28 results about "Shoulder movement" patented technology

The invention discloses a rope-driven mechanical arm system for a loading and unloading scene and a control method and a simulation test method of the rope-driven mechanical arm system. The rope-driven mechanical arm system comprises a mechanical arm body, a shoulder movement part, an elbow movement part and a wrist movement part, wherein the shoulder movement part, the elbow movement part and the wrist movement part are sequentially connected from the near end to the far end; the driving assembly is used for driving the shoulder movement part, the elbow movement part and the wrist movement part; the motion transmission assembly comprises a plurality of flexible ropes and a pulley block unit, the pulley block unit comprises a first pulley block and a second pulley block, the plurality of flexible ropes comprise an excitation rope and an antagonism rope, and the excitation rope and the antagonism rope extend or retract when rotating along with the motion part; the extension or shortening distance of the excitation rope is consistent with the shortening or extension distance of the antagonism rope; and the control assembly is used for controlling the driving assembly to drive the mechanical arm body to achieve the expected movement track. The problems of joint return stroke errors and low tail end positioning precision of the rope-driven mechanical arm in actual operation can be solved.

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 belongs to a biological signal identification and data processing technology, and relates to a multi-sensor fusion action identification system for shoulder rehabilitation evaluation. Comprising a flexible strain sensor, an inertial measurement unit, a multi-channel data acquisition module, a data preprocessing module and an action recognition module, the flexible strain sensor comprises a plurality of sensing areas and connecting areas which are distributed around the rotator cuff area; the multichannel data acquisition module acquires multichannel sensing signals, and the multichannel sensing signals are preprocessed by the data preprocessing module. The action recognition module adopts a multi-modal feature fusion algorithm based on a bidirectional cross-modal interactive attention and time period specificity adaptive weight mechanism to realize dynamic correlation modeling between a strain sensing signal and inertial measurement data in a unified time sequence space, and cross-modal time sequence features are fused; capturing the global and local dependency relationship of the shoulder movement, and recognizing various rehabilitation actions. The method effectively overcomes the static limitation of the prior art, and remarkably improves the precision and robustness of shoulder rehabilitation evaluation.

The invention discloses a rotator cuff patch and a preparation method thereof, and belongs to the technical field of repair materials. According to the preparation method provided by the invention, the bioactive material is combined, the fibers are gradually transited from random arrangement to aligned arrangement through electrostatic spinning, the difference of fiber orientation structures between the random fiber layer and the aligned fiber layer is effectively reduced, and the bonding force between the layers of the patch is greatly enhanced in cooperation with steam welding treatment; the layering phenomenon is effectively avoided; the tensile strength of the rotator cuff patch prepared by the method reaches 18 MPa, and the rotator cuff patch has excellent mechanical properties, can meet the requirements on flexibility and tear resistance during sewing, can provide enough mechanical support for the rotator cuff in the repair process, and adapts to the complex shoulder movement environment.

The invention provides a shoulder support apparatus having a torso engaging body and shoulder securing elements, each made from an elastic material, that stabilize and support the shoulders of a user. The shoulder securing elements are adjustable to permit a user to achieve a desired level of shoulder stabilization and support. The apparatus finds use in supporting and stabilizing an injured shoulder to make shoulder movements less painful, promote shoulder rehabilitation, and to prevent further injury.

The application belongs to biological signal recognition and data processing technology, and is a multi-sensor fusion motion recognition system for shoulder rehabilitation evaluation. The system comprises a flexible strain sensor, an inertial measurement unit, a multi-channel data acquisition module, a data preprocessing module and a motion recognition module. The flexible strain sensor comprises a plurality of sensing areas and connecting areas distributed around the rotator cuff area. The multi-channel data acquisition module acquires multi-channel sensing signals, which are preprocessed by the data preprocessing module. The motion recognition module adopts a multi-modal feature fusion algorithm based on bidirectional cross-modal interaction attention and time period-specific adaptive weight mechanism to realize dynamic correlation modeling between strain sensing signals and inertial measurement data in a unified time sequence space, fuse cross-modal time sequence features, capture global and local dependency of shoulder movement, and recognize multi-class rehabilitation actions. The application effectively overcomes the static limitation of the prior art and significantly improves the accuracy and robustness of shoulder rehabilitation evaluation.

The invention belongs to the technical field of educational appliances, and particularly relates to a piano playing posture auxiliary corrector which specifically comprises a lifting supporting mechanism, a seat plate, a supporting cushion mechanism, a leg supporting mechanism, a side supporting mechanism, a swing mechanism, an elbow supporting mechanism and a sitting posture detection mechanism. The cushion supporting mechanism is fixedly mounted above the seat plate, and an adjusting controller for controlling the lifting supporting mechanism, the cushion supporting mechanism and the leg supporting mechanism is fixedly mounted on the side face of the lifting supporting mechanism. Shoulder movement changes of a learner are monitored through the sitting posture detection mechanism, torque rotating shafts on the two sides are pulled when the upper limbs swing in the playing process, the movement state of the upper limbs is detected through the number of rotation turns, the speed and the direction of a rotation angle sensor, and when irregular postures such as unknown stooping and humpback occur, the posture of the learner can be corrected. A player is prompted to correct in time, a correct playing posture is kept, and a correct posture memory is formed.

To provide a vehicle door control device that can control the vehicle doors based on user actions. [Solution] The vehicle door control device 1 detects the shoulder movements of a user 43 who is in the vicinity of the vehicle 2, and determines whether the user 43 intends to use the vehicle 2 based on the detection results. The vehicle door control device 1 also estimates which of the doors on the vehicle 2 the user 43 is expected to open. If the vehicle door control device 1 determines that the user intends to use the door, it executes control to open the target door.

The invention relates to the technical field of rehabilitation instruments, in particular to a planar motion rehabilitation mechanical device for shoulder joint rehabilitation, which comprises a base and an auxiliary training system for assisting shoulder joint rehabilitation training, and the base is provided with an adjusting assembly for adjusting the shoulder motion angle. The adjusting assembly comprises a connecting plate, a first supporting plate used for being worn on a big arm and a second supporting plate used for being worn on a small arm, and the bottom of the first supporting plate is hinged to the top of the second supporting plate. A rotating disc is arranged on the connecting plate and fixedly connected with the first supporting plate. An n-shaped hinge rod is hinged to the rotating disc in the circumferential direction of the rotating disc. The connecting plate is provided with a first power assembly, a second power assembly and a third power assembly which are used for pulling the hinge rod to move. The three independent power sources are used for controlling the hinged rod to move correspondingly, so that the shoulder joint can deflect in multiple directions; and the shoulder joint is allowed to simulate a natural movement mode, so that joint functions can be recovered more comprehensively.

The invention discloses an exercise device for rehabilitation of a thyroid patient, the device is stably fixed on the chest of the patient through a chest bandage, meanwhile, the device is provided with a shoulder exercise assembly, when the patient does shoulder rising exercise, a contact sensor of the device can receive corresponding data, and the height of the contact sensor can be adjusted; therefore, the range of measuring the towering shoulder movement can be adjusted. Meanwhile, the device is provided with a neck assembly, and through the arrangement of two angle sensors, the left-right angle rotation angle and the neck bending and stretching angle of the neck of the patient can be measured; in order to record quantized motion data, the device is provided with a detection panel which can record and display data of the contact sensor and the angle sensor, so that motion data of the shoulders and the lower jaw of the patient is recorded.

This utility model discloses an upper limb exoskeleton, relating to the field of industrial assistive device structural design technology. The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and an assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism, which is connected to the upper arm fixation. This upper limb exoskeleton provides support and fixation for the user's upper body through the shoulder and waist restraints. To achieve a lightweight design, assist mechanisms are provided on both sides of the shoulder restraint. The rotation of the shoulder rotation mechanism causes the internal tension springs of the assist mechanism to elastically deform and return to their original position, providing mechanical assistance for shoulder movement and ensuring the stability of the assist mechanism. It is adaptable to users of different body types, ensuring flexible movement with multiple degrees of freedom.

A modular shoulder exoskeleton rehabilitation robot based on cable drive, which comprises a base, a shoulder strap module and a shoulder joint module; both the shoulder strap module and the shoulder joint module are mirror-exchangeable structures. The shoulder joint module is connected to the shoulder strap module, and the shoulder strap module is connected to the base. The shoulder joint module includes an upper shoulder joint mechanism and a lower shoulder joint mechanism that are rotationally connected. The upper shoulder joint mechanism is used to achieve the compensation displacement of the lower shoulder joint mechanism in two horizontal directions, and the lower shoulder joint mechanism is used to achieve the compensation displacement in the vertical direction. The base transmits power to the shoulder joint module through an antagonistic cable pair to achieve the flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module. The rehabilitation robot of the present invention adopts a passive skeleton support method to achieve the compensation of the offset of the mechanism joint relative to the human joint axis. The mechanism conforms to the movement characteristics of the human shoulder and can meet the usage requirements of patients with shoulder movement function disorders on different sides.

The application discloses a shoulder movement estimation method based on glenohumeral joint positioning and electromyography cooperation, and relates to the technical field of robot-assisted rehabilitation, and comprises the following steps: collecting surface electromyography signals and kinematics data; according to the surface electromyography signals and the kinematics data, solving a dynamic glenohumeral joint position in real time by minimizing distance residual based on anatomical constraints and step residual for ensuring continuity; determining muscle activation according to the surface electromyography signals; the muscle activation constitutes a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; and estimating an upper arm angle according to elements in the command matrix. The method can realize high-precision, low-cost and long-term stable estimation of shoulder joint movement, and provides reliable technical support for robot-assisted rehabilitation.

The invention discloses a shoulder-crossing lifting exoskeleton upper arm movement assisting mechanism which comprises an upper arm movement adapting mechanism, a driving force adjusting mechanism, a shoulder movement adapting mechanism, a back fixing and supporting power module and the like. The shoulder movement adapting mechanism, the driving force adjusting mechanism, the upper arm movement adapting mechanism and the like are sequentially connected in series to achieve the movement assisting function on the left and right upper arms. According to the invention, human body carrying lifting, over-top operation, weight putting-down, walking, carrying lifting, lifting and other actions are assisted, the fatigue feeling of upper limb muscles of a wearer can be obviously reduced, and the injury of the upper limb muscles is prevented.

The application relates to the field of analog teaching and intelligent military training and examination technology, and discloses a live ammunition throwing examination system and method, a terminal and a storage medium, which comprise the following modules: a data acquisition module, which is used for acquiring upper limb measurement and joint movement data in real time; a physiological inertia modeling module, which is used for constructing a dynamics model and solving a rotational inertia estimation value representing a physical starting time delay; a phase monitoring and analyzing module, which is used for tracking a joint angular velocity wave crest and generating a phase difference observation value; and a power chain phase self-alignment guiding module, which is used for performing nonlinear dynamic time domain modulation on a standard shadow path according to the rotational inertia and a phase difference deviation. Through the establishment of a closed-loop feedback control mechanism based on physiological lag, the application solves the problem of power chain fracture caused by physiological response time delay of a trainee, realizes accurate physical alignment of the action timing of a hip joint and a shoulder joint, and effectively improves the scientific nature and safety of throwing training.

The invention discloses a shoulder motion estimation method based on glenohumeral joint positioning and myoelectricity cooperation, and relates to the technical field of robot-assisted rehabilitation, and the method comprises the steps: collecting a surface electromyogram signal and kinematics data; according to the surface electromyogram signal and the kinematics data, the dynamic glenohumeral joint position is solved in real time by minimizing a distance residual error based on anatomical constraint and a step residual error used for ensuring continuity; determining muscle activation from the surface electromyogram signal; the muscle activation forms a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; an upper arm angle is estimated from elements in the command matrix. According to the method, high-precision, low-cost and long-term stable estimation of shoulder joint movement can be realized, and reliable technical support is provided for robot-assisted rehabilitation.

Shoulder strengthening systems can provide multidirectional and dynamic resistance to shoulder movement of a user. A shoulder strengthening system can include a frame, a joint pivotably coupled to the frame, a resistance mechanism coupled to the joint, and a shaft coupled to the joint. Resistance mechanisms can include a first hydraulic member and a second hydraulic member. The first hydraulic member can be configured to restrict relative motion of the joint about a first axis and the second hydraulic member can be configured to restrict relative motion of the joint about a second axis. The shaft and the joint of a shoulder strengthening system can be configured to move together relative to the frame about the first and second axes.

An upper limb exoskeleton rehabilitation assisting robot relates to the technical field of rehabilitation medical instruments and comprises a hand supporting module used for supporting the hand of a user or allowing the user to hold the hand; the forearm supporting module is connected to the hand supporting module and is provided with a wrist movement joint corresponding to the wrist joint of the human body; the upper arm connecting module is connected with the forearm supporting module through an elbow movement joint corresponding to the elbow joint of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder movement joint corresponding to the shoulder joint of the human body; the wrist movement joint, the elbow movement joint and the shoulder movement joint are each provided with an actuating unit, and the actuating units are configured to independently drive the corresponding joints or cooperatively drive the multiple joints to achieve linkage. Through the modularized multi-joint structure and the driving system capable of being independently or cooperatively controlled, effective assistance for movement of shoulders, elbows, wrists and forearms of the human body is achieved, and the adaptability, naturalness and flexibility of rehabilitation training are improved.

The utility model discloses a cervical vertebra lamina reinforcing device. The reinforcing device comprises an upper fixing piece, a lower fixing piece and a connecting rod, the upper fixing piece is arranged above the lower fixing piece, one end of the connecting rod is rotationally connected with the upper fixing piece, the other end of the connecting rod penetrates through the lower fixing piece and is connected with a fixing belt, and the fixing belt is detachably connected with a human body. The lower fixing part comprises two shaping plates and an air bag part located between the two shaping plates, the shaping plate located at the upper position is fixedly connected with the connecting rod, the shaping plate located at the lower position is slidably connected with the connecting rod, and the distance between the two shaping plates is adjusted by adjusting the inflation degree of the air bag part. One end of the connecting rod is fixed to the back of the human body, and then the other end of the connecting rod is connected with the upper fixing piece to achieve auxiliary head supporting, and the fixed height position is determined; the lower fixing piece with the built-in air bag piece is controlled to stretch, so that the lower shaping plate makes contact with the shoulders to achieve auxiliary fixing of the connecting rod, the acting force of shoulder movement is buffered, and the use feeling is improved.

An exoskeleton comprising: a dorsal structure (10) connected to an arm structure (30) by a scapular structure (20) having a shoulder actuator (24) for moving the arm structure relative to the dorsal structure. The scapular structure includes a first joint (21) fixed to an upper portion (11) of the dorsal structure (10), and a carriage (23) connected to a portion of the first joint (21) for sliding relative to the first joint (21) in a direction substantially perpendicular to the first joint axis (A1). The shoulder actuator (24) is mounted on the carriage (23) by a second joint (25) having a second joint axis (A2) substantially parallel to the first joint axis (A1). The exoskeleton includes a first elastic element (27) for returning the carriage to a predetermined resting position and a second elastic element (28) for returning the carriage (23) to the first joint (21).SUMMARY FIGURE : Fig. 1.

The invention relates to the technical field of simulation teaching and intelligent military training and assessment, and discloses a live ammunition throwing assessment system and method, a terminal and a storage medium, and the system comprises a data collection module which is used for obtaining upper limb measurement and joint movement data in real time; the physiological inertia modeling module is used for constructing a dynamic model and resolving a rotational inertia estimated value representing physical starting time delay; the phase monitoring and analyzing module is used for tracking a joint angular velocity wave crest and generating a phase difference observation value; and the power chain phase self-alignment guiding module is used for executing nonlinear dynamic time domain modulation on the standard shadow path according to the rotational inertia and the phase difference deviation. By establishing a closed-loop feedback control mechanism based on physiological hysteresis, the problem of power chain breakage caused by physiological response time delay of a trainee is solved; accurate physical alignment of motion time sequences of the hip joint and the shoulder joint is achieved, and scientificity and safety of throwing training are effectively improved.

The utility model discloses a waterproof cap-connected jacket, and relates to the technical field of clothes. Comprising a waterproof jacket, the waterproof jacket comprises waterproof sleeve bodies connected to the two sides of a cap-connected jacket body through elastic screen cloth, waterproof shoulder pads are arranged on the two sides of the cap-connected jacket body, and the two waterproof shoulder pads are movably connected with one ends of the two waterproof sleeve bodies in a sleeved mode respectively. The elastic screen cloth can adapt to shoulder movement of a user to conduct self-adaptive stretching, discomfort of the user is reduced, the waterproof shoulder protector is added to protect the elastic screen cloth, the situation that water enters the elastic screen cloth is avoided, the combined section of the first waterproof cloth and the second waterproof cloth is designed to be in a V shape, stretching of the elastic screen cloth cannot be affected, and the user experience is improved. Meanwhile, the elastic mesh cloth can be limited, the situation that the elastic mesh cloth is excessively stretched and cannot be reset is avoided, meanwhile, the waterproof shoulder pad is more attached to the waterproof sleeve body, the appearance is more attractive, and due to the arrangement of the breathable mesh cloth, the elastic mesh cloth and the breathable waterproof zipper, the breathability of the product is further guaranteed.

A kind of robot shoulder movement control mechanism and robot, its robot shoulder movement control mechanism includes control component installation platform and two shoulder movement control frames, two shoulder movement control frames are rotatably installed in control component installation platform two sides, rotation axis is perpendicular to control component installation platform, and two shoulder movement control frames are symmetric and interval arrangement, the shoulder movement control frame includes rotator frame and shoulder arm load support, shoulder arm load support is rotatably connected with rotator frame by a group of connecting rod support, shoulder arm load support is vertically arranged, first driving device is installed on control component installation platform, for driving the rotation of shoulder movement control frame as a whole on control component installation platform, second driving device is connected to all rotator frame, for driving shoulder arm load support moves up and down.The shoulder of the present application itself has freedom of movement, can complete shake shoulder and expand chest and other actions, and motion control is simple and stable.

The application aims to provide a shoulder structure of a robot and the robot, which comprises a first rotating component, a second rotating component and a third rotating component, wherein the first rotating component, the second rotating component and the third rotating component are connected in sequence; when the first rotating component rotates, the second rotating component and the third rotating component are driven to rotate around a first axis; when the second rotating component rotates, the third rotating component is driven to rotate around a second axis; the third rotating component rotates around a third axis; the first axis, the second axis and the third axis intersect at a point; the second axis is perpendicular to the first axis and the third axis. Through a relatively simple structure, three degrees of freedom of the shoulder are realized at a low cost, and the motion control and algorithm simulation of the robot are facilitated. Moreover, the three motion axes of the shoulder intersect at a point, so that the shoulder movement of the robot has a relatively optimal motion trajectory and motion range.

The utility model discloses a patient medical restraint strap which comprises a chest strap, a first connecting plate is arranged at one end of the chest strap, two symmetrically distributed first fixing straps are arranged on the side, away from the chest strap, of the first connecting plate, and a second connecting plate is arranged on the chest strap in a sleeved mode. Two second fixing belts distributed corresponding to the first fixing belts are arranged on the side wall of the second connecting plate, and locking structures are arranged between the first fixing belts and the second fixing belts. According to the utility model, the large-amplitude upper body movement of a bedridden patient can be effectively limited, the use method is simple and convenient, the operation is easy, the workload of nursing personnel can be reduced, the shoulder of the patient can be restrained under the action of the shoulder straps in the design, and the upper body movement of the patient can be limited by increasing the limitation of the shoulder movement, changing the stress point, increasing the compression area and reducing the pressure intensity. And the tightening injury of the patient cannot be caused.

Shoulder strengthening systems can provide multidirectional and dynamic resistance to shoulder movement of a user. A shoulder strengthening system can include a frame, a joint pivotably coupled to the frame, a resistance mechanism coupled to the joint, and a shaft coupled to the joint. Resistance mechanisms can include a first hydraulic member and a second hydraulic member. The first hydraulic member can be configured to restrict relative motion of the joint about a first axis and the second hydraulic member can be configured to restrict relative motion of the joint about a second axis. The shaft and the joint of a shoulder strengthening system can be configured to move together relative to the frame about the first and second axes.

The present invention relates to a shoulder training device that enables training a trainee in a seated position to move a shoulder joint. The shoulder training device comprises: a seat part on which the trainee can sit; a support part which supports the seat part; a backrest provided on one side or the other side of the seat part in a first direction; and a shoulder movement guide part provided on one side of the seat part in a second direction perpendicular to the first direction, so as to guide the movement of a shoulder on any one side selected from the left side and right side of the trainee, wherein the position of the backrest with respect to the shoulder movement guide part can be altered to the one side or the other side in the first direction.

The invention discloses a breast cancer postoperative upper limb edema massage treatment device which comprises a back plate, an arm massage assembly and a shoulder movement assembly. The shoulder movement assemblies are symmetrically mounted on the back plate, and the arm massage assemblies are fixedly mounted at the tail ends of the shoulder movement assemblies; through the arranged arm massage assembly, massage and swelling detection can be conducted on the arms of the patient, and when the arms of the patient swell to a certain degree, the detection assembly can conduct detection and feedback; meanwhile, the air bags are used for massaging, the arms of the patient can be effectively massaged through the air bags, and meanwhile the overall size and weight can be effectively reduced; in addition, through the arranged shoulder movement assembly, the patient can be forced to do passive shoulder surrounding movement, blood circulation of the upper limbs can be improved, the blood flowing speed can be increased, liquid accumulated in tissue gaps can be taken away, and edema is further relieved.