1486 results about "Tendon" patented technology

The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

The invention discloses a nonlinear beam unit analysis method considering prestressed tendon bonding slippage, which comprises the following steps: establishing an overall structure analysis model according to the geometric dimension of a prestressed concrete beam, dividing calculation units, and assembling unit stiffness matrixes into a structural overall stiffness matrix; applying load and boundary conditions to the overall structure analysis model, and solving the overall analysis model by adopting a Newton iteration method; and extracting calculation results of structural deformation, stress, section internal force, prestressed tendon relative slippage and the like, drawing a load-deformation curve, and calculating structural rigidity and bearing capacity according to the slope and peak value of the curve. The calculation unit provided by the invention is an 8-degree-of-freedom beam unit, not only is the stress characteristic of the beam structure considered, but also the bond slip characteristic of the prestressed tendon is considered, the problem that a traditional beam unit analysis model cannot consider the bond slip effect of the prestressed tendon is solved, and compared with an entity unit analysis model, the convergence is better, and the calculation efficiency is higher.

A manipulation device includes an appendage extending from a base, the appendage comprising a flexible material having a resting pose and adapted to be deformed into a plurality of different poses, and at least one tendon attached to an end of the appendage and passing through the base or a portion of the appendage between the base and the distal end, such that actuation of the at least one tendon causes deformation of the appendage from the resting pose to a new pose. Systems and methods for fabricating and optimizing a manipulation device are also provided.

The invention discloses an endoscope transparent cap which comprises a rotatable mechanism, a sliding sleeve, a guide pipe arranged on the outer wall of an endoscope and a driving component arranged at the near end of the endoscope. In the rotatable mechanism, an endoscope joint is provided with a first opening, a rotating cap body of a rotating cap is provided with a second opening, and a flexible net basket is arranged outside the rotating cap body and faces the second opening; the endoscope connector sleeves the far end of an endoscope, the rotating cap body rotatably sleeves the endoscope connector, the sliding sleeve sleeves the rotatable mechanism, the flexible mesh basket is compressed in the sliding sleeve, the sliding sleeve and the rotating cap body are connected with the driving component through the first driving tendon and the second driving tendon respectively, and part of the driving tendons penetrate through the guide pipe; the driving component can drive the sliding sleeve to move towards the near end through the first driving tendon so as to expose the flexible net basket, and can drive the rotating cap body to rotate through the second driving tendon so that the second opening can be communicated with the first opening or the endoscope connector can shield the second opening. When the transparent cap for the endoscope is applied, polyps can be stored, so that the polyps can be taken out simply and conveniently, and the efficiency and the operation safety are relatively high.

The invention discloses a newly-built structure prestress and duct defect integrated monitoring device and method.The device comprises integrated monitoring sensors pre-buried in a concrete structure, and the integrated monitoring sensors wrap the periphery of a prestressed tendon in a sleeve mode and are arranged in an array mode in the length direction of the prestressed tendon; the functions of an electromagnetic elastic absolute stress sensor and a magnetostrictive ultrasonic guided wave transducer can be realized at the same time; an outer-layer coil in the sensor can serve as a magnet exciting coil of an electromagnetic elastic absolute stress sensor and a bias magnetizing coil of a magnetostrictive ultrasonic guided wave transducer at the same time, a magnetoelectric conversion element is used for collecting magnetic characteristic signals of a to-be-tested prestressed tendon, and an inner-layer coil is used for exciting and receiving ultrasonic guided waves. Reflection and transmission signals between different sensors can be compared, and damage positioning and quantification are achieved. The device can simultaneously measure information such as various damages and stresses in the component, and has the characteristics of convenience in operation, long-term monitoring, high monitoring precision and the like.

The invention discloses tendon rope transmission system performance integrated testing equipment and a transmission system testing method, and belongs to the technical field of robot part testing. The equipment comprises a rack and a performance testing device, wherein the performance testing device comprises a mounting plate provided with an arc-shaped guide rail chute, a core shaft used for simulating a bending radius, a position adjusting mechanism used for accurately positioning the core shaft and clamping a tendon rope jacket, at least one linear driving mechanism capable of adjusting an angle along the chute, and a counterweight mechanism. A clamp of the linear driving mechanism clamps one end of an inner core of the tendon rope, the counterweight mechanism is connected with the other end of the inner core, the middle part of the tendon rope bypasses the mandrel, and the reciprocating motion applied by the linear driving mechanism is matched with the constant tension applied by the counterweight mechanism so as to simulate the working condition of the tendon rope under a specific bending radius and angle.

The invention provides an underwater humanoid dexterous hand, and particularly relates to the technical field of bionic machinery, according to the underwater humanoid dexterous hand, a spring electromagnet is used for locking a corresponding tendon rope group, then a soft body is driven to be connected into liquid, a sliding block slides on a sliding rod, the corresponding tendon rope group is pulled, and the tendon rope group is driven to rotate; the tendon rope set is driven to operate corresponding to the palm assembly or the finger assembly, object grabbing and other work are completed, the driving soft body is matched with hydraulic pressure to pull the tendon rope set to operate, and the robot can adapt to a deep water area and resist large water pressure.

The invention relates to a finger exercising device and system, comprising a base (10), including at least one longitudinal guide (11), a carpal support (20), at least one distal phalangeal support (30) guided by the at least one longitudinal guide (11); at least one elastic element (40) configured to offer elastic resistance to the sliding of the at least one distal phalangeal support (30); wherein the carpal support (20) defines a concave carpal seating (21) between a sagittal carpal surface, mostly facing a sagittal direction (DS), and a longitudinal carpal surface, mostly facing a longitudinal direction (DL) perpendicular to the sagittal direction, which are adjacent to one another, forcing an arched, semi-arched, or extended grip of a hand between the concave carpal seating (21) and the concave distal phalangeal seating (31).

The active control method of the tension tendon comprises the steps of initializing a tension tendon platform system, establishing a dynamic model of the tension tendon platform system, controlling the movement displacement and speed of a piston through a PID controller, setting control parameters of the PID controller through a graph convolutional neural network, and performing active control on the tension tendon. The tension tendon platform is kept stable in tidal change and load change by adjusting the length and pretension of the tension tendon, specifically, active control over the tension tendon is achieved by additionally arranging a hydraulic cylinder, dynamic management over the rigidity of the tension tendon is achieved by adjusting the stroke of a piston in the hydraulic cylinder, and the rigidity of the tension tendon is improved. The control parameters of the PID controller are optimized by adopting the graph convolutional neural network, and the optimal combination of the control parameters most adaptive to different sea conditions is searched, so that the tension tendon platform system can intelligently adapt to variable marine environments, and the stability and the power generation efficiency of the fan are remarkably improved.

The invention discloses a steel-concrete combined containment connection node, and relates to the technical field of nuclear power, a steel containment cylinder is embedded into concrete in a prestressed concrete containment cylinder, the steel containment cylinder is provided with a stiffening rib ring plate, and longitudinal prestressed reinforcements in the prestressed concrete containment cylinder are connected with the stiffening rib ring plate; the longitudinal prestressed reinforcements are tensioned at the bottom ring corridor of the prestressed concrete containment cylinder to form a tensioning corridor; and circumferential prestressed tendons are also arranged in the concrete of the prestressed concrete containment cylinder, and are tensioned at the buttress columns. Through the combined action of the stiffening ribs on the steel containment and the prestressed tendons in the concrete containment, the overall rigidity of the containment is enhanced, and the integrity of the containment is guaranteed under the condition that an accident occurs.

A tissue scaffold for use in a tendon and / or ligament is provided, which includes a weave formed by interlacing warp yarns and weft yarns, wherein the warp yarns include a plurality of fibers with an alternative shaped cross section structure, and the weave includes: a main body area with a bioactive component formed on the fiber surface, and a fixed area comprises the weft yarn having a bioceramic material. The tissue scaffold prepared in the present disclosure has the characteristics of stimulating the growth of tissues and inducing tissue repair, effectively improving the ability of tissue regeneration and bone healing, and is beneficial to the reconstruction of the tendon and / or ligament.

The utility model relates to an adjustable steering block device for reinforcing external prestressed tendons of a bridge. The adjustable steering block device comprises a hollow slab beam and a steering block device body arranged on the lower side of the hollow slab beam. The steering block device comprises a bottom plate and a screw supporting plate located below the bottom plate, at least one set of adjusting screws are arranged between the bottom plate and the screw supporting plate, each set comprises two vertically-arranged adjusting screws, a steering block is arranged between the two adjusting screws in the same set, the section of the steering block is semicircular, and the arc-shaped face of the steering block faces downwards. The adjusting screw rod is in threaded connection with an upper adjusting nut and a lower adjusting nut which are used for clamping the end of the steering block in a matched mode. According to the adjustable steering block device for reinforcing the external prestressed tendon of the bridge, the damage degree to the bridge is small, the construction efficiency is high, the steering block is detachably installed, consumables are few, the height of the steering block can be adjusted by matching the adjusting screw rod with the adjusting nut, and the use is convenient. The height of the steering block can be directly adjusted according to the condition of prestress relaxation to improve the prestress degree of the prestressed tendon.

The invention provides a tendon-rope-driven robot dexterous hand finger based on single drive and a method. The tendon-rope-driven robot dexterous hand finger comprises a finger shell; the tendon rope is provided with an end chuck and a middle chuck; the winch is provided with a winch clamping groove, the middle chuck is connected to the winch clamping groove, and after the tendon rope winds around the winch, the two ends of the tendon rope are led out of the two sides of the winch. The tendon rope guide module is provided with a guide clamping groove, after the tendon rope bypasses the tendon rope guide module, the end chuck is connected to the guide clamping groove, and the tendon rope guide module is used for guiding the transmission path of the tendon rope and changing the extension direction of the tendon rope; the driving module is used for driving the winch to rotate, and the winch has a forward rotation state and a reverse rotation state: when the winch rotates in the forward direction, the tendon rope drives the front part of the finger shell to bend; when the winch rotates reversely, the tendon rope drives the front part of the finger shell to straighten. Bending and straightening of the finger knuckles are bidirectionally driven by the tendon rope through the single driving module, and the finger is small in size, compact in structure, light in weight, low in cost and very suitable for a high-degree-of-freedom robot dexterous hand.

Described herein are rigidizing apparatuses (e.g., devices, system, etc.) and methods of using them that may rigidize over a long length of the device from a highly flexible and maneuverable configuration to a highly rigid configuration, while maintaining a relatively small diameter. In particular, described herein are apparatuses and methods including pressure-compression tendons that may be used in conjunction with a second rigidizing layer to enhance stiffness, particularly at the distal end region.

The invention belongs to the field of tendon repair in biomedical materials, and provides a gradient mineralized collagenous fiber membrane and a preparation method thereof. And vertically placing the collagenous fiber membrane at the bottom of the container, and adding mineralizing liquid to prepare the gradient mineralized collagenous fiber membrane. The prepared high-orientation collagenous fiber membrane comprises a gradient mineralization layer and a non-mineralization layer, the gradient mineralization layer comprises an I-type collagen component and a HAp component in spatial gradient distribution, and the non-mineralization layer is composed of the I-type collagen component. The GMA-Col provided by the invention has an aligned layered fibrous structure, shows enhanced mechanical properties in the alignment direction, and is beneficial to spatial continuous change of mechanical rigidity. The differentiation surface morphology, the mineral content, the rigidity and the wettability of the local area can influence the adhesion, proliferation and differentiation of cells to a certain extent, and the mechanical property of the healing injury part and the recovery of the animal movement function are remarkably enhanced by implantation of the bone marrow bone marrow bone marrow bone marrow bone marrow bone marrow bone marrow bone marrow bone marrow.

An arrow receptacle structure for detecting the absence of an arrow and preventing the bowstring from being pulled, which is used for mounting on a bow body with an arrow rest platform and a bowstring spanning the arrow rest platform, wherein the arrow receptacle structure for detecting missing arrows and preventing the bowstring from being pulled comprises the following: an arrow magazine with an arrow slot connected to the arrow platform of the bow body, the arrow slot being used to stack multiple arrows on top of each other; an elastic compression unit comprising a push button and an elastic element, wherein one end of the push button is rotatably mounted on the arrow housing, the other end of the push button is provided with a compression section, and the elastic element uses elasticity to cause the compression section of the push button to press downwards against the uppermost arrow body located in the arrow storage channel; and A string holder provided in the arrow rest platform, the string holder having a first end and a second end opposite the first end, the string holder being pivotable on the arrow rest platform between the first end and the second end, the upper surface of the string holder being provided with a bearing section near the first end, and the second end of the string holder being provided with a stop section; the string holder being rotatably mounted on the platform between the stop section and the bearing section, and the bearing section being used to provide downward pressure on the printing section of the printer to raise the stop section of the string holder so that the stop section can block the drawing of the bowstring, thereby signaling that there is no longer an arrow in the fletching box.

The invention discloses an under-actuated manipulator based on hybrid transmission of a gear and a tendon rope mechanism, and relates to the technical field of manipulators. One end of the middle connecting mechanism is provided with the floating platform under-actuated mechanism, and the other end of the middle connecting mechanism is provided with three identical finger mechanisms; the floating platform under-actuated mechanism comprises a tendon rope lifting device, a floating platform, a tendon rope winding wheel and a driving motor, a tendon rope penetrates through the lifting device to be connected with the floating platform and then reaches the finger mechanism, and synchronous control over the finger mechanism is achieved; the finger mechanism sequentially comprises a wrist joint, an MP joint and a near-end knuckle and is driven by a single motor to achieve rotary motion. The near-end knuckles are sequentially connected with the DIP joints, the middle knuckles, the PIP joints and the far-end knuckles in series, transmission is achieved through tendon ropes, flexible belts are installed on the inner sides of the near-end knuckles, and self-adaptive grabbing and gripping are achieved. Meanwhile, a torsional spring and a limiting device are arranged at a joint, so that resetting and self-locking functions are realized. The under-actuated manipulator is high in adaptive capacity, high in flexibility and good in stability.

Orthopedic implants and related surgical methods for using same. The implants have suture bore geometries that facilitate performance of the surgical methods, thereby providing for improved optimal biomechanical force application in various anatomies. The implants include suture bores that have an angled / diagonal, or skewed, orientation within the anatomical planes (lateral / sagittal and frontal / coronal). The suture bores have the skewed orientation so that the adjacent soft tissues (i.e., tendons or ligaments) can be advanced via the suture therethrough in superior-inferior and inferior-superior directions. Openings, or holes, at the ends of the suture bores are configured to approximate the adjacent associated soft tissue to the implant.

The invention relates to a dumbbell bolt pin pipe pile connector and a design method thereof.The dumbbell bolt pin pipe pile connector comprises an upper pipe pile section, a lower pipe pile section, an upper end plate, a lower end plate and dumbbell bolt pins, and a plurality of evenly-distributed prestressed tendon anchoring holes are formed in the upper end plate and the lower end plate along the circumference; an opening is formed between every two adjacent prestressed tendon anchoring holes, cover plates are arranged at the positions, located at the openings, of the upper end plate and the lower end plate and seal the openings to form T-shaped grooves, every two corresponding T-shaped grooves are in butt joint to form an I-shaped bolt pin groove, a semicircular fastening hole is formed in one side of each bolt pin groove, and dumbbell bolt pins matched with the bolt pin grooves are arranged in the bolt pin grooves. Fastening pins are inserted into the fastening holes to lock the dumbbell bolt pins. The joint has the beneficial effects that vertical socket and spigot joint of a common mechanical joint is converted into horizontal pin joint, point connection of line connection and vertical pin joint of a welding joint is converted into face connection, and the joint is easy to manufacture, uniform in stress and higher in bearing capacity.

The invention belongs to the technical field of medical materials, and relates to a preparation method of an integrated gradual change type bionic gradient structure rotator cuff patch. The integrated gradual change type bionic gradient structure rotator cuff patch is prepared through the electric auxiliary solution blowing spinning technology and the heat treatment nanoimprint technology, the patch is of a composite layer structure, each transition layer and the adjacent micro-nano fiber membrane layer form a continuous fracture-free structure, the internal structure and component change are in uniform transition, discrete layering is avoided, and the patch has good application prospects. The whole patch is of a continuous gradual change type biological bionic gradient structure, histological gradient characteristics of a tendon-bone transition area are successfully simulated, and rapid healing of a tendon-bone interface can be effectively promoted.

Assembly (1) comprising an electrosurgical instrument (10) comprising a positioning shaft (13) having a distal portion (14), an articulating end (15) connected to the distal portion (14) of the shaft and comprising at least one tip (16; 17) of electrically conductive material having an elongated body forming a free end (18); a protective cap (20) fitted on the articulating end (15) of the electrosurgical instrument and comprising a body of electrically insulating material comprising a proximal opening (22) defined by a proximal opening edge (23) of the cap body, at least one distal opening (24; 25) defined by at least one distal opening edge (26; 27) of the cap; the at least one tip (16; 17) of the articulating end (15) is movable with respect to the positioning shaft (13) and is actuated by at least one actuation tendon (11); the at least one tip (16; 17) of the articulating end (15) comprises an actuation interface portion (19) for receiving the actuation action of said at least one actuation tendon (11); said actuation interface port ion (19) of the at least one tip (16; 17) is inside the protective cap (20); said at least one actuation tendon (11) is made at least partially of polymeric material; the body of the protective cap (20) is made of thermally insulating material; the free end (18) of said at least one tip (16; 17) of the articulating end (15) is exposed outside the protective cap (20); the body of the protective cap (20) is made of material impermeable to fluids and fumes; the at least one distal opening edge (26; 27) of the protective cap (20) is fitted with mechanical interference on the elongated body of said at least one tip (16; 17) of the electrosurgical instrument (10), resulting tight sealing adherent to the elongated body of the at least one tip (16; 17) of the electrosurgical instrument (10), for any operating configuration of the articulating end (15).

Methods for creating high-density arrays of suture stiches through a tendon into bone for reattachment of a torn tendon, particularly a rotator cuff tendon. The method includes providing a pre-strung plurality of anchors, each anchor having at least one passage therethrough with a continuous length of suture slidably and serially threaded through the at least one passage of each anchor. Each of the anchors further includes a locking assembly for locking the suture within the individual anchor. A first anchor is implanted through the tendon and the suture is locked. A second anchor is implanted a selected close distance from the first anchor, then applying tension to the suture extending from the first anchor and passing through the second anchor the second anchor is locked to create a single suture tensioned and locked stitch between the first and second anchor. This process is repeated for each anchor in the array.

The soft rehabilitation glove comprises a corrugated pipe driver, a glove body, a tendon line, a control box, a control system and a driving device, the control system and the driving device are located in the control box, one end of the tendon line is connected with the driving device, and the other end of the tendon line is connected with the corrugated pipe driver; the wall thickness of each joint section of the corrugated pipe driver is sequentially reduced from the finger root to the fingertip, the corrugated pipe driver is fixedly connected above the finger part of the glove, and the corrugated pipe driver is longer than the finger part of the glove; the control system is used for receiving an instruction of a user and controlling the driving device, and when the tendon line shrinks, the corrugated pipe driver shrinks and stores elastic potential energy, and meanwhile, the fingers are driven to stretch; when the tendon lines are loosened, the corrugated pipe drivers can extend, the elastic energy stored in the corrugated pipe drivers is released, and the fingers are driven to be passively bent. The device can avoid secondary damage and discomfort caused by overlarge force generated by active driving, has internal compliance and natural adaptability, and further has the advantages of being light in weight, easy to control, portable and the like.

Multiple systems are described for repairing or replacing anatomic ligaments and tendons utilizing toothed straps and bony anchors incorporating rotatable discs that lock the straps in an axial fashion. Specialized instrumentation is used to prepare the bone and to insert the anchor into the bone while providing proper orientation of the locking disc for accepting the toothed strap.

The utility model relates to a toothbrush head with ribs and a toothbrush. The toothbrush head with the ribs comprises bristles, a brush head body and a wrapping layer. The brush head body comprises hair planting holes and ribs; the bristles penetrate through the bristle planting holes, and the fixed ends of the bristles are fixed to the side, opposite to the free ends of the bristles, of the brush head body. The ribs are formed on the side, back on to the free ends of the bristles, of the brush head body and located between the bristle planting holes, and at least part of the ribs are connected with one another; the wrapping layer at least wraps the side, back on to the free end of the bristles, of the brush head body. According to the toothbrush head, the ribs are arranged on the toothbrush head body, the strength of the toothbrush head can be enhanced, meanwhile, the pull-off strength of the bristles is enhanced, and thinning design of the toothbrush head is facilitated.

The invention discloses an offshore foundation platform for relieving tendon fatigue load of a tension leg and an adjusting method. An offshore foundation platform for relieving tendon fatigue loads of tension legs comprises a platform body, a tension leg system and a driver. The platform body is provided with a cavity and floats on the sea surface; the tension leg system comprises a plurality of tension legs and a suction barrel, one end of each tension leg is connected with the platform body, and the suction barrel is arranged on the seabed and connected with the other end of each tension leg; the driver is provided with a water inlet and a water outlet, the driver is a water pump, the water inlet of the water pump is immersed below the liquid level of the seawater, the water outlet of the water pump is communicated with the cavity, and the driver is used for pumping the seawater into the cavity or pumping the seawater out of the cavity. The stability and safety of the platform can be improved, the fatigue load of the tendons of the tension legs can be relieved, and the service life of the tendons of the tension legs can be prolonged under the excitation of a complex marine environment.

Provided is a medical device formed entirely from or formed partially from a polymer, e.g., a polysaccharide such as chitosan. In some embodiments, the medical device may be formed as a tubular member formed from a sheet of a chitosan material. This chitosan tube may be used to wrap around tissue, such as a nerve or tendon to help with the regeneration or healing process of the nerve or tendon, as applicable.

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

An exemplary embodiment of the present disclosure provides a snake robotic device that can comprise a flexible member, one or more actuators. one or more tendons, and a controller. The flexible member can comprise a proximal end and a distal end. The one or more actuators can be configured to maneuver at least a portion of the flexible member. The one or more tendons each can comprise a first end connected to an actuator in the one or more actuators and a second end connected to a distinct portion of the flexible member, such that actuation of the one or more actuators can cause a resulting movement in the flexible member. The controller can be configured to transmit at least one control signal to the one or more actuators.

A robot leg structure imitating tendon motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one tendon-imitating driving stay wire structure, and the tendon-imitating driving stay wire structure is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, the joint load is small, the whole leg can be slender and exquisite, the stability of the joint structure is high, the needed initial driving force is small, therefore, the power consumption can be lower, and the robot has the long-time endurance walking capacity.