371 results about "Shoulder joint capsule" patented technology

The invention relates to the field of biological modeling, and discloses a shoulder joint stress simulation method and system based on a three-dimensional finite element. The method comprises the following steps: acquiring three-dimensional geometric data of a shoulder joint through scanning equipment, and generating an initial grid model; dividing the preliminary calculation grid to determine an initial stress value, simulating stress transfer distribution, and generating a preliminary stress distribution field; calculating the stress gradient change rate of each grid unit and performing local subdivision to generate a stress gradient change rate distribution diagram; performing density subdivision on the grid units exceeding the change threshold to generate a refined grid model; the calculation grid is divided again, the stress value of each grid unit is calculated, and an updated stress field is generated; calculating a difference vector, judging whether the difference vector meets a convergence condition or not, and obtaining a convergence judgment result; and if not, iteratively subdividing the local grid to generate a final stress distribution field. Through adaptive grid subdivision and iterative convergence optimization, the problem of insufficient simulation precision is solved, and the accuracy is improved.

The invention relates to the technical field of computer vision, discloses a personnel positioning method, device and equipment based on detection frame correction, and is used for solving the technical problem of low personnel positioning precision caused by detection frame errors. The personnel positioning method based on detection frame correction comprises the steps that whether an initial detection frame meets preset positioning reference constraint conditions or not is determined through human body key points located in the initial detection frame, and the positioning reference constraint conditions at least include that both a left frame line and a right frame line of the initial detection frame do not have single-side deviation; if the left frame line or the right frame line has single-side offset, a shoulder joint point on the same side as the offset side is selected as a target key point, a target offset value is determined in combination with the distance between the corresponding frame lines in the initial detection frame, and the detection frame is moved and corrected, so that the corrected target detection frame meets a positioning reference constraint condition; and positioning the pixel coordinates of the midpoint of the bottom frame line of the target detection frame and a preset target homography matrix.

The invention relates to the field of medical instruments, in particular to an abduction assisting device for shoulder joints, which comprises a support, a support plate for bearing arms is hinged to the top of the support, and a driving mechanism, an adjusting mechanism, a fitting mechanism, a support mechanism and a locking mechanism are arranged on the support; the driving mechanism is used for driving the adjusting mechanism, the laminating mechanism and the supporting mechanism to operate synchronously; the adjusting mechanism is used for driving the supporting plate to rotate around the hinge point so as to adjust the abduction angle. The attaching mechanism comprises an air bag fixedly connected to the supporting plate, and the attaching mechanism is used for synchronously inflating or deflating when the angle is adjusted by the adjusting mechanism so as to be attached to the arm; the supporting mechanism is used for synchronously providing or releasing additional supporting force for the supporting plate when the adjusting mechanism adjusts the angle; the locking mechanism is used for locking the adjusting mechanism after angle adjustment is completed. The use process is simplified, the operation threshold is lowered, the rehabilitation preparation time can be saved, and the clinical use efficiency is improved.

The invention discloses a shoulder joint puncture guiding system and method based on an intelligent ultrasonic image, and the system comprises an ultrasonic image collection and preprocessing module, an anatomical structure recognition and positioning module, a puncture path planning and guiding module, a puncture operation real-time monitoring and feedback module, and a puncture result evaluation and recording module. Through intelligent ultrasonic image recognition and path planning, the technical problems that traditional shoulder joint puncture depends on doctor experience and is insufficient in precision are solved, through real-time monitoring and feedback, the technical problem that important anatomical structures are prone to being accidentally injured in the traditional puncture process is solved, the operation safety is improved, and through the intelligent puncture guiding system, the puncture guiding accuracy is improved. The technical problems that a traditional method lacks a standardized process and is poor in operation consistency are solved, and the technical problems that a traditional puncture method is long in time consumption and low in efficiency are solved through automatic anatomical structure recognition and path planning.

The invention discloses a central driving type three-degree-of-freedom humanoid robot shoulder joint mechanism, and belongs to the technical field of humanoid robots. The mechanism comprises a shoulder flexion and extension module, a shoulder adduction and abduction module and a shoulder inward and outward rotation module, output shafts of the three modules intersect at the same center point in space, and highly-bionic three-degree-of-freedom movement is achieved. Wherein the shoulder flexion and extension module drives a gear pair to drive a first transmission shaft to rotate through a first driving motor; the shoulder adduction and abduction module drives a gear pair and a bevel gear pair through a second driving motor to drive a circular base rack to move; and the shoulder internal and external rotation module is directly driven by a third driving motor to rotate. The rotary inertia of a moving part is remarkably reduced, the dynamic stability and the moving precision are improved, the problems that a traditional shoulder joint is large in inertia and insufficient in freedom degree are effectively solved, high flexibility and high load capacity are achieved, and the complex action requirements of the humanoid robot are met.

The invention discloses an upper limb shoulder joint accurate evaluation and rehabilitation training system and method based on a remote sensor, and is applied to the technical field of rehabilitation medical engineering.The method comprises the steps that original multi-modal data is preprocessed, shoulder joint motion data and voice data are processed in combination with baseline data, and a multi-modal standardized data set is generated; multi-dimensional feature extraction is carried out on the multi-modal standardized data set to generate a feature set, and the feature set comprises time domain features, frequency domain features, nonlinear dynamic features and voice features; on the basis of the feature set, a comprehensive evaluation score of the shoulder joint function is calculated by using a linear and nonlinear combined comprehensive scoring model; inputting the feature set and the comprehensive evaluation score into a pre-trained LSTM time sequence prediction model, predicting a rehabilitation trend and abnormal fluctuation, and generating future score change and rehabilitation inflection point early warning information; and based on the comprehensive evaluation score, the prediction result and multi-modal feature fusion analysis, generating rehabilitation training feedback and adjustment information.

The invention discloses a topological mapping monitoring and correcting method for abnormal scapular brachial rhythm after breast surgery, and belongs to the field of medical rehabilitation and computer vision. The method comprises the following steps: acquiring a trunk dynamic three-dimensional point cloud and infrared thermal imaging data; constructing a multi-layer collaborative dynamic topology network fusing a skeleton structure, soft tissue deformation and physiological activeness; extracting an intrinsic motion field and comparing the intrinsic motion field with the ideal model to generate deviation measurement; and calculating a dynamic instability index, comparing the dynamic instability index with a threshold value, and triggering optimization energy correction path calculation and instruction output. According to the method, the multi-dimensional topological mapping and dynamics prediction technology is adopted, accurate recognition and feed-forward early warning of motion abnormity under the influence of deep tissue adhesion after the breast surgery can be achieved, rehabilitation of a patient is guided through an energy consumption minimization path, and the accuracy of shoulder joint function remodeling and the individualized treatment effect are improved.

The invention belongs to the technical field of rehabilitation medicine and intelligent education technology, and discloses a muscular tension evaluation-based simulation arm model, which comprises a main body, a motor I, a motor II, a shoulder joint, an elbow joint, a motor III and a motor IV, and further comprises a visualization mechanism arranged on one side of the outer surface of the shoulder joint, the visual mechanism comprises a rotating plate fixedly connected to one side of the elbow joint; according to the device, the elastic piece can be stretched, then the connecting block can push the extrusion plate to slide in the liquid outlet pipe, then the extrusion plate can push liquid in the liquid outlet pipe into the graduated scale, and then the muscular tension grade can be judged according to the flowing distance of the liquid; finally, the rotating plate drives the extrusion plate to push the liquid into the graduated scale through the elbow joint, the muscular tension grade is judged according to the flowing distance of the liquid, students can conveniently and visually observe and feel the evaluation result, the evaluation result is recorded, and the teaching effect is improved.

The invention relates to the technical field of automobile detection equipment, in particular to a shoulder multidirectional buffer self-adaptive restraint device for a side impact dummy, which comprises a shoulder simulation assembly and a mounting seat, the mounting seat is mounted on a dummy trunk, and the shoulder simulation assembly is used for simulating human shoulder bones and muscles and comprises a connecting rod unit and an upper arm connecting seat; the upper arm connecting seat is used for connecting a dummy upper arm and / or test stress input equipment, so that the dummy upper arm and / or the test stress input equipment can receive stress and transmit the stress to the mounting seat through the connecting rod unit, and the connecting rod unit comprises a connecting rod framework and a honeycomb aluminum structure fixedly mounted outside the connecting rod framework. Multi-path transmission and buffering of stress from the upper arm connecting base to the mounting base are achieved, buffering of bones, joints, muscles and the like at the joint of the shoulder joint and the trunk on impact force can be simulated more truly, the stress condition of passengers during automobile side collision is simulated and detected more truly, and the experiment effect of a collision experiment is improved.

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

A robot manipulator has a base; an arm connected to the base via at least a shoulder joint; and a control system with a dynamic stability determination module. The dynamic stability determination module of the control system determines whether a dynamic stability criterion is met. If the dynamic stability criterion is met, the arm is responds compliantly to an applied force; and if the dynamic stability criterion is not met, the control system causes motion of the base in the direction of the applied force.

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The invention provides a shoulder joint subluxation evaluation data acquisition method and system. The method comprises the steps that first shoulder joint image data of a shoulder joint area on the affected side of a patient are collected through an imaging assembly, then the imaging assembly is controlled to rotate by a preset angle value, second shoulder joint image data are collected, and then according to the first position offset of the first shoulder joint image data and the second shoulder joint image data, the first shoulder joint image data and the second shoulder joint image data are obtained. Determining an imaging assembly compensation angle according to the first position offset of the first shoulder joint image data and the second position offset of the second shoulder joint image data and the standard shoulder joint image data of the first acquisition point, and finally adjusting the imaging angle of the imaging assembly according to the imaging assembly compensation angle. Therefore, the shoulder joint subluxation evaluation data acquisition of the first acquisition point is completed, so that the standardization degree and objective consistency of the shoulder joint subluxation evaluation data acquisition are effectively improved.

The invention discloses a postoperative rehabilitation management method for a breast tumor patient and related equipment. The method comprises the following steps: sending an exercise rehabilitation initialization instruction to a target patient under the condition that the intelligent wearable equipment monitors that the operative limb of the target patient is in a natural sagging state; under the condition that the target patient completes the exercise rehabilitation initialization instruction, positioning a shoulder joint on the operative limb side of the target patient based on a movement track collected by an intelligent wearable device; under the condition that the target patient carries out the operation limb movement rehabilitation, the operation limb movement pose of the target patient is predicted through the intelligent wearable device based on the obtained shoulder joint positioning of the target patient, so that movement rehabilitation management is carried out. The multiple problems that postoperative rehabilitation of breast tumors is a key link in continuous treatment, but at present, patient cognition is insufficient, medical resources are not evenly distributed, a rehabilitation path is not clear, and informatization support is insufficient can be solved.

Provided is a shoulder joint structure for a figure, which makes a shoulder joint of a figure look human-like as much as possible when a corresponding arm of the figure is moved. The shoulder joint structure for a figure includes: a shoulder base part configured to form a base of a shoulder and an underarm of a figure; and an upper arm part to be coupled to the shoulder base part without a gap. The shoulder base part is pivotable about a first pivot axis relative to a body of the figure, the first pivot axis extending sideways and diagonally upward from the figure. The upper arm part is pivotable up and down about a second pivot axis relative to the shoulder base part, the second pivot axis extending in a front-and-rear direction of the figure when the figure has a corresponding arm down.

A humanoid robot comprises a head, a neck, shoulders, a waist, a hip and thighs, the shoulders are provided with arm lifting mechanisms and arm swinging mechanisms, the neck is provided with a head rotating mechanism and a head vertical swinging mechanism, and the waist is provided with a waist rotating mechanism, a front-back bending mechanism and a left-right bending mechanism. And the hip part is provided with a leg inner and outer side rotating mechanism, a thigh inner and outer side swinging mechanism and a thigh front and back swinging mechanism. The arm lifting mechanism comprises a first shoulder motor arranged on the shoulder and a shoulder joint hinged to the shoulder, and the first shoulder motor is in transmission connection with the shoulder joint; the arm swinging mechanism comprises a second shoulder motor arranged on the shoulder joint and an arm hinged to the shoulder joint, the second shoulder motor is in transmission connection with the arm, the head rotating mechanism comprises a first neck motor arranged on the neck and a second neck motor arranged on the shoulder, and the first neck motor is in transmission connection with the head; the neck part is connected with the shoulder part through a rotating shaft; a connecting rod is arranged on the rotating shaft and is in transmission connection with the second neck motor.

The present application relates to a kind of shoulder joint trainers, belong to medical instrument technical field, including shoulder ladder and auxiliary arm, one end of auxiliary arm is slidably arranged on the side wall of shoulder ladder, the other end of auxiliary arm is detachably worn on the upper arm of patient's arm, patient's arm is straight and extends in front of shoulder ladder, the palm surface of patient is in contact with the front end surface of shoulder ladder, and moves up and down along the setting direction of shoulder ladder, auxiliary arm slides on the side wall of shoulder ladder following the swing of the upper arm of patient's arm, auxiliary arm has brake function, auxiliary arm can be locked or release its sliding fit relationship with shoulder ladder by brake function, by being provided with auxiliary arm, when the upper limb of patient occurs shoulder weakness condition during the activity training of shoulder joint using shoulder ladder, auxiliary arm will adopt brake function, lock in the position of current shoulder ladder, realize that auxiliary arm holds patient's shoulder joint unchanged.

The utility model relates to a magnetic resonance shoulder joint coil fixing device and a magnetic resonance imaging system. The fixing device comprises a waistcoat worn on a subject; the shoulder joint coils are detachably connected with the shoulders on the two sides of the waistcoat in an attached mode, each shoulder joint coil comprises a coil carrier, a coil and a cable base, the coil carrier is formed by compositing a lining layer, a memory sponge filling layer and an outer protection layer which are sequentially distributed from inside to outside, the coil is arranged in the memory sponge filling layer, and the cable base is arranged on the outer protection layer. And the cable base is positioned outside the coil carrier and is connected with the coil. The magnetic resonance imaging system comprises the magnetic resonance shoulder joint coil fixing device. Compared with the prior art, the magnetic resonance imaging device has the advantages that the fitting degree of corresponding positions of the shoulder joint can be effectively ensured, a good image acquisition signal-to-noise ratio is ensured, and the working efficiency of MR examination of related parts of the shoulder joint can be greatly improved.

The utility model relates to a PET (Polyethylene Terephthalate) patch for an inner support of a shoulder joint. The PET patch for the inner support of the shoulder joint is formed by weaving PET materials. The shoulder joint inner support PET patch comprises a fixing section and a traction section which are oppositely arranged, the traction section comprises two traction holes which are formed in a spaced mode, and reinforcing wires are woven on the hole edge of each traction hole. The shoulder joint inner support PET patch is formed by weaving PET materials, has the effects of being high in strength and not prone to dissolution, and can stably connect the humerus head and the glenoid cavity. The patch is provided with the traction hole positions at fixed intervals and the open type fixing section positions, so that perforation or threading can be performed on the fixing section according to the specification and the size of a use object to realize unified distribution, and the convenience of an operation is improved. Reinforcing wires are woven on the edges of the traction holes to improve the strength of the traction holes, pull cracks are avoided, and the traction success rate is increased.

The application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot, which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting the movement of a patient's arm, the mechanical arm comprises, in sequence, a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

The application discloses a mold for manufacturing a shoulder joint spacer and a preparation method thereof, belongs to the technical field of shoulder joint spacer preparation, and solves the problems of uneven distribution of medicine application grooves and the inability to flexibly adjust the size, length and the like according to requirements, and comprises a lower mold box, an upper mold box, an intramedullary bone cement silica gel forming adjusting mold and a ball head forming adjusting mold which are sleeved in the lower mold box and the upper mold box, a pouring gate which is arranged on the lower mold box and the upper mold box, a plugging plug which is arranged in the pouring gate, a first positioning support column and a second positioning support column which are arranged in the lower mold box, a third positioning support column and a fourth positioning support column which are arranged in the upper mold box, and a metal support rod which is arranged on the axial center lines of the intramedullary bone cement silica gel forming adjusting mold and the ball head forming adjusting mold; and the intramedullary bone cement silica gel forming adjusting mold and the ball head forming adjusting mold are uniformly provided with protruding portions.

This invention belongs to the field of robot joint technology, specifically relating to a rope-driven, decoupled, dual-parallel five-DOF bionic shoulder joint, including a scapulothoracic joint mechanism, a glenohumeral joint mechanism, a drive base device, and drive ropes. The scapulothoracic joint mechanism and the glenohumeral joint mechanism are internally rotatably connected. The drive base device is used to fix the scapulothoracic joint mechanism and to provide drive ropes for both mechanisms. The scapulothoracic joint mechanism is constrained by a first constraint branch, a second constraint branch, and a decoupling through-line branch, satisfying the pure rolling two-DOF rotation requirement, driven by two sets of antagonistic drive ropes. The glenohumeral joint mechanism is driven by four independent drive ropes to achieve three-DOF rotational motion. The decoupling through-line branches distribute the drive ropes of the glenohumeral joint mechanism, achieving physical decoupling and ensuring that the drives of the two mechanisms do not interfere with each other. Through rope-driven and dual-parallel passive mechanisms, a larger range of motion can be achieved, improving the stiffness and load-bearing capacity of the mechanism.

[Problem] During a lowering exercise according to the prior art, changes in upper-limb (forearm, elbow joint, and shoulder joint) movement are such that, since the rotation axis of a grip part is fixed in the vertical direction, the hand rotates around the vertical axis together with the grip part as the lowering exercise is executed, and the shoulder joint continues to internally rotate. As a result, the forearm keeps inclining forward, thereby restricting subsequent extension acceleration slightly rearward of the body. [Solution] Provided is a training machine with which training is performed by moving an arm unit against the weight of a back weight, the arm unit being connected to at least one back weight via a cable and vertically movable along a guide column. A grip part of the arm unit is configured to rotate around an axis substantially orthogonal to the guide column axis. A training machine can thus be provided which can accommodate changes in the inclination angle of the hand and does not restrict extension movement when the upper limb is extended while being lowered.

The application discloses an upper limb supporting exoskeleton based on a negative pressure occlusion variable stiffness driver, which comprises a shoulder joint supporting structure, an elbow joint supporting structure connected with the shoulder joint supporting structure, a waist belt and a back strap; the waist belt and the back strap form a backpack type structure, and the shoulder joint supporting structure is fixed on the shoulder and back of a human body; the shoulder joint supporting structure is connected with the elbow joint supporting supporting structure through a large arm guide rail sliding block and can slide relatively to meet the wearers with different large arm lengths; a fixing plate for fixing the elbow joint supporting structure with the large arm and the small arm of the wearer is arranged on the elbow joint supporting structure. The upper limb supporting exoskeleton based on the negative pressure occlusion variable stiffness driver adopts the variable stiffness driver as part of the joints of the robot, guarantees sufficient degrees of freedom and supporting effect, improves the adaptability of the whole system, allows the wearers to change the stiffness of part of the joints according to the self needs and environmental conditions, and makes the activities of the wearers in the non-working state more flexible and the movement resistance smaller.

The utility model relates to the technical field of robots, and discloses a modularized bionic quadruped robot which comprises a body part, four shoulder joints are arranged on the side face of the body part, knee joints are rotationally connected to the ends, away from the body part, of the shoulder joints, walking supporting feet are arranged at the ends, away from the shoulder joints, of the knee joints, and inserting columns are fixedly installed on one sides of the walking supporting feet. Inserting grooves matched with the inserting columns are formed in the ends, close to the walking supporting legs, of the knee joints, first locking threaded rods penetrate through the opposite side faces of the inserting columns, and first adjusting grooves which penetrate through the side faces of the knee joints and are matched with the first locking threaded rods are formed in the opposite side walls in the inserting grooves. According to the walking support leg, the inserting column is inserted into the inserting groove, the first locking threaded rod penetrates through the knee joint and the inserting column and locks the first locking nut, the walking support leg can be conveniently installed and replaced, the replacement cost of the walking support leg is reduced, and the distance between the walking support leg and the knee joint can be adjusted according to the actual situation; and the application range of the robot is widened.

The invention discloses an exoskeleton shoulder joint rotation center position control method oriented to a shoulder-brachial rhythm, and relates to the technical field of upper limb exoskeleton rehabilitation robot control. Inputting the posture information of the big arm of the human body into the shoulder-brachial rhythm mapping model, and calculating the motion angle of the sternoclavicular joint of the human body; inputting the posture information of the big arm of the human body into the exoskeleton kinematics model for inverse kinematics solution by taking the motion angle as a constraint condition of the exoskeleton kinematics model to obtain a joint angle variable of a rotation center of the shoulder joint of the exoskeleton; the joint angle variable serves as a target motion angle, and target control torque is calculated; when the exoskeleton shoulder joint is driven to move and alignment deviation is judged to exist based on the collected second electromyographic signals, the exoskeleton shoulder joint is subjected to compensation adjustment until the alignment deviation is eliminated; the problem of human-machine joint dislocation is solved, the risk of shoulder joint collision is avoided, the human-machine compatibility is enhanced, and the device is suitable for dynamic scenes such as individual difference and sitting posture deviation of patients.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The invention relates to a robot (1) comprising a torso (19) with a first shoulder joint assembly (2) and a second shoulder joint assembly (3), wherein each shoulder joint assembly (2, 3) comprises the following elements: - a housing (20) in which a globoid worm gear (7) with a worm shaft (8) and a worm wheel (9) is arranged, - a drive unit (10), and - a belt drive (11) which effectively connects the globoid worm gear (7) to the drive unit (10) via a belt (12), wherein the elements of the two shoulder joint assemblies (2, 3) are each substantially identical, and wherein the worm wheels (9) of the two shoulder joint assemblies (2, 3) are arranged in reverse orientation in the associated housing (20).

The utility model relates to the technical field of robots, and discloses a robot upper arm structure which comprises an upper arm body arranged on a shoulder mounting seat, the upper arm body comprises a shoulder joint assembly and an arm assembly connected with the front end of the shoulder joint assembly, a first transmission part is arranged at the end of the shoulder mounting seat, and a second transmission part is arranged at the end of the shoulder mounting seat. A first motor for driving the first conveying piece to rotate is arranged in the shoulder mounting seat; the shoulder joint assembly comprises a joint support and a joint seat rotationally connected with the joint support, the front end of the joint support is connected with the first transmission part, and a second motor used for driving the joint seat to rotate in the joint support is arranged at the rear end of the joint support; the gravity center of the shoulder joint assembly and the gravity center of the arm assembly are distributed on the two sides of the axis of the first transmission part. The utility model has the beneficial effects that the load at the shoulder joint is reduced through torque compensation, and the stability is better.

The invention discloses an artificial shoulder joint prosthesis design method and system, and the method comprises the steps: collecting the motion trail and muscle activation state of a shoulder joint in different motion modes, separating the feature frequency and amplitude of the shoulder joint motion, and extracting a dynamic motion feature set of the shoulder joint; inputting the dynamic motion feature set into a contact mechanical model based on a discrete element method, and simulating contact force and friction behaviors between the shoulder joint prosthesis and the skeleton to obtain contact mechanical characteristics of the prosthesis and the skeleton; and according to the contact mechanical characteristics, generating an initial structure of the prosthesis by using a topological optimization algorithm based on a generative adversarial network, generating a prosthesis topological structure with gradient material distribution, and obtaining an optimized prosthesis design scheme. By utilizing the embodiment of the invention, a prosthesis design scheme with gradient material distribution can be generated, the weight of the prosthesis is reduced, and the strength and durability of the prosthesis are enhanced.