203 results about "Thigh part" patented technology

The invention discloses a pneumatic-muscle-driven exoskeleton assisting mechanism. One-arm members with four rotation freedom degrees are connected with both sides of the upper portion of a back support and are identical in structure. Each one-arm member comprises a shoulder joint part, an upper arm part, an elbow joint part and a forearm part which are connected successively. Two sides of the lower portion of the back support are connected with one-leg members with identical structures. Each one-leg members with identical structure comprises a hip joint part, a thigh part, a knee joint part, a shank part, an ankle joint part and a pressure shoe part. Each of the shoulder joint parts and the hip joint part has three rotation freedom degrees, and each of the elbow joint parts, the knee joint parts and the ankle joint parts has one rotation freedom degree. The exoskeleton assisting mechanism has 18 rotation freedom degrees altogether. The mechanism is simple in structure, low in weight, good in flexibility and capable of increasing wearer function power and being used in occasions of military actions, disaster relief, rescuing and the like, where human power is not enough to support required loads.

The invention relates to the technical field of a bionic robot and particularly provides an elastically driven walking leg in hybrid connection for a walking robot. The elastically driven walking leg structurally comprises three spherical hinges fixed on a leg base, wherein one of the spherical hinges is connected to a thigh part; the other two spherical hinges are connected to two elastic drivers, then are connected to a Hooke hinge and are connected to the thigh part through a middle linkage base; a Hooke hinge connecting plate is arranged between the Hooke hinge and the middle linkage base; a leg part is coupled with the thigh part through leg and thigh part connecting shafts; the tail end of the leg part is fixed together with a toe base and then is connected to a spherical foot; another elastic driver is arranged between the leg part and the thigh part; the upper end of the elastic driver is coupled with the thigh part connecting shaft through a connecting plate; and the lower end of the elastic driver is coupled with the leg part connecting shaft through a circular base. The invention designs a walking leg for the walking robot, wherein the walking leg has the advantages that the load capacity is great, the walking capacity is strong, the damping buffering capacity is excellent, the research value is high and the application prospect is wide.

The invention discloses a rehabilitation training robot for lower limbs, and aims to provide a rehabilitation training robot which is simple in structure, easy to process and compact in structure of each joint driving device. The key point of the technical scheme comprises a driving device for ankle joints, a driving device for knee joints and a driving device for hip joints; and a shank part and a thigh part are telescopic to adapt patients with different heights. The driving device for the knee joints is placed at the rear end behind a thigh rotating joint and is used as a counter weight for balancing the weight of a movement part of the robot; and the driving device for the hip joints is placed on a base and does not participate in the movement of the robot, so that the weight of the movement part of the robot is greatly reduced. The driving of the joints is realized by a motor through a reducer; and a moment (force) sensor is arranged, and an absolute position encoder and an electromagnetic brake are arranged on the knee joints and the hip joints. The rehabilitation training robot is mainly used for performing passive training, active training or assisted training on the patients with lower limb disability.

The invention provides an exoskeleton-based wearable lower limb rehabilitation robot comprising a waist device, two leg devices in left-right symmetry and two foot devices in left-right symmetry. The waist device is worn on a waist part of a human body and comprises a waist support part, a waist drive device, a waist movement component, a waist band and leg connecting members. The leg devices are in hinge joint with the waist device and are tightly tied to the legs of the human body via flexible tying belts, and each leg device comprises a leg drive device, a thigh part and a shank part. The foot devices are worn on the feet of the human body and are in hinge joint with the leg devices; each foot device comprises a foot drive device, a foot support and a bottom plate. The exoskeleton-based wearable lower limb rehabilitation robot can assist patients or old people in completing lower limb rehabilitation training including waist movement and improves the lower limb rehabilitation training effect; the robot is simple and compact in structure, is convenient to wear, can be worn by people of different body forms through an adjusting mechanism, and is wide in application range; the waist mechanism can meet the waist movement rules under different paces.

The invention relates to a nursing robot which is characterized in that a split-type double-layer bed surface structure, a right-angle-similar trapezia overall frame, and a four-wheel arrangement mode of two universal wheels and two differential driving wheels are adopted; a back lifting component is located at the middle-rear part of the right-angle-similar trapezia overall frame, and the upper end of the back lifting component is hinged with a lower-layer plate at the back of a bed surface; leg lifting components are located at the front part and both sides of the right-angle-similar trapezia overall frame, and the upper ends of the leg lifting components are respectively hinged with a lower-layer plate of a thigh part and a lower-layer plate of a calf part; left and right overturning components are located between the back lifting component and the leg lifting components, and the left and right overturning components are in high-pair connection with overturning plates; a treadle lifting and descending component is attached to the lower-layer plate of the calf part so as to satisfy the requirements of crowds with different heights on the treadle position; a vehicle intellect toilet seat system is located at the rump position of a human body, namely below a rump plate at the middle of the right-angle-similar trapezia overall frame; a toilet seat main body is capable of being lifted and descended; and a toilet seat cover is capable of being opened and closed. According to the invention, the robot can be used as an intellect tool for riding instead of walking, and can also satisfy diversified posture requirements and intellect toilet seat requirements in household and hospital routine nursing.

The present invention provides a harness type safety belt capable of absorbing a dropping shock to a user even if the user accidentally falls from an elevated position. According to the present invention, in such a case that a user A fails to apply a hook of a rope to a life line and the user A falls from an elevated position, an air bag 2 provided in a mounting body 1 is inflated. Therefore, the air bag 2 can absorb a dropping shock and the dropping impact applied to the user A can be reduced. In addition, in the case where the user A falls with the hook of the rope being connected to the life line, the user A is suspended by the rope. The body of the user A is supported by not only a waist part belt 1b but also shoulder part belts 1a and thigh part belts 1c. Therefore a tension applied from the rope to the body of the user can be dispersed to each of the belts 1a, 1b and 1c and the body of the user can be stably supported.

The invention discloses a smart quadruped robot with a flexible waist. The smart quadruped robot with the flexible waist comprises a front body, a rear body, a waist mechanism, crotch mechanisms and leg mechanisms. The front body and the rear body are connected through a split Hooke joint, so that relative deflection and pitching of the front body and the rear body are realized. The front body and the rear body are respectively provided with two crotch mechanisms, wherein output shafts of the crotch mechanisms are made to face the outer side of the bodies so that the leg mechanisms can be installed; the output shafts are meshed with bevel gears between transmission shafts for transmission, so that the output shafts are driven through rotation. A fixed shaft is fixed to each crotch mechanism, and the fixed shafts are driven to rotate to rotate a gearbox; in this way, the leg mechanisms can swing front and back as well as up and down. Each leg mechanism comprises a thigh part and a calf part, wherein each thigh part and each calf part are connected through a knee joint; transmission of the knee joints is realized through two bevel gears, so that the calf part made to swing front and back relative to the thigh part. The smart quadruped robot with the flexible waist has the advantages that the capability of passing through a mountain environment of the robot can be improved, the turning radius in the advancing process is reduced, rotational inertia of legs of the robot is reduced, and the energy utilization rate is increased.

The invention discloses a household-type rehabilitation training robot for lower extremity exoskeleton. The robot is mostly composed of two sets of exoskeleton training devices with the same structure. The exoskeleton training devices are fixed on a frame and height-adjustable and arranged in the form of bilateral symmetry. The exoskeleton training devices comprise hip fixing rods, hip joint parts, thigh parts, knee joint parts and calf parts. The thigh parts and the calf parts are length-adjustable. Hip joints and knee joints are driven by mutually-independent driving devices such that the two sets of exoskeleton training devices do not interfere with each other. The exoskeleton training devices cannot only coordinate motions but also carry out rehabilitation training on unilateral limbs. Therefore, adaptability and practicability of the robot are improved. The household-type rehabilitation training robot for lower extremity exoskeleton has the following beneficial effects: the robot is simple in structure, low in cost and small in size and convenient to use and suitable for users to carry out rehabilitation training at home; according to body parameters of users, the size and relative position of the robot are adjusted; the personalized need of a user for rehabilitation training is met; and the recovery effect is good.

A rotating and sitting-up bed includes a height-adjustable base and a support frame, which is connected to the base by means of a rotating articulated element. The support frame can be rotated by 90 degrees relative to the vertical axis with the help of the rotating articulated element. The support frame is divided into a back section, a center section, a thigh section, and a lower-leg section. In the rotated position, the support frame can fold into a Z shape, wherein the back part projects upwards starting from the center section and the lower-leg part hangs downwards from the thigh part. In addition, a crank mechanism ensures that the thigh part is raised by a few cm at its front edge, which is adjacent to the back of the knee of the patient.

The invention relates to the technical field of joint assistance, and particularly discloses a multi-joint rigid-flexible combined assistance lower limb exoskeleton. The multi-joint rigid-flexible combined assistance lower limb exoskeleton comprises a hip joint binding system and a leg supporting system, wherein the hip joint binding system comprises a hip joint binding part and a driving assemblyarranged on the hip joint binding part; the leg supporting system comprises a first rope, a second rope, a thigh part, a knee joint part and a shank part; the thigh part, the knee joint part and theshank part are mutually matched to support the legs of the human body and assist the human body in standing; the thigh part and the shank part are connected to the driving assembly through the first rope and the second rope respectively; and the driving assembly is used for driving the thigh part and the shank part to do corresponding movement through the first rope and the second rope respectively. By means of the mode, the legs of the human body can be supported and assistance is provided for swinging and bending of the knee joint part; and moreover, the structure is simple and stable, and the weight is light.

The invention discloses a wearable chair. The wearable chair comprises a foot locating part, a first connecting rod mounted at the outer side of the human shank part, a second connecting rod mounted at the outer side of the human thigh part, a third connecting rod, a locating movable part, a hip support part, a controller used for controlling the locating movable part, a first fixing part for fixing the first connecting rod to the outer side of the human shank part, and a second fixing part for fixing the second connecting rod to the outer side of the human thigh, wherein the bottom end of the first connecting rod is hinged to the foot locating part, the first connecting rod is hinged to the second connecting rod, one end of the locating movable part is hinged to the first connecting rod, the other end of the locating movable part is hinged to the second connecting rod, the third connecting rod extends from the second connecting rod, and the hip support part is arranged at the free end of the third connecting rod. The wearable chair can satisfy the different sitting posture demands of users, and the risk that the legs of the users intervene with the first connecting rod and the second connecting rod of the wearable chair is reduced.

The invention discloses a quadruped robot and a gait planning method thereof. The quadruped robot comprises a robotic trunk, wherein the upper part of the front end of the robotic trunk is connected with a robotic head through a robotic neck, and the lower part of the robotic trunk is connected with four legs of a first leg, a second leg, a third leg and a fourth leg; the first leg and the second leg are mounted at the front end of the robotic trunk, the third leg and the fourth leg are mounted at the rear end of the robotic trunk, and each leg comprises four parts of a shank part, a thigh part, a vertical rod part and a horizontal rod part which are sequentially connected from bottom to top; a control device is arranged on the trunk and used for controlling the robot to walk. The quadruped robot disclosed by the invention has the functions of walking smoothly and automatically avoiding obstacles.

The invention discloses a flexible quadruped robot which comprises a flexible spine and a steering device. The flexible quadruped robot comprises four legs and a spine, wherein the two ends of the spine are respectively fixed on a front shoulder beam and a rear shoulder beam; the four legs are respectively connected with the front shoulder beam and the rear shoulder beam; a lower spine pull-down rope is connected on the middle position of the thigh part of each leg; one end of the lower spine pull-down rope is connected with the thigh part while the other end of the lower spine pull-down rope penetrates through a lower hollow tube to be connected with the middle part of the spine; an spine pull-up rope is connected with the end part of the thigh part of each leg, close to the spine; one end of the spine pull-up rope is connected with the end part of the thigh part while the other end of the spine pull-up rope penetrates through an upper hollow tube to be connected with the middle part of the spine; a support shaft which is vertical to the spine is arranged at the center of the spine; under the driving of a driving device, the whole robot is steered relative to the support shaft.

The invention discloses a lower limb assistance mechanical outer skeleton. The lower limb assistance mechanical outer skeleton comprises a back support, a thigh part, a shank part, a knee joint driving mechanism and a foot sole. The top of the thigh part is hinged to the back support through a hip joint. The top of the shank part is hinged to the bottom of the thigh part through a knee joint. The knee joint driving mechanism drives the knee joint to move, and thus the shank part rotates relative to the thigh part through the knee joint. The foot sole is connected with the bottom of the shank part through an ankle joint. The lower limb assistance mechanical outer skeleton can enhance the high load and flexible movement ability of people and has the characteristics of being low in cost, convenient to use and simple to maintain.

The invention discloses a quadruped robot. The quadruped robot comprises a front robot body and a rear robot body; the front robot body is connected with the rear robot body through an elastic device;a driving cylinder is also arranged between the front robot body and the rear robot body; relative rotation between the front robot body and the rear robot body is realized by inflating and deflatingthe driving cylinder so as to realize straightening or bending of the robot body; two front outriggers are mounted on the front robot body; two rear outriggers are mounted on the rear robot body; thetwo front outriggers and the two rear outriggers are correspondingly mounted on one rotating shaft so as to realize the swinging of the rear outriggers relative to the rear robot body and the swinging of the front outriggers relative to the front robot body; and shank parts of the front outriggers and the rear outriggers can expand and retract relative to corresponding thigh parts.

Armchair with a seat surface and a leg rest which can be pivoted out, wherein the armchair can be pivoted between a sitting position and a reclining position, for which purpose the seat surface can be displaced to the rear in relation to a fixed frame and is articulated in the front region via erecting levers. The leg rest is coupled to the seat surface in such a manner that it is pivoted when the seat surface is displaced to the rear. The leg rest is connected to the erecting levers by a first sliding mounting and is articulated on the fixed frame by a second sliding mounting. The first sliding mounting is connected pivotably to the second sliding mounting, and the second sliding mounting is configured in such a manner that its orientation changes during the pivoting operation. The leg rest has a thigh part and a calf part that are connected pivotably to each other in such a manner that, when the seat surface is displaced to the rear, the calf part is pivoted from a position arranged approximately parallel to the seat surface and below the seat surface into an approximately horizontal position.

The invention provides an excreta treatment device for nursing. A nursed person can be adjusted to be in a posture suitable for excretion when the excretion is needed; after the excretion, the sufficient and proper cleaning treatment can be provided; meanwhile, equipment such as the bed surface near the hip of the nursed person cannot be contaminated in the excretion and cleaning treatment process, so that the work intensity of a nursing person can be greatly reduced; and the life quality of the nursed person can be improved. The excreta treatment device for nursing comprises a posture adjusting device; and the posture adjusting device can be used for adjusting the posture of the nursed person, corresponds to the positions of the upper body, the hip and the legs of the nursed person, and can realize the switching between the initial position and the excretion position. When the posture adjusting device is positioned in the excretion position, compared with a part, corresponding to the waist part and the thigh part of the nursed person, of the posture adjusting device, the part, corresponding to the thigh part of the nursed person, of the posture adjusting device is lower.

The invention relates to a mechanical human hip exoskeleton bearing device, comprising a left hip and a right hip which are structurally symmetrical. The left hip and the right hip are hinged to form an X-shaped structure via a hip center hinge pin, and two springs are respectively arranged at the top and the bottom of the X-shaped structure and between the left hip and the right hip. The other ends of the left hip and the right hip are respectively hinged with two leg and hip connecting parts, and the other ends of the two leg and hip connecting parts are respectively hinged with first connectors of two universal connecting parts. Second connectors of the two universal connecting parts are respectively connected with two tappet rods, the other ends of the two tappet rods are respectively sleeved in two sleeves, and two pressure springs for supporting the tappet rods are respectively arranged in the two sleeves. The other ends of the two sleeves are respectively hinged to the lower portions, close to the hips, of the two leg and hip connecting parts. Third connectors of the two universal connecting parts are respectively hinged with two leg adjusting parts, and the other ends of the two leg adjusting parts are fixedly connected with the upper ends of thigh parts of leg bearing devices. The mechanical human hip exoskeleton bearing device can transmit load on a back rack of a human exoskeleton carrying power assisting device to the leg bearing devices, and has high flexibility and a damping function.

The invention relates to the technical field of lower extremity exoskeletons and discloses a whole lower extremity exoskeleton and an operation method of the whole lower extremity exoskeleton. The whole lower extremity exoskeleton comprises a skeleton system, wherein the skeleton system comprises a waist-hip frame (1), a left leg frame and a right left frame, wherein each of the left leg frame and the right left frame comprises a thigh part (2), a shank part (3) and a foot part (11); an auxiliary internal and external leg expansion device (4), an auxiliary internal and external leg rotating device (5) and an auxiliary leg flexion-extension device (6) are arranged between the waist-hip frame (1) and each thigh part (2); each auxiliary internal and external leg rotating device (5) comprises a first rotating shaft (51); and the direction of each first rotating shaft (51) is vertical to the horizontal plane. The whole lower extremity exoskeleton has the function of strengthening or partially replacing the lower limb movement capacity of a user, and is suitable for users with amputated lower limbs or poor lower limb movement capacity.

The invention discloses a foot-type robot single-leg device and a robot. The foot-type robot single-leg device and the robot are used for solving the problems that an existing foot-type robot single-leg structure is complex in structure and high in cost. The foot-type robot single-leg device comprises a hip part, a thigh part and a shank part. The hip part and a hip driving mechanism are connectedthrough a hip connecting piece to form a hip joint; the hip part and the thigh part are connected through a first rotating pair to form a crotch joint; the thing part and the shank part are connectedthrough a second rotating pair to form a knee joint; the hip part is connected with the thigh part through a hip-leg connecting piece; the hip part is driven by the hip driving mechanism, thus the thigh part rotates around the X-axis, and the thigh part is driven by a crotch driving mechanism to rotate around the Y-axis; a knee driving mechanism on the thigh part is connected with the shank partthrough a shank connecting piece, and the shank part is driven by the knee driving mechanism to rotate around the Y-axis; and the hip driving mechanism, the crotch driving mechanism and the knee driving mechanism are of the same structure and are all ball screw driving units.

The invention relates to a disabled-helping advancing lower lib wearable exoskeleton and a disabled-helping advancing method thereof. The existed disabled-helping wearer structure design is not reasonable and fine, so that the human body is not coordinate in advancing process. According to the disabled-helping advancing lower lib wearable exoskeleton, a crotch rotating joint (5) at every side drives a thigh joint (1) through a motor and a reducer (6) of the thigh part; a thigh part length adjusting joint (8) is connected with a shank joint (2) through a motor and a reducer (9) of the shank part; a shank part length adjusting joint (11) is connected with a foot holding plate (3) through a knee rotating and internal retraction joint (12); a pressure sensor (14) is mounted on the foot holding plate (3); the advancing gesture is detected through an ankle gesture sensor (13) and a pressure sensor (14). The disabled-helping advancing lower lib wearable exoskeleton has the advantages of being closer to human body and making movement of the human body more free.

The invention discloses a walking assisting device. The device comprises a base part, a thigh part, a shank part, a foot part and a clutch device, and requirements for large torque and low weight are met. The clutch device is specially designed to reduce the weight of the device and increase the bearable torque of the device during working. The device provides upward pushing force for a wearer by the aid of the saddle-type base part located at the crotch of the wearer, so that pressure on both feet and both knees of the wearer is reduced, and the walking assisting effect of convenient walking is realized. Torque is output by a motor to drive assemblies such as a speed reducer, the clutch device and the like, an included angle formed by a thigh and a shank is enlarged, rotating torque is formed, and the base part is lifted. The clutch device adopts a ratchet wheel and pawl structure, and one-way or two-way clutching can be realized. The device provides walking assistance for people having difficulty in walking.

The invention discloses a hip joint assistance exoskeleton system capable of realizing auxiliary supporting of loads. The hip joint assistance exoskeleton system is characterized in that the hip jointassistance exoskeleton system comprises a back frame part, a waistband part, hip joint parts, thigh parts, knee joint parts, shank parts and foot parts; and the waistband part is connected to the lower side of the back frame part, the lower parts of the two sides of the waistband part are connected with two lower limb exoskeletons composed of the hip joint parts, the thigh parts, the knee joint parts, the shank parts and the foot parts correspondingly, and the lower limb exoskeletons on the two sides of the waistband part are of the same structure and are installed in a mirror symmetry mode.According to the exoskeleton system designed by the invention, under the premise of providing walking assistance and auxiliary supporting of the loads for a wearer, the movement range of each joint degree of freedom of man-machine coordination is enlarged, so that the natural gait of the wearer is not influenced.

The invention discloses a massage-type crotch support device with a stress relieving function for an obstetrics and gynecology department. The massage-type crotch support device comprises a support seat, an elbow placement frame, a connection block, a limiting block and a corrugated pipe, wherein the elbow placement frame is arranged at the upper end of the support seat through bolts; a connectionshaft is nested at the outer end of the elbow placement frame; the outer end of the connection shaft is fixedly connected with a movable block; a first air bag is arranged at the tail end of the movable block; and a docking hose is nested at the outer end of the first air bag and is connected with the inner side of the support seat. According to the massage-type crotch support device with the stress relieving function for the obstetrics and gynecology department, a patient with emotional stress can apply force by holding the first air bag nested at and docked with the outer end of the movableblock to carry out stress relieving operation, the compressed first air bag stably carries out pressure applying work on the corrugated pipe through the docking hose, and the corrugated pipe deformsto push a second massage block in a reciprocating manner, thereby carrying out soft massage stress-relieving work on thigh parts of the patient.

The invention relates to the technical field of furniture and particularly relates to a demountable chair. The demountable chair consists of a chair body, a seat supporting frame and chair legs, wherein the chair body comprises a seat which is used for undertaking the hip-thigh part of a human body, the upside of the seat supporting frame can be detached from the seat, the downside of the seat supporting frame can be detached from the chair legs, the seat supporting frame comprises a load bearing frame, which is provided with a flat upper surface and is formed through interconnecting four hollow metallic tubes, and supporting bodies which are fixed to the lower surface of the load bearing frame and are used for being connected with the chair legs, the four hollow metallic tubes are of an arc concave shape towards the center of the load bearing frame, the concave hollow metallic tubes are in end-to-end connection sequentially, and structures that adjacent hollow metallic tubes are abutted with one another by sidewalls are formed at junctions; the upper ends, in the vertical direction, of the supporting bodies are welded to the lower surfaces of the bottom walls, adjacent to abutted sidewalls, of adjacent hollow metallic tubes. The demountable chair has the advantages of simple and firm structure, strong carrying capacity, difficulty in deformation, convenience in production, convenience in demounting and low cost.

Tights that while realizing efficient training of the psoas major, are capable of avoiding any detriment to sensation of wearing attributed to disposing of a high-elasticity part to a zone not required for loading on the psoas major. There are provided tights characterized in that in a given region of backside corresponding to a site of large stretch of the skin at the hip part or posterior part of thigh made when the thigh part of human body is lifted, there is disposed a high-elasticity part with height-direction elastic modulus higher than that of at least regions of foreside corresponding to the abdominal part and anterior part of thigh as well as region of backside other than the above given region.

The present invention provides a body component meter which can easily and correctly measure the thickness of the subcutaneous fat at the abdomen, the thigh part, the upper arm part and the like measured parts. It is composed of the following components: a weight machine (2) which measures the body weight of the testee standing on the upper side; and a measuring unit (3) which is independent from the weighting machine (2); the measuring unit (3) is provided with the following components: a measuring used electrode (9) which contacts with the body of the testee and is used to measure the body impedance; and a sebum depth measuring part (12) which is used to measure the subcutaneous fat of the measuring part (20) of the testee. It is provided with a communication mechanism which does communication between the weighting machine (2) and the measuring unit (3). And it is also provided with a control part which simultaneously displays the measuring result on the display part (10) according to the test result which is tested by the weighting machine (2) or measuring unit (3) and is relative to the body composition.

The invention discloses a multi-degree-of-freedom robot. The multi-degree-of-freedom robot comprises a machine body and further comprises a head up-down rotary joint, upper shoulder joints, a shoulder joint connecting base, lower shoulder joints, elbow joints, a head left-right rotary joint, upper hip joints, a hip joint connecting base, lower hip joints, thigh parts, knee joints, shank parts, a front ankle joint, rear hip joints, a rear ankle joint and soles, wherein the head left-right rotary joint and the head up-down rotary joint are arranged on the top of the machine body for connecting a robot head; the upper shoulder joints are mounted on left and right shoulders of the machine body; the upper shoulder joints are connected with the shoulder joint connecting base; the lower end of the shoulder joint connecting base is further connected with the lower shoulder joints; the lower shoulder joints are connected with robot arms by the elbow joints; the upper hip joints are connected at the left and the right ends of the machine body respectively; the upper hip joints are connected with the hip joint connecting base; the lower end of the hip joint connecting base is connected with the lower hip joints; the rear end of the hip joint connecting base is connected with the rear hip joints; and the rear hip joints are connected with the lower hip joints. The multi-degree-of-freedom robot can imitate action of people well, and is vivid in gesture.