817 results about "Shoulder joint capsule" patented technology

The invention provides a shoulder joint replacement surgery navigation system and method, and relates to the technical field of computers, and the system comprises a controller and a navigation positioning device; the controller is in communication connection with the navigation positioning device; the controller comprises a preoperative planning module, a preoperative simulation module and an intra-operative execution module. According to the navigation system and method for the shoulder joint replacement surgery, by combining the preoperative medical image of the affected bone and the medical image of the healthy bone corresponding to the affected bone, the healthy form of the affected bone can be reflected more accurately under the condition that the affected bone has bone defect and / or abnormal form, and then prosthesis planning can be conducted based on the three-dimensional bone model of the affected bone, so that the patient experience is improved. The preoperative surgical planning is more objective and quantified, the movement range of the shoulder joint on the operative side of the patient after the prosthesis to be implanted is implanted into the affected bone can be simulated based on the parameter information of the prosthesis to be implanted, the accuracy and rationality of the prosthesis planning are further improved, and the accuracy and reliability of the orthopedic surgery are remarkably improved.

The invention discloses a shoulder joint assembly, an arm assembly and a humanoid robot, the shoulder joint assembly comprises a shoulder joint shell, a first driving part and a second driving part, the shoulder joint shell comprises a first barrel and a second barrel, the peripheral surface of the second barrel is connected with one end of the first barrel in the axial direction, the first barrel is provided with a first axis, and the second barrel is provided with a second axis; the first cylinder comprises a first axis and a second axis, the first axis and the second axis intersect and are perpendicular, a surface which passes through the first axis and is perpendicular to the second axis is a reference surface, the second cylinder comprises a first surface and a second surface which are opposite in the axial direction, and the distance between the first surface and the reference surface is smaller than that between the second surface and the reference surface; the first driving part is coaxially connected with the first barrel to drive the shoulder joint shell to rotate around the first axis, the second driving part is connected with the second barrel and the large arm assembly to drive the large arm assembly to rotate around the second axis, the middle point of the second driving part in the axial direction is located on the first axis, and the lightweight degree of the shoulder joint assembly is improved.

The invention provides a method for measuring shoulder joint glenoid bone defects in a three-dimensional CT image, the method is divided into five modules, namely a segmentation module, a registration module, a positioning module, a defect size measurement module and a defect proportion measurement module, and the method can realize arbitrary defect measurement containing shoulder joint glenoid CT data under a relatively high resolution ratio. The method does not depend on manual operation, and automatic shoulder joint glenoid bone defect measurement is achieved. According to the method provided by the invention, the proportion of the glenoid bone defect of the shoulder joint and the size of the defect bone block can be quantitatively calculated in a standard, automatic and relatively accurate manner, and the preoperative diagnosis efficiency of a doctor is greatly improved. The invention further provides a system for measuring the glenoid bone defect of the shoulder joint in the three-dimensional CT image. According to the system, the indexes of the shoulder joint glenoid bone defect can be automatically obtained from end to end, that is, the input is shoulder joint CT data of the uninjured side and the affected side of a patient, and the output is the indexes of the shoulder joint glenoid bone defect.

A stemless prosthetic shoulder joint may include a prosthetic humeral head and a stemless base. The stemless base may include a collar and an anchor extending from the collar intended to anchor the base into the proximal humerus. The anchor may include various features to enhance the fixation of the base, including hooks, threads, and / or expandable members that may be transitioned from a contracted insertion condition to an expanded implanted condition once the base is positioned in the bone. The anchor and / or collar may also include additional features to enhance fixation, such as geometries and surface features to enhance fixation to bone. The anchor may include a plurality of chisel slots to facilitate removal of bone during a revision surgery.

The invention relates to a shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton. In order to overcome the defects in the prior art, the shoulder two-degree-of-freedom upper limb lifting assisting exoskeleton comprises a body fixing assembly, two energy storage supporting boxes and two upper arm fixing assemblies, the two energy storage supporting boxes are fixed to a body strap, the two upper arm fixing assemblies are fixed to the upper arms of a user, and the two upper arm fixing assemblies are fixed to the lower arms of the user. The upper arm fixing assembly comprises an upper arm supporting piece and an upper arm binding piece, an arm rod is hinged to the upper arm supporting piece, the lower end of the arm rod is directly or indirectly connected to the adjacent energy storage supporting box, an elastic body is arranged in the energy storage supporting box, an upper rotating seat is arranged at the top of the energy storage supporting box, and a lower rotating seat is arranged at the bottom of the upper rotating seat. The outer side of the shoulder joint piece is hinged to the upper rotating base through a transverse shaft, and the lower end of the arm rod is indirectly connected to the adjacent energy storage supporting box through the shoulder joint piece. According to the shoulder two-degree-of-freedom upper limb lifting power-assisted exoskeleton, left-right arm opening and closing are not limited, and application and popularization of the upper limb lifting power-assisted exoskeleton are facilitated.

The invention discloses a mechanical arm upper arm, a circuit arrangement method and a mechanical arm, and the mechanical arm upper arm comprises a mounting shell, two ends of the mounting shell are respectively provided with a shoulder joint axis and an elbow joint axis, and a power input area and a power output area are respectively formed; the power input part and the power output part are coaxially butted with the power input area and the power output area respectively; the shoulder joint mandrel and the elbow joint mandrel are integrally formed with the mounting shell, the shoulder joint mandrel and the elbow joint mandrel are coaxially arranged along the shoulder joint axis and the elbow joint axis respectively, an axially-through mounting area is arranged in the shoulder joint mandrel, the shoulder joint mandrel and the mounting first containing area form a second containing area, and the elbow joint mandrel and the mounting shell form a second containing area; and the power transmission part forms a continuous transmission path along the power input area, the mounting area, the first accommodating area and the second accommodating area and is used for transmitting the torque of the power input part to the power output part. By adopting the scheme, the concentricity deviation of the upper arm of the manipulator is reduced.

The invention discloses a novel shoulder joint abduction brace, which relates to the technical field of medical supplies, and comprises a detachable waist support belt and an air bag type abduction brace capable of adjusting the degree of freedom of movement, the brace covers the waist, the upper trunk, the armpits, the arms and the joints in a segmented mode through the profiling air bags, supports the arms and the joints and is used for providing flexible protection and fixation for the arms and the joints after operation. One end of the air bag type abduction brace is connected with the waist support belt through a magic tape, and the other end is fixed through the shoulder belt, so that the arm keeps a stable posture; a battery and an inflation and control unit are integrated on the waist support belt, air pressure data of each section of the air bag type abduction brace can be fed back, the movement freedom degrees of arms and joints can be adjusted, locked or unlocked through a touch screen, postoperative fixation is achieved, and adjustable personalized rehabilitation training is provided according to the requirements of different rehabilitation stages. A more personalized rehabilitation scheme is provided; the shoulder joint abduction brace solves the problem that an existing shoulder joint abduction brace is too single in joint and arm fixing and bearing mode.

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 belongs to the technical field of robots, and relates to a humanoid mechanical arm which comprises a shoulder joint, a large arm, a small arm and a mechanical hand which are sequentially connected from front to back, a rope driving mechanism is arranged on the large arm and the small arm, the shoulder joint comprises a shoulder rack and a joint driver installed on the shoulder rack, and the joint driver drives a flexible shaft and a rope to rotate through matched transmission of the flexible shaft and the rope. And the corresponding rope driving mechanisms are driven, so that the large arm, the small arm and the manipulator are controlled to perform corresponding anthropomorphic arm movement. According to the humanoid mechanical arm, all-directional flexible movement can be conducted, complex actions can be effectively completed, the bionic effect of movement of the humanoid mechanical arm is improved, ropes are arranged at all joints, meanwhile, corresponding actuators are arranged for flexible shaft driving and rope driving, and the flexible shaft driving and the rope driving are matched for operation, so that modular layout of a driving system is achieved; the problems of complexity and coupling of a rope driving mechanism are solved.

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 shoulder joint bolster comprises a bridle and a bolster body, the bridle comprises a length-adjustable first connecting band, a length-adjustable second connecting band, a length-adjustable shoulder and neck bridle and a length-adjustable armpit bridle, one end of the first connecting band is fixedly connected with one end of the shoulder and neck bridle and one end of the armpit bridle, and the other end of the first connecting band is fixedly connected with the other end of the second connecting band. One end of the second connecting band is fixedly connected with the other end of the shoulder and neck binding band and the other end of the oxter binding band, the other end of the first connecting band penetrates through the anti-skid lock catch to be connected with the plug, and one side of the throw pillow is fixedly connected with a socket matched with the plug. According to the utility model, the armpit bridles are arranged, and the armpit bridles provide downward force for the shoulder and neck bridles, so that the shoulder and neck bridles are limited to move, limit and restrain the shoulder and neck bridles, the shoulder and neck bridles are far away from the neck, and the neck skin is prevented from being damaged by friction; the length of the armpit bridles can be adjusted, the shoulder and neck bridles can adapt to people of different physiques, the moving range of the shoulder and neck bridles can be adjusted, and neck skin is prevented from being rubbed and damaged under the condition that the patient feels comfortable in use.

The invention discloses an intelligent identification method and device for rotator cuff injury, and relates to the technical field of rehabilitation medicine, and the method comprises the steps: constructing a data collection module, collecting rotator cuff motion data in a motion capture mode, an electromyographic signal mode and a medical image mode, and carrying out the time-space alignment and fusion processing of the collected data through a Kalman filter; carrying out biomechanical modeling on the basis of the fused data, carrying out intelligent identification analysis on a biomechanical model by adopting improved convolution operation, carrying out spatial information fusion in combination with a graph convolution network, and outputting global motion state representation by self-adaptive expansion convolution; and based on the global motion state representation, dividing risk levels, predicting damage risks in real time, and providing an early warning signal. According to the method, the association mechanism of the multi-dimensional sensor data and the risk level is established, so that the shoulder joint movement risk can be accurately evaluated in real time. The shoulder joint injury prevention effect is remarkably improved, and the sports injury risk is effectively reduced.

The invention relates to a mechanical arm and a double-arm robot. The mechanical arm comprises a supporting body, a shoulder structure, a large arm, an elbow structure, a small arm and a wrist structure. The shoulder structure comprises a shoulder differential assembly, a shoulder rope driving assembly and a shoulder joint, and the shoulder joint has three degrees of freedom and comprises a shoulder rotating seat fixedly arranged on the shoulder differential assembly and a shoulder adapter which is pivoted to the shoulder rotating seat, fixedly arranged at the first end of the big arm and in transmission connection with the shoulder rope driving assembly; the wrist structure comprises a wrist fixing support, a wrist rope differential assembly, a wrist rotation driving assembly and a wrist joint, and the wrist joint has three degrees of freedom and comprises a wrist rotation support pivoted to the wrist fixing support and a wrist deflection support which is in transmission connection with the power output end of the wrist rope differential assembly and pivoted to the wrist rotation support; the wrist rotation driving assembly is installed on the wrist deflection support and used for being in transmission connection with the tail end mechanical arm. The shoulder joint and the wrist joint of the mechanical arm are small in mass and inertia.

The utility model discloses a shoulder joint rehabilitation training device which aims at solving the problems that an existing traditional method is limited in effect, unicity, lack of individuation and the like. The training device combines multiple functions of the seat assembly, the damping rocker arm assembly, the shoulder limiting assembly, the tension training assembly and the like, multiple muscle groups including triceps brachii muscle, deltoid muscle, trapezius muscle, pectoralis major muscle, latissimus dorsi muscle, teres major muscle, biceps brachii muscle and the like can be exercised at the same time, and comprehensive shoulder joint rehabilitation training is achieved. Through adjustable parts such as a cushion lifting stand column and a shoulder pressing width adjusting connecting rod, the trainer can be adjusted according to individual differences of users, and individuation and comfort of training are ensured. Meanwhile, the adjustable two-way damping oil cylinder is adopted, a user can adjust the training resistance according to needs, and rehabilitation training of different intensities is achieved. Therefore, the shoulder joint rehabilitation training device has higher rehabilitation effect and practicability, and provides a more effective rehabilitation scheme for patients with shoulder problems.

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 relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

An arm structure includes a shoulder joint, an elbow joint, a wrist joint, a first connection structure connecting the shoulder joint with the elbow joint and that relatively moves while maintaining an orientation of the elbow joint relative to the shoulder joint, a second connection structure connecting the elbow joint with the wrist joint and that relatively moves while maintaining an orientation of the wrist joint relative to the elbow joint, a third connection structure connecting the shoulder joint with the second connection structure and that relatively moves while maintaining an orientation of the wrist joint relative to the shoulder joint, a first actuator that rotates a first rotating shaft included in the first connection structure, and a second actuator that rotates a second rotating shaft included in the third connection structure. The first and second rotating shafts are supported by the shoulder joint.

According to the technical scheme, the four-limb joint supporting structure comprises an upper supporting part, a lower supporting part and a connecting part, and the upper supporting part and the lower supporting part can be bent to be in an arc surface shape from the two sides and are used for being attached to the upper limb and the lower limb at the joints of a patient; the two ends of the connecting part are connected to the upper supporting part and the lower supporting part respectively and used for being attached to the joint position, and the width of the connecting part is smaller than that of the upper supporting part and that of the lower supporting part so that two grooves can be formed between the connecting part and the upper supporting part and between the connecting part and the lower supporting part. The utility model has the beneficial effects that the connecting part is formed between the upper supporting part and the lower supporting part through the groove, the connecting part is bent and attached to the joint, the generation of a break angle is avoided, the bending can be extremely simplified, no matter whether the material has enough ductility or not, the requirements can be met, the structure is simple, the complexity degree is low, the production process is simple, and the operability is high; the device is suitable for shoulder joints, elbow joints, ankles and the like, and the structural design has certain universality.

The invention discloses double-arm heavy-load robot teleoperation exoskeleton equipment with a limiting protection function. The robot comprises a fixed base and exoskeletons installed on the left side and the right side, the exoskeleton on each side is provided with eight active degrees of freedom, and the eight active degrees of freedom comprise shoulder joint three degrees of freedom, elbow joint one degree of freedom, wrist joint three degrees of freedom and tail end clamping jaw one degree of freedom. According to the human engineering size, four passive adjustment freedom degrees of the shoulder height, the shoulder width, the large arm length and the small arm length are increased so as to adapt to the body types of different operators. The device has the following obvious advantages that the joint limiting device is arranged, so that joints are prevented from being damaged due to over-limit movement, and the operation safety is effectively improved; a passive degree-of-freedom design is introduced, so that the fitting degree of the equipment and a human body joint natural movement track is improved; an operator can conveniently and directly observe the state of the slave end mechanical arm clamping jaw through the tail end clamping jaw, the hand enabling holding rod is provided with a multi-stage button, adjustment in multiple mapping modes is supported, and the precise control requirement of a complex two-arm rescue task is met.

The utility model discloses a shoulder joint postoperative arm rehabilitation training device which comprises a waistband used for being worn on the waist of an external patient, shoulder straps tied on the shoulders of the external patient are arranged on the waistband, a waist ring is arranged on the waistband, a fixing block is connected to the waist ring, a supporting rod is arranged on one side of the waist ring in a swinging mode, and a rotating hole is formed in the fixing block. A rotating shaft is rotatably arranged in the rotating hole, a swing groove allowing the tail end of the supporting rod to be placed in the rotating hole and connected with the rotating shaft is formed in the fixing block, a bracket used for supporting the arm of an external patient is arranged at the starting end of the supporting rod, and a fixing plate used for being attached to one side of the waist of the external patient is vertically arranged on the fixing block; the fixing block is provided with a first adjusting piece used for adjusting the inclination angle between the supporting rod and the fixing plate, and the supporting rod is provided with a second adjusting piece used for adjusting the length of the supporting rod. The utility model solves the problem that in the prior art, a device matched with the arm of a patient to carry out rehabilitation tension training after the shoulder joint operation is lacked.

The invention discloses a breast cancer postoperative shoulder joint braking device, belongs to the technical field of medical auxiliary tools, and aims to solve the problem that lymphedema is easily caused due to the fact that a breast cancer postoperative braking device cannot adjust the lifting height of a lower arm on the affected side in the prior art. Comprising an upper arm supporting plate, a forearm supporting plate, an angle adjusting assembly and a fixing belt, the upper arm supporting plate comprises a first supporting part and a first rotating connecting part, and the first supporting part is used for placing the upper arm of a patient; the forearm supporting plate comprises a second supporting part and a second rotary connecting part, and the second supporting part is used for placing the forearm of the patient; the angle adjusting assembly comprises a first gear, a second gear and a rocking handle, the first gear is rotatably connected to the first rotary connecting part, the second gear is fixed to the second rotary connecting part, and the first gear is meshed with the second gear; a rocking handle is arranged on the surface of the first gear; the two ends of the fixing band are detachably and fixedly connected to the outer wall face of the forearm supporting plate and used for being bound to the shoulder on the opposite side of the shoulder on the affected side.

A glenoid baseplate and, more specifically, to a glenoid baseplate of an artificial shoulder joint, includes: a base seated on the glenoid cavity of the scapula; an augment formed on one surface of the base; and a stem extending from the base to one side while having a central axis, wherein the augment comprises a plate having a second surface extending from one end of the plate in one direction. The plate extends from one end of the base through the central axis to a point spaced apart by a first length from the central axis, and the wedge extends from one end of the plate in a first direction such that the thickness thereof gradually decreases. Accordingly, it is possible to minimize bone cutting and correct an insertion axis of the baseplate.

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 relates to the technical field of exoskeleton robots, in particular to a passive shoulder exoskeleton robot assisting a head task and a design method. The exoskeleton comprises a shoulder module, a passive driving module, a back supporting module and a flexible module. The shoulder module comprises a horizontal flexion and extension rod, a shoulder bending connecting rod, a sagittal flexion and extension rod and a front-back adjusting connecting rod; the passive driving module adopts a torque generator and is used for generating assisting torque, and the peak torque and the peak torque angle of the passive driving module can be adjusted; the back supporting module comprises a back sliding rail, a waist fixing plate, an upper back rod and a lower back rod; the flexible module comprises a shoulder strap, a waist strap and an arm binding part. The design method comprises the following steps: 1, designing a shoulder module, wherein parameters comprise a pitch angle phi, a vertical distance dv and a horizontal deviation db; 2, designing a passive driving module, wherein parameters comprise K, Li, alpha, beta, r1, r2, r3 and r; 3, designing a back supporting module; and 4, designing a flexible module. The human shoulder joint can be assisted, the load on the human shoulder is reduced, and the risk of shoulder diseases is reduced.

The present application is about an arm exoskeleton, an upper body exoskeleton and a teleoperation system, and relates to the field of robots. The arm exoskeleton includes a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton; the shoulder exoskeleton, the elbow exoskeleton and the wrist exoskeleton are connected in sequence. When the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, the shoulder motor group simulates the movement guided by the human shoulder joint, the elbow motor group simulates the movement guided by the human elbow joint, and the wrist joint group simulates the movement guided by the human wrist joint. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the movement process, and improves the simulation accuracy of the human body movement state.

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 robot flexible arm structure and a control method thereof, the robot flexible arm structure comprises a gas circuit control part and two flexible arm units, the two flexible arm units are connected through an elbow joint part, and one end of one flexible arm unit is connected with a shoulder joint part; each flexible arm unit comprises an inner-layer air bag and an outer-layer air bag arranged on the periphery of the inner-layer air bag, and the two ends of each inner-layer air bag are each provided with an end force bearing piece. A first cavity is formed in the inner-layer air bag, and a second cavity is formed between the outer-layer air bag and the inner-layer air bag; the first cavity is filled with granules; the gas path control component comprises a gas extraction device, a gas charging device, a sensing device, a control unit and a negative pressure control valve, a gas transfer pipeline is arranged between the first cavity and the second cavity, and the negative pressure control valve and the sensing device are both arranged on the gas transfer pipeline. According to the flexible arm unit, by adjusting the vacuum degree in the inner-layer air bag, rigidity adjustment of the flexible arm unit can be achieved, and then the use requirements in different environments are met.

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

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.