89 results about "Right upper limb" patented technology

The invention aims to provide a Kinect-based motion sensing-control method for manipulator comprising the following steps of obtaining the three-diemnsional coordinates of five joints of the right upper limb of a human body by a Kinect sensor; smoothing the obtained five joint coordinate data of the right upper limb by a double-exponential filtering algorithm; constructing vectors in the three-dimensional space coordinate system of the Kinect by utilizing the smoothed 5 joint coordinates of right upper limb, and obtaining the angles of the right upper limb by calculating the vector included angles, wherein the angles of the right upper limb comprise a right shoulder joint angle, a right elbow joint angle and a right wrist joint angle; fusing the angle information to form a data package, adding with a data package head and a checksum, and sending to a robot by a wireless serial port to perform manipulator control. The Kinect-based motion sensing-control method for the manipulator can finish the flexible and accurate control on the manipulator and the moving robot by accurate identification on the human body actions, thus enabling the interaction between people and the robot to be more friendly and improving the intelligence of the robot.

The invention discloses an exoskeletal upper limb rehabilitation training robot. The exoskeletal upper limb rehabilitation training robot comprises a base component, a shoulder girdle component, a shoulder joint component, an upper arm component and a forearm component. For the exoskeletal upper limb rehabilitation training robot, the shoulder girdle component can completely match the motion law of the human glenohumeral joint, and the demand for the freedom degree by the human upper limb during rehabilitation training in the three-dimensional space is satisfied. Due to the adoption of the configuration method of the freedom degree, the body of a patient and a chair can be fixed to a certain degree, meanwhile, the upper limb of the patient can tightly wear the mechanical arm, so that the body compensation during the training process is reduced, and the correct training movements are realized on the upper limb of the patient. By utilizing a rotating shaft deviation mechanism, a mechanical component is far away from the head of the patient, and thus the oppressing sensation of the patient is alleviated; by controlling the movement of the shoulder girdle component, the shoulder joint component, the upper arm component and the forearm component, the rapid switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeletal upper limb rehabilitation training robot is realized, and the complicated regulation process of the existing robot is avoided.

The invention relates to a three-stage brain-controlled upper limb rehabilitation method combining steady-state visual evoked potential and mental imagery (MI). The method comprises the following steps: (1) the first stage of VR video guidance training: a patient is made to be familiar with upper limb rehabilitation movements through VR video guidance; (2) the second stage of VR-SSVEP training: the patient needs to concentrate to observe pictures that represent different upper limb movements and flicker with a specific frequency, EEG signals of the patient are collected in real-time to analyzeintentions of the patient, and visual feedback is provided to the patient through VR animation to make the patient learn to concentrate; and (3) the third stage of VR-MI training: EEG signals of theleft and right upper limbs of the patient during MI are collected during off-line training, and a mental imagery intention recognition model is established. The EEG signals of mental imagery of the patient are analyzed according to the model during online training, movement intentions of the patient are recognized, and movements of a 3D character in an interface are controlled in real time, so that brain central nerve remodeling is facilitated through MI. The method exhibits a good immersion property, enables active rehabilitation to be realized, enables rehabilitation to proceed step by step,and is a new method for upper limb rehabilitation of a cerebral stoke patient.

The invention discloses a rehabilitation training device with the adjustable movement direction of bilateral limbs. The device comprises a right upper limb mechanism, a right transmission mechanism, a right lower limb mechanism, a lower limb connecting mechanism, a left lower limb mechanism, a left transmission mechanism and a left upper limb mechanism, wherein the right upper limb mechanism and the left upper limb mechanism and the right transmission mechanism and the left transmission mechanism are symmetrical about the symmetrical planes of a base in the left and right directions respectively; the right upper limb mechanism is connected with the right lower limb mechanism through the right transmission mechanism, and the reverse transmission is realized; the right lower limb mechanism is connected with the left lower limb mechanism through the lower limb connecting mechanism, and the left lower limb mechanism is provided with a belt-wheel combination or separation device which is movably sleeved with the right lower limb mechanism or the left lower limb mechanism; the lower limb connecting mechanism is connected with a damping mechanism to realize the codirectional or reverse movement of the left and right lower limb rehabilitation training device, which improves the patients' rehabilitation training pleasure.

The invention provides an active and passive limb rehabilitation training device. The training device comprises a base, a left upper limb mechanism, a right upper limb mechanism, a left lower limb mechanism and a right lower limb mechanism, wherein the left upper limb mechanism and the right upper limb mechanism are installed on the two sides of a double-upper-limb position adjusting mechanism fixed to the base respectively, the left lower limb mechanism and the right lower limb mechanism are installed on the two sides of a double-lower-limb position adjusting mechanism fixed to the base respectively, the two lower limb mechanisms are bilaterally symmetrical, and the two upper limb mechanisms are basically bilaterally symmetrical. A right rotating shaft is rotationally installed on a rightupper limb connecting frame of the right upper limb mechanism and is connected with a piston rod on one side of a right double-side rod outlet oil cylinder and a piston rod of a first right oil cylinder through a gear-rack and guide rail-slider mechanism, a piston rod on the other side of the right double-side rod outlet oil cylinder is connected with a piston rod of a third right oil cylinder, aright connecting plate of the right lower limb mechanism is connected with a second right foot connecting rod and a fourth right coil cylinder in a hinged mode, and a piston rod of the fourth right oil cylinder is connected with a right foot swing rod in a hinged mode. A right double-side rod outlet piston cylinder is connected with a left double-side rod outlet piston cylinder through a three-position four-way valve, the fourth right oil cylinder is connected with the first right oil cylinder through a three-position four-way valve, a fourth left oil cylinder is connected with a first left oil cylinder through a three-position four-way valve, a third right piston cylinder is connected with the atmosphere and an energy accumulator through a three-position four-way valve, and a third leftpiston cylinder is connected with a hydraulic pump and an oil tank through a three-position four-way valve.

The invention discloses an eight-section impedance model based body composition analysis method. The body composition analysis method comprises the following steps: according to input currents and measured voltages, acquiring six valid body impedance expressions through the eight-section body impedance model; acquiring the difference value between the resistance values of left and right upper limbs as well as the difference value between the resistance values of left and right lower limbs through a five-section body impedance model; calculating to obtain the body impedance expression of each section; according to at least two groups of different input currents and the body impedance expression of each section, obtaining at least two groups of body impedance values; selecting the optimal group of eight-section impedance values, and determining a fitting model according to the selected optimal group of eight-section impedance values; conducting training on a plurality of known samples in the fitting model to obtain unknown coefficients of the fitting model as well as a body composition predicting formula; according to the body composition predicting formula, analyzing the unknown samples to obtain body composition parameters. Through the adoption of the body composition analysis method, the obtained the body composition is accurate.

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.

The invention discloses a whole body rehabilitation robot, comprising: a bracket part, an inner bracket part, a left upper limb rehabilitation robot, a right upper limb rehabilitation robot, a left lower limb rehabilitation robot, a right lower limb rehabilitation robot, a back part and a driving control part; the bracket part is used for carrying the remaining parts; the inner bracket part is located inside the bracket part; the left upper limb rehabilitation robot is used to provide left arm rehabilitation training; the right upper limb rehabilitation robot is used to provide right arm rehabilitation training; the left lower limb rehabilitation robot is used to provide left lower limb rehabilitation training of a patient; the right lower limb rehabilitation robot is used to provide rightlower limb rehabilitation training for a patient; the back part is fixed at the inner bracket part; and the driving control part is used for controlling the movement speed and the movement angle of the left upper limb, right upper limb, left lower limb and right lower limb rehabilitation robots. The whole body rehabilitation robot of the invention can provide the patient with coordinated rehabilitation actions of limbs, so that the patient can obtain systematic effective limb rehabilitation training during a rehabilitation process.

The invention discloses a strength training device for double upper limbs. The device comprises a base, a left upper limb connecting mechanism and a right upper limb connecting mechanism, a right rotating shaft is fixed on a right handle rod of the right upper limb connecting mechanism; the right rotating shaft fixes a right oscillating rod; one L-shaped side of a right bent shaft is rotationallyand slidably connected with the right oscillating rod; the other L-shaped side of the right bent shaft is rotationally and slidably connected with the right end of a swing block; a transmission shaftis fixed in the swing block; a middle bevel gear is meshed with two bevel gears; the two bevel gears are fixed on an intermediate shaft through a one-way bearing, so the unidirectional rotation of theintermediate shaft is realized; two ends of the intermediate shaft are respectively connected with crankshafts; each crankshaft forms two crank sliding block mechanisms; the crank of each slider-crank mechanism is gradually lengthened, a groove is formed in the upper portion of the sliding block, the process that a ball gradually rises to the left end sliding block in the groove of the sliding block and then rolls into the groove of the right end sliding block along a ball channel is achieved, fun is increased for the training process, and meanwhile a trainee visually sees the exercise training amount.

The invention provides an active upper limb movement rehabilitation assisting exoskeleton which is composed of an arm exoskeleton mechanism, a safety strap mechanism, a back and shoulder supporting mechanism and a power transmission mechanism. The mechanical structure of the active upper limb movement rehabilitation assisting exoskeleton is designed according to ergonomics, is suitable for wearable use, is invented based on human motion bionics principles; key freedom degrees of shoulders, elbows and wrist joints of the upper limbs in the movement process and required effective joint torque are considered; only one driving motor is used; the flexible transmission is realized through an embedded pull wire; shoulders, elbows and wrist joints of the left and right upper limbs of the human body are driven by differential to perform linkage assistance and independent movement under the effective degree of freedom; an energy storage spring can play a role in saving energy and reducing consumption; the active upper limb movement rehabilitation assisting exoskeleton has the advantages that appearance attractive and mechanical properties are considered, each component is designed into a flexible exoskeleton conforming to ergonomics, barrier-free man-machine interaction is effectively reduced, exercise rehabilitation training with good man-machine interaction experience can be provided for patients with upper limb dysfunction, or effective assistance is provided for users with upper limb exercise requirements, and physical consumption is reduced.

The invention discloses a treatment table, which comprises a cushion and a base. The cushion is connected to a bracket; a lifter is connected to the lower part of the bracket; and the lifter is fixed on the base. The treatment table is characterized in that: the cushion consists of eight independently arranged sub-cushions corresponding to corresponding parts of a human body during use, namely a head cushion, left and right upper limb cushions, a trunk cushion, left and right thigh cushions and left and right shank cushions; the bracket comprises a main connecting shaft, a plurality of supporting frames and a plurality of independent brackets, wherein each independent bracket is respectively connected with one sub-cushion correspondingly; and a driver for driving the independent bracket is connected to each independent bracket. When the patient uses the treatment table, due to the driver of the independent bracket, the treatment table makes the head, left and right hands, the trunk, left and right thighs and shanks of the patient act according to requirements for compulsory rehabilitation training on the patient, and has obvious treatment and rehabilitation effects on the patient with physical disability, particularly total paralysis, hemiplegic paralysis and brain paralysis.

The invention discloses an intelligent training parallel bar, and relates to the technical field of rehabilitation equipment. Two sides of a base support frame are of rectangular frame structures, the middle part is of a downward concave frame support structure, a base is located above the frame support structure, and covers theframe support structure, and side base plates are laid on the rectangular frame structures of the base support frame to form a base device; both ends of the frame support structure are further correspondingly, symmetrically and fixedlyprovided with at least two force sensors, the base is located above the bearing ends of the force sensors, and the base support frame is located below the supporting ends of the force sensors; and the bottom end of a support rod structure is fixedly connected with the rectangular frame structures. According to the intelligent training parallel bar, the force sensors are arranged, the force sensors can obtain the force condition of the base plate in the rehabilitation training process of a patient, and the force condition of the upper limb and lower limb of the patient and the force condition of the left and right upper limbs respectively can be obtained bythe staff, so as to provide data guidance for the formulation of the rehabilitation training plan and improve the rehabilitation training effect.

The invention discloses a household upper limb rehabilitation training device with traction weights ascending continuously, and belongs to the field of rehabilitation medical instruments. The household upper limb rehabilitation training device comprises left and right upper limb mechanisms; the left and right upper limb mechanisms are arranged in bilateral symmetry; the right upper limb mechanismcomprises a right swing rod; the middle part of the right swing rod is hinged with a right rack rod; the right rack rod is meshed with a right sector gear; the right sector gear is used for driving aratchet mechanism through a slider-crank mechanism; two pawls of the ratchet mechanism are opposite in direction, so that a ratchet wheel always moves towards one direction; the ratchet mechanism is used for driving a belt transmission mechanism through a gear transmission mechanism; weights are fixed on a transmission belt in the belt transmission mechanism, the fixing positions of the weights onthe transmission belt can be adjusted; the rack rods of the left upper limb mechanism and the right upper limb mechanism are used for fixing connecting rods on the two sides through detachable structures, synchronous movement or single-side limb movement or double-side upper limb gait movement of upper limbs on the two sides of a patient is achieved, and the requirements of different patients aremet.

The invention discloses a rehabilitation robot for assisting physical therapy. The rehabilitation robot structurally comprises a left upper limb training device, a left protecting plate, a base, a right protecting plate, a massage device, a right upper limb training device and a robot body, wherein the left protecting plate is mounted on one side of the base, the right protecting plates is connected to the other side of the base, and the base is vertically arranged between the left protecting plate and the right protecting plate which are parallel to each other. Compared with the prior art, the rehabilitation robot has the advantages that by the combination of a rotation-driven translation mechanism, a quadruple gear rotating mechanism, a massage head rotating mechanism and the like, the rehabilitation robot has a forward-rotation and backward-rotation buttock massage function, upper limb rehabilitation training is achieved while the buttocks of a patient can be massaged, blood circulation is promoted favorably, lower limb edema is avoided, tension can be relieved favorably, muscle stiffness and ache can be avoided, and immunity can be increased favorably.

The invention provides a hydraulic rehabilitation training machine for bilateral upper limb associated movement. The rehabilitation training machine comprises a lifting vertical column, a left upper limb mechanism and a right upper limb mechanism; the lifting vertical column fixes a liner guiding rail through a supporting frame, the left upper limb mechanism and the right upper limb mechanism, symmetric about the symmetric surfaces in the left and right directions of a base, are installed on the left and right sides of the linear guiding rail, a right sliding block in the right upper limb mechanism is installed on the linear guiding rail, the right sliding block fixes a right oscillation cylinder supporting frame through a right connecting board, a first right oscillation cylinder and a second right oscillation cylinder are fixed onto the right oscillation cylinder supporting frame, the two ends of a right rotating shaft are fixed by the output shafts of the first right oscillation cylinder and the second right oscillation cylinder, the right rotating shaft fixes a right upper limb oscillation rod, the first right oscillation cylinder is connected with the second right oscillationcylinder in parallel, a first left oscillation cylinder is connected with a second left oscillation cylinder in parallel, two parallel oil lines are connected through a three-position four-way valve,the oil line before the joint of the second right oscillation cylinder and the first right oscillation cylinder which are in parallel connection is provided with a right two-position four-way valve, and the oil line before the joint of the first left oscillation cylinder and the second left oscillation cylinder which is in parallel connection is provided with a left two-position four-way valve.

The invention relates to a herringbone power assist robot. The herringbone power assist robot comprises a fixing base, an upper supporting plate, a countersunk head, a pair of left and right lower supporting plates, a pair of left and right leg supporting plates, a pair of left and right pedals, a pair of left and right upper limb supporting plates, a pair of left and right wrist supporting plates, servo motors, a telescopic rod, tying parts, a control panel and a length adjusting device, wherein the base is connected with an upper half body, left and right arms and left and right legs of the herringbone power assist robot. The herringbone power assist robot has the beneficial effects that the servo motors are added in joints of the herringbone power assist robot, so that the purpose that people can exercise when lying is achieved by virtue of the servo motors, actions such as leg lifting, waist bending, chest expanding and sit-ups can be achieved, and the dream that people can exercise when sleeping comes true; various exercise actions can be achieved through intelligent control of a single chip microcomputer; and besides, the speed and motion amplitude can be controlled through the control panel, and the robot can assist people to exercise according to requirements of users.

The invention discloses a multi-DOF (degree-of-freedom) medical bed. The multi-DOF medical bed comprises a bed board formed by splicing six support boards, wherein the support boards are movably connected, and a support acting mechanism is arranged below each support board and can support each support board to rotate or move up and down; the lower end of each support acting mechanism is fixed on a bed frame. The medical bed adopts modular segmentation bed boards, the bed board is divided into six parts according to ergonomics and are used for supporting the head, the left and right upper limb bodies, left and right buttocks, thighs and shanks of a human body respectively, and every two support boards are connected through a hinge. A triangular component in the support acting mechanism below each support board is hinged with a push rod to enable the corresponding support board to rotate or move up and down. The medical bed can realize the functions of back support, turning, leg bending, overall lifting and inclined lifting (including front ascending and rear descending as well as front descending and rear ascending) through mutual cooperation of the support boards. The medical bed is applicable to the old and disabled patients who lack self-care ability and can effectively assist in treatment and reduce the working intensity of a nursing person.

The present application discloses home training equipment synchronously moving with upper limbs. The equipment includes a left upper limb mechanism, a right upper limb mechanism and a gas storage tank; the right upper limb mechanism includes a right upright column, a right swing arm, and a right gear, the right upright column is rotatably equipped with a right rotating shaft, the right rotating shaft is hinged to the rear part of the right swing arm, and the front part of the right swing arm is provided with a right-hand fixing device; a right connecting rod is hinged to the rear end of the right swing arm, the right gear is fixed to the right connecting rod, the right gear is hinged with a left gear of the left upper limb mechanism, and the right gear and the left gear are rotatably installed on a gear frame; the gear frame is simultaneously hinged to the upper end of a telescopic rod and a piston rod of an air cylinder, the air cylinder is fixed on the telescopic rod, the lower end of the telescopic rod is hinged with a base, and a buoy piston is installed in the gas storage tank; and an upper side cavity and a lower side cavity of the air cylinder are provided with air inlets and air outlets, and each air inlet and air outlet are provided with one one-way valve. During the expansion and contraction of the piston rod, the gas storage tank connected to the air cylinder is inflated, the buoy piston rises, and the rise height of the buoy piston is observed to stimulate or evaluate user training.

The invention discloses a household training device for synchronous movement of upper limbs. The device comprises a base, a left upper limb mechanism and a right upper limb mechanism, the left and right upper limb mechanisms are symmetrically arranged about a left-right symmetry plane of the base, the right upper limb mechanism comprises a right stand column, a right rotating shaft is rotatably mounted on the right stand column, the right rotating shaft is hinged to a right swing arm, the rear end of the right swing arm is hinged to a right connecting rod, a right gear shaft and a right gear are fixed by the right connecting rod, the right gear is meshed with a left gear of the left upper limb mechanism, the right gear shaft is rotatably connected to a gear frame, the gear frame is hingedto the upper end of a telescopic rod and a piston rod, an air cylinder is fixed at the lower end of a telescopic rod and is hinged on the base, an upper side cavity and a lower side cavity of the aircylinder are both provided with an air inlet and an air outlet, the air inlet and the air outlet are both connected to a one-way valve, an air storage tank is inflated in the piston rod stretching andretracting process, the left upper limb mechanism and the right upper limb mechanism swing up and down and left and right, the buoy piston height in the air storage tank can be observed in real time,and the training interest of a user is improved.

The invention relates to a rehabilitation bed which comprises a mattress and a base. The mattress is connected to a bracket; the lower part of the bracket is connected with a lifter; the lifter is fixed on the base; the bracket consists of the following eight independent brackets corresponding to corresponding positions of a human body when the bracket is in use: a head bracket, a left upper limb bracket, a right upper limb bracket, a body bracket, a left thigh bracket, a right thigh bracket, a left crus bracket and a right crus bracket; corresponding to the independent brackets one to one, eight independent sub mattresses are arranged; and a face mattress is embedded and connected to the middle part of a head mattress in the eight independent sub mattresses. When a patient uses the rehabilitation bed, the head, left and right hands, the body, left and right thighs and cruses are respectively enabled to move as required by drivers of the independent brackets, so that the patient is subjected to forced rehabilitation training. The rehabilitation bed has obvious treatment and rehabilitation effects on patients with physical disabilities and particularly patients with total paralysis, hemiplegia and cerebral palsy.