb is adopted, the outer side face of the right thigh, the right side face of the trunk and the upper arm side face of the right upper limb make contact with the ground, the contact faces are in a long strip shape, the upper body of the wounded is placed on the upper body of a rescuer, and the upper body of the wounded is in an inclined plane state. And the gravity of the upper parts of the two parts is supported by abdominal and lumbar muscles and pectoral and dorsal muscles, namely core muscles, and is finally transmitted to the ground through a strip-shaped contact surface. The device has the beneficial effects that the limitation of the height, the body shape and the weight of a wounded person on a rescuer in a traditional crawling carrying method is broken through, that is, the left arm of the rescuer cannot hold the wounded person due to the too wide body shape, the left arm of the rescuer cannot hold the wounded person due to the too heavy weight, the right arm of the rescuer cannot support the wounded person, and the gravity center of the wounded person moves upwards and forwards due to the too long body shape; and the right arm supporting force of the rescuer is further increased.

The invention discloses a wheel-foot switchable humanoid robot leg configuration. The humanoid robot leg configuration comprises a left side leg configuration and a right side leg configuration which are symmetrical and have the same structure; wherein the left leg structure comprises a right thigh assembly, a robot right knee hub motor module, a right shank assembly, a right shank driven wheel module and a right foot assembly from top to bottom; the right leg structure comprises a left thigh assembly, a left knee hub motor module, a left shank assembly, a left shank driven wheel module and a left foot assembly from top to bottom. According to the design that the wheel state and the foot state can be switched, the maneuverability of the humanoid robot on a long straight road or a slow slope or other specific road conditions is improved.

The accurate fencing posture guiding device comprises a wearing end and a wireless receiving end, the wearing end comprises an electronic element box and is fixed to the back of a human body, first to fifth single-chip microcomputers, a battery and a charging module are arranged in the wearing end, and the battery and the charging module supply power to the first to fifth single-chip microcomputers; the first angle sensor is fixed to the sword handle and measures the angle between the sword strip and the ground, and the second angle sensor is fixed to the right forearm and measures the angle between the right forearm of the human body and the ground. The third angle sensor is fixed on the left forearm and measures the angle between the left forearm and the ground; the fourth angle sensor is fixed on the right thigh to measure the angle between the right thigh and the ground; the fifth angle sensor is fixed on the left thigh to measure the angle between the left thigh and the ground; the wireless receiving end comprises an OLED display screen which displays data obtained through analysis of the single-chip microcomputer. The angles between the sword strip and the arms and thighs of the user and the ground are monitored through five sensors, it is ensured that key action parts of the whole body are covered, and comprehensive and accurate posture data are provided.

The invention discloses a passive rehabilitation training device for double lower limbs. The passive rehabilitation training device comprises a base frame, a motor, a speed reduction device, a driving gear, a driven gear, a gear shaft, four groups of eccentric wheels, thigh and shank lever supports and a floating bracket assembly. A motor drives a gear system to drive a right thigh eccentric wheel, a right shank eccentric wheel, a left thigh eccentric wheel and a left shank eccentric wheel to rotate synchronously, and the left and right eccentric wheels have a 180-degree phase difference in the circumferential direction, so that corresponding lever supports are pushed to achieve alternate flexion and extension movement of two legs, and the natural gait of the human body is simulated. The floating bracket assembly and the front end of the lever form a rotating pair through a pin, the supporting plate is allowed to slightly float in the vertical direction and the horizontal direction so as to adapt to different body types and muscular tension changes, and the man-machine suitability and the use comfort are improved. The device is compact in structure, full-mechanical in transmission, stable in operation, low in cost and suitable for postoperative early rehabilitation and lower limb passive activity promotion of long-term bedridden patients and sedentary people.

This invention relates to a personalized prediction method for human lower limb gait phase based on Informer, belonging to the field of exoskeleton robot technology. The method includes the following steps: collecting human lower limb gait motion information through a data acquisition device to form a dataset; training a pre-model; saving the trained pre-model; collecting individual user lower limb data; training a personalized model based on the pre-model; saving the personalized model; collecting the swing angle of the right thigh of the human lower limb through the data acquisition device; and using the model based on the wearer's real-time data. Unlike traditional gait phase prediction methods, this method increases model complexity while avoiding the use of numerous sensors, reducing hardware usage and increasing model accuracy. It then uses prior information such as specific human-machine coupling characteristics to more accurately set the corresponding controller structure and control parameters, effectively improving the wearing comfort of exoskeleton users during human-machine coupled collaborative walking movements.