50 results about "Shoulder joint movement" patented technology

The invention discloses an upper limb hemiplegia rehabilitation robot, which belongs to the technical field of medical appliances, and comprises a shoulder joint motion module, an elbow joint motion module, a forearm and wrist joint motion module, a gravity compensating module, a bracket and a data acquisition module, wherein the two ends of the gravity compensating module are connected with the shoulder joint motion module; the shoulder joint motion module, the elbow joint motion module and the forearm and wrist joint motion module are connected in turn; the shoulder joint motion module is fixedly connected with the top of the bracket; and the data acquisition module is fixedly arranged on the elbow joint motion module. The upper limb hemiplegia rehabilitation robot can help a patient do7-degree-ofmotion-freedom active motion training, including bending, stretching, inward/outward turning and outward/inward swinging motions at the shoulders of the upper limbs of the patent, bending/stretching motions at the elbow joints of the patient, inward/outward turning motion of the forearms of the patient, and bending, stretching and outward/inward swinging motion at the wrist joints of the patient. The robot provides a new rehabilitation training means and can improve the efficiency of rehabilitation training.

Disclosed is a bionic shoulder joint movement rehabilitation training apparatus. A base support system is placed on the ground, a bilateral bionic shoulder blade linear movement mechanism is fixedly connected with the base support system and is in revolving-pair connection with a bionic shoulder blade rotation movement mechanism, a bionic glenohumeral joint movement mechanism is in revolving-pair connection with the bionic shoulder blade rotation movement mechanism, and an auxiliary upper arm support system is fixedly connected with the bionic glenohumeral joint movement mechanism. By the arrangement, various must actions of shoulder joint rehabilitation training can be realized, and bilateral linear movement and rotation movement needed in the shoulder joint training for shoulder blades are realized apart from forward bending and backward extension, abduction-adduction and inward revolving and outward revolving of the shoulder blades. The bionic shoulder joint movement rehabilitation training apparatus is simple in structure, comfortable to wear, flexible to adjust, soft in movement, safe and reliable and capable of performing comprehensive rehabilitation training for patients with shoulder joint movement dysfunctions.

The invention discloses a flexible shoulder joint motion sensor, which comprises two same sensing pole pieces, wherein each sensing pole piece has a structure of laminating four layers, namely a first insulating layer, a capacitance plate layer, a second insulating layer and an electrostatic screening layer which is grounded; each capacitance plate layer comprises a rectangular flexible substrate; a rectangular conduction region, a circular conduction region and a temperature and humidity sensor are arranged on each rectangular flexible substrate; rectangular conduction regions and circular conduction regions are provided with leading wires; the leading wires are connected with a capacitance-angle conversion module respectively; the capacitance-angle conversion module comprises a microcontroller, a capacitance detection circuit, a power supply circuit, a wireless module, a liquid crystal display (LCD) display circuit, a key pressing circuit and au upper computer; the microcontroller is in double-way connection with the capacitance detection circuit; the microcontroller and the upper computer are in double-way connection with the upper computer through a serial communication interface; and the microcontroller is connected with the power supply circuit, the wireless module, the LCD display circuit and the key pressing circuit respectively.

The invention discloses a recovery device for exercising the shoulder joint movement capability and self strength of arms. The recovery device comprises a support frame and a recovery training machine, wherein the recovery training machine comprises an arm exercising mechanism, a shoulder joint exercising mechanism, a self strength measuring mechanism and a control system, and the support frame and the arm exercising mechanism are connected with a universal connection structure; the shoulder joint exercising mechanism comprises a swing direction control mechanism, a travelling mechanism, a circling angle control mechanism and a support base with a spherical groove, and the swing direction control mechanism comprises a swing control motor and a rotary disc; the travelling mechanism comprises a travelling motor, a connecting frame and an elastic rubber wheel arranged on a main shaft of the travelling motor, the lower end of the connecting frame is fixedly connected with the travelling motor, and the upper end of the connecting frame is hinged to the rotary disc; the cycling angle control mechanism consists of an air cylinder. The recovery device provided by the invention can be used for training the shoulder joint, and has the advantages of large movement range, multiple movement styles, and the like.

The invention discloses a rope-driven upper limb rehabilitation training robot system based on virtual reality and a use method thereof. The rope-driven upper limb rehabilitation training robot systemcomprises a 7-DOF upper limb rehabilitation train robot body and a virtual reality rehabilitation training system, can realize shoulder joint abduction/adduction, external/internal rotation and flexion/extension, elbow flexion/extension, forearm internal/external rotation and wrist joint abduction/adduction and flexion/extension rehabilitation training of patients with upper limb motor dysfunction, can ensure the safety of rehabilitation training and improve the control accuracy of rehabilitation training robot through a method of shoulder joint movement center positioning; and the virtual reality rehabilitation training system recognizes the posture of human upper limbs through the posture sensor and Kinect binocular vision sensor installed on the rehabilitation training robot, and, as the input of virtual reality scene, improves the interest and efficiency of rehabilitation through games related to upper limb movement training.

The present invention belongs to the technical field of orthopedic rehabilitation treatment and particularly discloses a neck, waist and shoulder joint motion rehabilitation treatment device. A support plate is used for supporting a first air cylinder, a second air cylinder, a third air cylinder, a fourth air cylinder and four corresponding electric push rods, transverse and longitudinal chutes are respectively arranged in a head position, two upper side shoulder positions and a middle waist position of a bed plate, air bag massage devices are respectively arranged in the four transverse and longitudinal chutes, each air bag massage device comprises a slide block clamped in the corresponding transverse and longitudinal chute and a massage air bag fixed on the slide block, the slide blocksslide along the corresponding transverse and longitudinal chutes under the action of the corresponding electric push rods, so that the corresponding massage air bags are positioned at the adaptive positions of the neck, the shoulder and the waist of a patient to rehabilitate, and the neck, waist and shoulder joint motion rehabilitation treatment device can conduct synchronous massage of the necks,the shoulders and the waists of the patients with different heights and is excellent in massage effect by charging and discharging the corresponding air cylinders.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention aims to provide a left-hand/right-hand dual-purpose upper limb rehabilitation robot. The left-hand/right-hand dual-purpose upper limb rehabilitation robot comprises a heightening upright post, a shoulder adjusting mechanism, a shoulder joint motion unit, big arm lengthening mechanisms, elbow joint motion units, front arm lengthening mechanisms and wrist joint motion units. The shoulder adjusting mechanism can be moved leftwards and rightwards, the shoulder width can be adjusted according to different trainers, and meanwhile a mounting position is provided for an arm rehabilitation mechanism. The shoulder joint motion unit has two degrees of freedom, namely, shoulder horizontal revolving and big arm upward/downward swinging. The left-hand/right-hand dual-purpose upper limb rehabilitation robot is compact in structure, and has left-hand and right-hand rehabilitation training modes; the rehabilitation training of the shoulder, elbow and wrist joint of a left hand or a right hand is realized through one set of robot; the robot has two functions, so that the cost of medical rehabilitation equipment is reduced.

The invention discloses a robot zero position calibration method based on electromagnetic encoders. The method comprises the steps that the six electromagnetic encoders are installed on six shafts of a robot correspondingly, a coordinate system of the electromagnetic encoders is kept parallel to coordinate systems of the shafts, and by controlling a joint of a base and a shoulder joint to move, two inclination angles and the displacement, namely the reference zero position, of the base are obtained at the same time; and as for other shafts, the coordinate system of the electromagnetic encoders is kept parallel to the coordinate system of the six shafts of the robot, zero positions of other joints are obtained through the recognition method, the difference values of data are stored, all servos are operated according to the difference values, and then the robot can be made to reach the original point position. According to the method, zero position calibration of the whole robot can be achieved through only a few of steps, the zero position alignment precision of the robot can be improved, the operation time of zero position calibration is shortened, influences of vibration and impact are avoided, and the method is suitable for being applied to the robot under severe working conditions.

The invention discloses a multi-degree-of-freedom upper limb flexible assistance exoskeleton. The multi-degree-of-freedom upper limb flexible assistance exoskeleton comprises a supporting block, wherein exoskeleton execution structures are symmetrically arranged on the two axial sides of the supporting block; and each exoskeleton execution structure comprises a back movement mechanism, a shoulderjoint movement mechanism, a big arm movement mechanism, a small arm movement mechanism, a wrist joint movement mechanism and a driving module. The driving module comprises a plurality of driving motors used for driving the movement mechanisms respectively; and the back movement mechanism comprises a first back plate and a second back plate rotationally connected with the first back plate through afirst vertical rotating piece. The shoulder joint movement mechanism comprises a first shoulder assembly, a second shoulder assembly and a third shoulder assembly. The big arm movement mechanism comprises a big arm rod and a big arm binding mechanism; the small arm movement mechanism comprises a small arm rod and a small arm sliding binding mechanism; and the wrist joint movement mechanism comprises a wrist joint assembly and a hand grip. The multi-degree-of-freedom upper limb flexible assistance exoskeleton can well adapt to the joint movement degree of a wearer, so that the wearing comfortand the rehabilitation effect are improved.

The invention discloses an upper limb rehabilitation training device capable of adjusting training tension, and relates to the technical field of rehabilitation training devices. The device comprises a shoulder joint movement mechanism, an upper arm rotating mechanism, an elbow joint flexion and extension mechanism, a forearm rotating mechanism and a wrist joint flexion and extension mechanism, wherein the shoulder joint movement mechanism is used for realizing outward swinging, inward retracting and flexion and extension movement; and the device further comprises a forearm tension adjusting mechanism which is used for providing counterforce and driving force, a massage mechanism which is used for massaging the big arm, a joint traction mechanism which is used for providing traction force for the wrist, and an upper arm rotating centering mechanism which is used for compensating the eccentricity of the big arm. The six-degree-of-freedom upper limb rehabilitation training device can realize six-degree-of-freedom upper limb rehabilitation training in various forms, and can effectively prevent the rehabilitation training device from causing secondary injury to a user; and in the rehabilitation training process, large arm muscular tension can be effectively relieved, fatigue is delayed, joints of a user can be stretched, joint gaps are increased, muscular tension is reduced, and pain and discomfort of a patient in the rehabilitation training process are effectively relieved.

The invention discloses a waist-shoulder joint exercise rehabilitation therapeutic instrument which comprises a base, a first electric push rod, a first avoiding hole, a first sliding plate, a first supporting plate, a first pressure-resistant pad, a fixing seat, a vibrator, massaging balls, a second electric push rod, a second avoiding hole, a second sliding plate, a second supporting plate, a second pressure-resistant pad, a massaging air cushion, a motor, an air cylinder, a rotating shaft, a cam, a piston, a spring and a connecting air pipe. The waist-shoulder joint exercise rehabilitationtherapeutic instrument is ingenious in structure and powerful in function; by using the instrument, exercise training of shoulders and the waist of a patient can be realized, and rehabilitation effectof the shoulders and the waist of the patient is promoted; according to needs, the massaging balls and the massaging air cushion can be adjusted according to distances between the shoulders and the waist of the patient through simple operation; rehabilitation exercise effect is improved greatly, and the instrument is conducive to popularization and application of medical industry.

The invention discloses an upper limb exoskeleton rehabilitation arm, comprising elbow joint motion module, an upper arm adjusting module, a shoulder joint motion module and a height adjusting module; the elbow joint motion module is connected with the upper arm adjusting module, the shoulder joint motion module is connected respectively with the upper arm adjusting module and the height adjusting module, the shoulder joint motion module includes an L-shaped rotator, a rocking driver, and a flexion-extension driver, the L-shaped rotator has a first right-angled plate and a second right-angled plate perpendicular to each other, the rocking driver is arranged on the first right-angled plate, the rocking driver drives the upper arm adjusting module, the flexion-extension driver is disposed on the second right-angled plate, and the flexion-extension driver drives the L-shaped rotator to rotate around the second right-angled plate. The freedom of motion of each joint in the upper limb exoskeleton rehabilitation arm is coaxial to the freedom of motion of human joints, the bionic design provides enhanced comfort and reliability for the upper limb exoskeleton rehabilitation arm, and robot assisted rehabilitation training is more benefited.

The invention discloses a multifunctional waist and shoulder joint motion rehabilitation treatment instrument, which comprises a bottom plate, a fixed plate, a first guide belt, a first sliding sleeve, a first air cushion, a second guide belt, a second sliding sleeve, a second air cushion, a first Placement barrel, first motor, first shaft, first cam, first piston, first spring, first retaining net, first sealing cover, Y-shaped hose, second placement barrel, second motor, second shaft , the second cam, the second piston, the second spring, the second retaining net, the second sealing cover, and the connecting tube, the multi-functional waist and shoulder joint exercise rehabilitation treatment instrument, through the use of this device, can not only achieve the patient's shoulder and waist exercise, which promotes the rehabilitation effect of the patient's shoulders and waist. In addition, the height of the first air cushion and the second air cushion can be adjusted according to the height of the patient's shoulders and waist through simple operations according to the needs. Finally, through The above, thereby greatly improving the effect of the patient's rehabilitation exercise, is conducive to the popularization and application of the medical industry.

The invention discloses a multi-functional movement rehabilitation treatment instrument for waist and shoulder joints. The multi-functional movement rehabilitation treatment instrument for waist and shoulder joints comprises a shell, an accumulator, a rotation mechanism, a binding mechanism, a regulating mechanism and a beating mechanism, wherein the accumulator can be mounted on the left side ofan inner cavity of the shell; the rotation mechanism can be assembled on one side of the shell; the binding mechanism can be assembled on the outer wall of the shell; the regulating mechanism can be assembled on the other side of the shell; and the beating mechanism can be mounted on one side of the regulating mechanism. According to the multi-functional movement rehabilitation treatment instrument for waist and shoulder joints, through regulation of the height and the horizontal position of a massaging ball, use requirements of different users can be met, and the limitation is small; besides,the multi-functional movement rehabilitation treatment instrument for waist and shoulder joints can be wholly fixed on the body of the user for use, so that the situation that treatment is interrupted due to bagatelles can be avoided, the visualized treatment feel of patients can be increased, the treatment time is shortened, and the multi-functional movement rehabilitation treatment instrument for waist and shoulder joints is flexible to use and high in practicality and can meet use requirements of the existing market.

The invention discloses a humanoid shoulder joint system based on a rope. A motor and the rope are adopted to simulate muscles of a human body to drive a shoulder joint to move, and the function of completely simulating human body shoulder joint movement is achieved. A humanoid shoulder joint is mainly composed of a shoulder blade, a humerus, an ulna, a supraspinatus, a teres minor, an infraspinatus, a deltoid, a latissimus dorsi, a triceps brachii, a coracoid brachialis, a biceps brachii, a motor and a rope guider. The supraspinatus, the teres minor, the infraspinatus,the deltoid, the latissimus dorsi, the triceps brachii and the coracoid brachialis jointly drive the humerus to do bending, stretching, adduction, abduction and circumduction motion around the shoulder blade, and the tricepsbrachii and the biceps brachii drive the humerus to do bending, stretching, adduction, abduction and circumduction motion around the shoulder blade together with the supraspinatus, the teres minor, the infraspinatus, the deltoid, the latissimus dorsi, the triceps brachii and the coracoid brachialis while driving the ulna to do bending, stretching, adduction and abduction motion around the humerus. The motor and the rope are combined for drive, and the humanoid shoulder joint system has the advantages of being compact in structure, good in flexibility and large in movement space, and can be used for teaching and exhibition.

The invention discloses a shoulder joint exercise device, which comprises a bracket and a training plate. The training plate comprises a plate body, a plurality of circles of concentric annular protrusions located on the front side of the plate body and with radius gradually increasing, first supporting lugs located on the left side and the right side of the plate body, and sliding blocks arrangedin annular grooves between the adjacent concentric annular protrusions in a sliding mode. The concentric annular protrusions are provided with notches enabling the adjacent annular grooves to be communicated. The stand column of the support is provided with a plurality of oblong holes. The first supporting lugs are fixed to the stand column through bolts and nuts. The device can be matched with various different shoulder joint motions to assist a patient in judging the training progress.

The invention relates to a device for detecting human hand shoulder joint movement, in particular to a human hand upper arm abduction and adduction movement detection device, and aims to solve the problem that an existing detection device is complex in system, complicated in structure, large in detection error and difficult to maintain. A link for detecting a human hand shoulder is designed in a brand-new manner, and a unique connecting mode and ingenious joint measuring layout are adopted, so that when an operator uses the device, flexibility of the arm of the operator can be maintained to greatest extent, movement state of shoulder joints can be detected accurately, and joints of a controlled slave hand and corresponding arm joints of the operator can act coordinately to enhance sense of immediacy of virtual reality or remote operation.