1669 results about "Socket hip" patented technology

The present disclosure provides a humanoid robot with an arrangement of components that allows the robot to mimic the movements, functionality and capabilities of a human being. The robot includes a torso coupled to a waist, an arm assembly, and a head assembly. A pelvis is coupled to the waist and has left and right actuator mounts. Left and right hip assemblies are coupled to the respective actuator mounts. Each hip assembly includes a hip pitch actuator assembly, a hip roll actuator assembly, and a leg twist actuator assembly. The hip pitch actuator assembly has a portion positioned within the pelvis and is coupled to the actuator mount. The hip roll actuator assembly is coupled to the hip pitch actuator assembly, with a non-90 degree angle formed between their axes. The leg twist actuator assembly is coupled to the hip roll actuator assembly and positioned below extents of both the hip pitch and hip roll actuator assemblies.

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

The humanoid robot comprises a trunk assembly, a thigh assembly, a shank assembly and a foot assembly, the trunk assembly and the thigh assembly are rotatably connected through a hip joint assembly, and the thigh assembly and the shank assembly are rotatably connected through a knee joint assembly. The shank assembly is rotatably connected with the foot assembly through the ankle joint assembly, the thigh assembly and the shank assembly respectively comprise a thigh skeleton and a shank skeleton, and when the thigh skeleton and the shank skeleton are straightened, the pitching rotation axis of the hip joint assembly and the pitching rotation axis of the knee joint assembly are not on the same vertical plane; the pitching rotation axis of the knee joint assembly and the pitching rotation axis of the ankle joint assembly are located on the same vertical plane, it is guaranteed that the transmission angle between the thigh assembly and the shank assembly of the robot is not 0 degree, the degree of freedom in the vertical direction cannot be lost, straight-leg standing and straight-leg starting of the robot are achieved, and the robot is closer to a real person in shape.

The invention discloses a multifunctional exoskeleton robot. The robot comprises a basic support; the two groups of lower limb units are used for supporting legs; the lower limb units are connected with the basic support through hip driving units, and the hip driving units are used for driving the lower limb units to rotate around a vertical shaft so as to simulate internal and external rotation actions of hip joints. And when the lower limb unit rotates around the vertical shaft, the position of the rotating shaft is always unchanged, and the rotating shaft coincides with the internal and external rotation axis of the hip joint of the human body. The hip driving unit is used for connecting the lower limb unit and driving the lower limb unit to rotate so as to simulate the internal and external rotation action of the hip joint, the hip driving unit can enable the position of a rotating shaft of the lower limb unit to be unchanged all the time when the lower limb unit rotates around a vertical shaft, and the rotating shaft always coincides with the internal and external rotation axis of the hip joint of the human body. The exoskeleton robot can adjust the lower limb postures more naturally, and it is guaranteed that the motion of the human body during steering has better stability.

The utility model provides a hip structure and a robot, and relates to the technical field of robots, in particular to the technical field of hip structures of robots. A hip structure includes: a first hip actuator and a second hip actuator for performing hip movement of a robot; wherein the first hip joint actuator and the second hip joint actuator are obliquely arranged. The size of the hip structure is reduced, the space compactness of the hip of the robot is improved, the flexibility of the hip is improved, and the movement range of the hip is expanded.

A trial femoral assembly that includes a broach, a neck, and a head. The broach is configured to couple to a femoral shaft. The neck is removably coupled to the broach and includes a center gear configured to rotate about a longitudinal axis of the neck to adjust a length of the neck. The head is removably coupled to the neck and configured for insertion into a hip joint.

The invention relates to the technical field of medical image analysis, computer vision and deep learning, in particular to a texture perception and multi-scale feature adaptive fusion hip joint osteophyte detection method. According to the method, firstly, a bone texture feature extraction module is used for carrying out feature extraction and enhancement on a hip joint X-ray image, a parallel double-branch structure is adopted, gradient and space structure features are extracted through a Sobel operator and pooling operation, and feature maps are fused; then, the fused features are input into a double-backbone network, the first backbone network extracts local fine textures and long-range dependence features by combining convolution, self-attention and a gating mechanism, and the second backbone network extracts multi-scale semantic features through hierarchical grouping and depth separable convolution; and double-trunk output is dynamically weighted and fused through an adaptive fusion module, features are optimized through a multi-scale semantic fusion module, and finally the position and confidence of osteophyte are output.

The invention relates to a hip and knee joint walking aid exoskeleton robot. The double-motor hip joint mechanism is composed of a back frame, an adjustable waist mechanism, two bilaterally-symmetrical double-motor hip joint mechanisms, two bilaterally-symmetrical thigh length adjusting mechanisms and two bilaterally-symmetrical knee joint mechanisms. The two double-motor hip joint mechanisms are connected to the two sides of the back frame and the two sides of the adjustable waist mechanism respectively, the thigh length adjusting mechanisms are connected with the double-motor hip joint mechanisms, and the knee joint mechanisms are connected with the thigh length adjusting mechanisms. When the wearer performs low-speed or low-load movement, only a second motor, close to the thigh length adjusting mechanism, of the dual-motor hip joint mechanism is activated, and when the wearer performs high-speed or high-load movement, the first motor and the second motor are activated at the same time. The hip and knee joint combined assisting mode is adopted, the walking assisting performance and the wearing comfort degree of the exoskeleton are balanced, on the premise that the wearing comfort degree is not affected, the maneuverability and the load capacity are enhanced to the maximum degree, and the fatigue degree is greatly reduced.

The invention relates to a chair for accommodating a person. The chair includesan upper body section having an upper body contact surface adapted or adaptable to at least parts of a front of a torso or a rear of a torso of a person placed on the chair, anda lower body section having a lower body contact surface adapted or adaptable to at least parts of at least a front of a thigh of the person, wherein the upper body section and the lower body section are arranged or arrangeable and fixable in a position relative to each other such that the upper body contact surface and the lower body contact surface cause a hyperextension posture of the hip joint of the person with a predetermined hyperextension angle. By forming the hyperextension angle of the hip on the chair, shortening of the anterior thigh and hip muscles can be counteracted. Also disclosed are a pressing device for application to the human body, which is adapted for use on a chair and which includes one or more pressure units each having at least one pressure head adapted to apply local or point pressure at a predetermined pressure location on the body of a person accommodated on the chair, and a chair having such a pressing device.

A trial neck for hip surgery and a method of attaching a trial neck to a femoral canal implement. The trial neck includes a body portion including a bore for receiving a proximal end of a femoral canal implement. The trial neck also includes an elongate neck extending from the body portion. The trial neck further includes a locking mechanism comprising a lever. The lever has a first end. The lever also has a second end. The lever further has an engagement surface. The second end of the lever is actuable to urge the engagement surface against the proximal end of the femoral canal implement to secure the proximal end of the femoral canal implement within the bore.

The invention discloses a hip replacement postoperative gait dynamics prediction method based on discrete optimal control, and belongs to the field of clinical medical auxiliary prediction. The implementation method comprises the steps that kinematics data are collected through a preoperative gait motion capture experiment, muscle activation signals are collected through a surface myoelectricity system, and on this basis, a neuromuscular control strategy of a patient is obtained through a neural network; predicting the gait motion characteristics of the postoperative patient based on discrete mechanics and an optimal control method, and predicting the postoperative muscle activation degree by using the neuromuscular control strategy; by comparing the muscle activation degrees before and after the operation, the influence of the replacement operation on the muscle force change of the hip joint of the patient is investigated. According to the method, discrete optimal control and the neural network are combined, the learning characteristics of human nerve-muscle control are considered while the physical characteristics of the system are not deviated, personalized muscle control strategies better conforming to different patients can be found, and personalized prediction of postoperative gait dynamic characteristics is achieved.

Hip arthroplasty trial systems and associated medical devices, methods, and kits are described that can be utilized in situ to complete a femoral head trial. An example embodiment of a hip arthroplasty trial system includes a medical device and a femoral stem. The medical device has a head member, a spacer, a shaft, and a locking member. The spacer is disposed within the head member and is moveable from a first position to a second position. The shaft is disposed within the head member and contacts the femoral stem. The shaft is moveable from a first position to a second position. Movement of the shaft from the first position to the second position moves the spacer from its first position to its second position. The locking member is disposed within the head member and releasably attaches the shaft to the head member.

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the method has the requirements of light weight and low control complexity.

The invention discloses a hip joint mechanism, a crotch assembly and a humanoid robot. The hip joint mechanism comprises a first driving part, a mounting bracket, a second driving part and a third driving part, the first driving part is used for driving the lower limb assembly to rotate around a first axis; an inclined included angle is formed between the first axis and the left-right direction of the humanoid robot; the mounting bracket comprises a first plate, a second plate and a third plate which are connected in sequence; the surface, back to the first plate, of the second plate is fixedly connected with a rotor of the first driving part; the second driving piece is used for driving the lower limb assembly to rotate around a second axis; a shell of the second driving piece is fixedly connected with the first plate; the third driving part is used for driving the lower limb assembly to rotate around a third axis, a shell of the third driving part comprises a connecting shell and a containing shell, the connecting shell is rotationally connected with the third plate and fixedly connected with a rotor of the second driving part, and a rotor of the third driving part is used for being fixedly connected with the lower limb assembly. The hip joint mechanism is simple in structural arrangement and high in space utilization rate.

The invention provides a hip joint exoskeleton robot anti-falling detection method, and relates to the technical field of exoskeleton robots, and the method comprises the following steps: setting a hip joint angle threshold value of a robot; collecting a hip joint real-time angle value of the robot; based on the collected hip joint real-time angle value and the hip joint angle threshold value, whether leg binding of the robot fails or not is judged; and in response to failure of leg binding of the robot, stopping applying forward current to a motor of the robot, applying reverse current to the motor of the robot according to the real-time angle value of the hip joint and the angle threshold value of the hip joint, and when it is detected that the leg binding is in a falling state and the rotation angle of the leg rod exceeds the set angle threshold value, stopping applying forward current to the motor of the robot. The motor timely provides reverse current to counteract inertia of upward movement of the leg rod, the leg rod is prevented from hitting the abdomen, the motor stops assisting when the leg rod falls back to the angle threshold value, the leg rod is prevented from hitting the thigh, and the robot can be used simply, efficiently, conveniently and safely.

A trial femoral assembly for hip arthroplasty and associated method of use is disclosed that includes a head, a neck connected to the head, and a stem or broach connected to the neck, wherein the neck is expandible and collapsible. Also, the stem or broach can move laterally in relation to the longitudinal axis of the neck. A first embodiment includes a notched rod located within a housing and within a circular lower neck portion having a tilted spiral cam that interacts with the notched rod to provide movement involving extension or retraction of the neck. A second embodiment includes a bevel gear located on an outer surface of the head that engages a screw located inside the head to move the neck to provide extension or retraction. A third embodiment includes at least three nested, telescoping threaded elements with oppositely handed threads that extend or retract the neck.

The invention provides a hip structure and a robot, and relates to the technical field of robots, in particular to the technical field of hip structures of robots. A hip structure includes: a first hip actuator and a second hip actuator for performing hip movement of a robot; wherein the first hip joint actuator and the second hip joint actuator are obliquely arranged. The size of the hip structure is reduced, the space compactness of the hip of the robot is improved, the flexibility of the hip is improved, and the movement range of the hip is expanded.

A dynamic reference base (DRB) and associated method are provided for rigidly affixing an array frame to bone for use in navigated or robotic surgery. The DRB includes a bridge element that includes a connecting rod having a distal end and a proximal end; a clamp coupled to the distal end of the connecting rod; a first and a second pin guide extending distally from the clamp; a locking nut disposed on the clamp; and a clutch coupled to the proximal end of the connecting rod, the clutch being adapted to couple to the array frame. The DRB also includes the array frame, which is couplable to the clutch, and is adapted to include a plurality of tracking markers disposed thereon.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention discloses a quadruped robot driving leg structure which comprises a first driving unit, a hip joint assembly, a thigh assembly and a shank assembly, the hip joint assembly is transversely arranged on a driving output shaft of the first driving unit, and the hip joint assembly comprises a hip joint shell, a second driving unit and a second driving connecting plate; the second driving connecting plate is arranged on the outer wall of the hip joint shell, a driving output shaft of the first driving unit is connected to one side of the front face of the second driving connecting plate, the first driving unit is used for driving the second driving unit to rotate within a specified angle range, and the thigh assembly is downwards obliquely provided with the driving output shaft of the second driving unit. The lower end of the thigh assembly is movably connected with the upper end of the shank assembly, and the lower end of the shank assembly is provided with a foot end. Radial impact borne by the driving motor during operation can be reduced, the accuracy and reliability of leg movement can be effectively ensured, and the effective loading capacity of the robot is further improved.

The invention belongs to the technical field of medical instruments, and discloses a thighbone component and a surface hip replacement prosthesis, the thighbone component is a hollow large hemisphere, a supporting handle is arranged at the vertex of the inner wall of the thighbone component, the thighbone component is made of polyether-ether-ketone or polyether-ketone-ketone materials, better guiding and positioning effects can be provided, and the surface hip replacement prosthesis can be used for hip replacement. The fixity and the stability of the prosthesis are enhanced; an arc-shaped transition part is arranged at the joint of the supporting handle and the inner wall of the femoral component; a plurality of concave grooves are formed in the inner wall of the thighbone component, and bone cement is embedded into the concave grooves; the plurality of concave grooves are distributed at intervals along the axis of the supporting handle; the arc-shaped transition part effectively relieves stress concentration and prevents the prosthesis from being broken, the fixing effect is further enhanced through embedding of bone cement in the inwards-sunken groove, the risks of rotation and looseness of the prosthesis are reduced, and due to the design, the mechanical performance and biocompatibility of the prosthesis are improved, and the durability and reliability of the prosthesis in long-term use are guaranteed.

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

The invention belongs to the technical field of lower limb exoskeleton control, and particularly relates to a flexible lower limb exoskeleton assistance control method based on multi-source information fusion. The method comprises the following steps: firstly, acquiring plantar pressure, hip joint acceleration and angular velocity and knee joint acceleration and angular velocity, and fusing the hip joint acceleration and angular velocity and the knee joint acceleration and angular velocity respectively to obtain hip and knee joint angles; performing normalization processing on hip and knee joint angles and plantar pressure to form a multi-source information matrix; inputting the multi-source information matrix into a gait phase recognition model for gait phase recognition to obtain a gait phase; then, according to the gait phase, the joint angle and the joint torque, a Bowden line playing a power assisting role is judged; calculating expected Bowden line change lengths under the assistance of hip and knee joints respectively; and finally, converting the expected change length of the Bowden cable under the assistance of the hip and knee joints into expected rotation angles of hip and knee joint motors, and controlling the hip and knee joint motors by adopting fuzzy PID control according to the rotation angles. The method solves the problems that in lower limb exoskeleton control, the gait phase recognition accuracy is low, and precise power-assisted control is difficult to carry out.

A wearable exercise device may obtain a left hip joint angle and a right hip joint angle of a user using at least one angle sensor, process the left hip joint angle and the right hip joint angle to correct a direct current (DC) component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control a driving module such that a torque based on the determined target torque value is output by the driving module.

Systems and methods for impingement analysis are disclosed herein. A method includes receiving a three-dimensional model of a human anatomy comprising a spinopelvic joint; receiving input related to a spinopelvic condition of a patient; determining at least one of a sacral slope or a lumbar lordosis of the patient based on the input; classifying the spinopelvic condition of the patient based on at least one of the sacral slope or the lumbar lordosis in a plurality of positions; modifying the three-dimensional model based on the spinopelvic condition and a placement of an implant; performing at least one simulation of one or more activities with the modified three-dimensional model; and displaying an impingement analysis on a display device based on the at least one simulation.

The invention discloses a lower limb power-assisted exoskeleton robot, which belongs to the technical field of robots and comprises a hip joint assembly worn at a hip joint of a human body, a left leg assembly which is positioned on two sides of the hip joint assembly and is worn on a left leg, and a right leg assembly which is worn on a right leg, each of the left leg assembly and the right leg assembly comprises a thigh connecting rod, a shank connecting rod and a shoe body assembly which are sequentially hinged, the upper end of the thigh connecting rod is hinged to the side face of the hip joint assembly, and a first driving mechanism for driving the thigh connecting rod to rotate is arranged on the side face of the hip joint assembly; inclined driving pieces for driving the shank connecting rods to move are arranged between the hip joint assemblies and the shank connecting rods, the upper ends of the inclined driving pieces are hinged to the side faces of the hip joint assemblies, and the lower ends are hinged to the middles of the shank connecting rods; the lower limb power-assisted exoskeleton robot further comprises a sensor used for detecting uplifting of the thighs and / or the shanks. The power assisting device is simple in structure, reasonable in layout, low in cost and good in power assisting effect.

Disclosed herein is a system and method for providing pre-operative planning and intra-operative guidance to a surgeon to assist in the optimal placement of the stem portion of a femoral implant within the intramedullary canal of a patient's femur during hip replacement surgery. In particular, the system and method provide information regarding contact points between the femoral stem in the patient's intramedullary canal to alleviate risk, inform the surgeon on key pre- and intra-operative decisions and guide femoral broaching and / or stem placement for optimal proximal fixation of the femoral implant.

The invention belongs to the field of exoskeleton robots, and particularly relates to a wearable protective machine armor exoskeleton. Comprising a protection device, a back frame mechanism, a waist and hip support and two leg mechanisms. The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine; the back power assisting mechanism comprises a back driving motor, a torque sensor and a force bearing waist rod; the two groups of leg mechanisms comprise foot end wearing parts; the lower portion of the Y-shaped back frame is connected with an artificial spine through a spherical hinge, the back frame mechanism is installed on the waist-hip support, the back assisting mechanism is installed on the waist-hip support through a force bearing waist rod, the two sets of leg mechanisms are symmetrically installed on the waist-hip support, and the protection device is hung on the Y-shaped back frame. Through the back driving motor and the torque sensor, assistance from bending to a vertical state of the back is realized; load generated by the back power assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the force bearing waist rod.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.