4 results about "Twisting movements" patented technology

A binding tool may comprise a binding mechanism, a feed motor configured to cause the binding mechanism to perform a feed motion, a twisting motor configured to cause the binding mechanism to perform a twisting motion, a sensing device configured to acquire state information representing the state of at least one of the binding mechanism, the feed motor, and the twisting motor, and a control unit. The control unit may be configured, after driving the twisting motor to initiate the twisting motion, to stop the twisting motion when a twisting stop condition is met.The control unit can be configured to set the twisting stop condition for the twisting movement based on the state information acquired by the sensing device before the twisting movement is executed.

The present invention provides a sensor-based upper limb exercise apparatus which is a rehabilitation apparatus provided with: a body part having an IMU sensor and a control unit therein, and configured to have a predetermined height in the vertical direction so as to be capable of being gripped by the hands; and a conductive cloth of which one portion is disposed on the outer side of the surface of the body part so as to detect pressure applied from the outside, and the other portions are embedded inside the body part and connected to the control unit, wherein the body part comprises a first body part and a second body part stacked in the vertical direction so as to be couplable or separable. The sensor-based upper limb exercise apparatus enables a rehabilitation motion in which a twisting force is applied to the first body part and the second body part so that a relative twisting motion occurs therebetween, or a separating force is applied thereto in the vertically separating direction, thereby separating the first body part and the second body part from each other, and during the rehabilitation motion, the control unit measures the pressure of the hands gripping the body part by using the conductive cloth, and measures the size of the twisting force or the separating force acting on the first body part and the second body part.

This invention relates to a rigid grasping manipulator based on Kresling and Waterbomb creases, comprising a Kresling crease wrist mechanism, a Waterbomb crease finger segment mechanism, and a base. The base is coaxially disposed at the bottom of the Kresling crease wrist mechanism; the Waterbomb crease finger segments are evenly distributed circumferentially at the bottom of the base. The finger segment mechanism utilizes the three-dimensional design of the peaks and valleys in the Waterbomb crease, replacing the peaks and valleys with rods to achieve bending and grasping at each fingertip. The wrist mechanism utilizes the torsion characteristic of the Kresling crease, allowing the manipulator's fingers to bend and twist simultaneously during grasping. By combining origami theory with the three-dimensional design of the mechanism, the manipulator achieves both grasping and twisting movements for capturing non-cooperative targets in space. This invention utilizes Waterbomb and Kresling creases to achieve the manipulator's retractability; the wrist and finger parts can be completely retracted, resulting in a smaller space occupied during launch and ensuring convenient transportation. Once the manipulator reaches the designated working track, it can be fully deployed for grasping operations.

The nursing-oriented double-arm teleoperation and data acquisition robot comprises a back mechanism, a left arm mechanism and a right arm mechanism, and the upper portion of the back mechanism is connected with the left arm mechanism and the right arm mechanism and used for supporting and driving double arms to act; the back mechanism is formed by sequentially connecting a bottom piece, a bearing table, a waist rotating steering engine, four air pressure rods, a caudal vertebra mechanism, a spine mechanism and a shoulder flange. Two waist rotation freedom degrees are introduced into the back mechanism, front-back bending and left-right twisting actions of the waist of the robot are achieved, and therefore the coordination of double-arm operation is remarkably improved. The telescopic structure of the pneumatic rod provides auxiliary support and damping adjustment for the waist, and the weight of the upper structure can be automatically balanced according to the load; and the waist steering engine is matched with the caudal vertebra mechanism to realize the bending action, so that the robot can simulate the trunk adjustment of a human body in the operation process. A more comprehensive rehabilitation environment can be provided for patients with waist problems, the waist activity is improved, and muscle recovery is accelerated.