422 results about "Wrist joints" patented technology

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

The invention relates to the technical field of mechanical wrist control, and discloses a mechanical wrist variable stiffness control method based on air pressure feedback. The method comprises the following steps: acquiring real-time air pressure distribution data and joint angle data of the multi-airbag system of the mechanical wrist; calculating an instant air pressure feedback vector of each airbag area according to the difference between the real-time air pressure distribution data and a preset air pressure reference value; based on the real-time air pressure feedback vector and the joint angle data, in combination with predefined airbag area rigidity influence factors, obtaining local rigidity adjustment amount of each airbag area; when it is detected that the real-time torque load of the wrist exceeds a preset load threshold value, the local rigidity adjustment amount is fused to generate a comprehensive target rigidity value of the wrist joint; the priority of contribution of each airbag area to the target stiffness is evaluated, an airbag state switching instruction is output according to the priority, the high-priority airbag area is switched to a high-pressure state, and the low-priority airbag area is maintained in a low-pressure or pressure relief state. The method enhances operation stability and energy efficiency.

A method including acquiring a hand movement video obtained by capturing images during a process in which a target user rotates a wrist joint from a first angle to a second angle while maintaining a hand posture with five fingers naturally extended, so that the hand movement video comprises a plurality of image content frames captured during a rotation process of the hand from a front / side view to a side / front view; acquiring curvature information of the fingers and / or nails from the plurality of image content frames acquired during the rotation process; and creating a 3D hand model of the target user based on the hand movement video, and optimizing key point parameters of the fingers and / or nails in the 3D hand model based on the curvature information of the fingers and / or nails. The present disclosure enables digital reconstruction of the hand and improve the reconstruction accuracy of the hand.

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

An orthosis for support of a joint, adapted to the thumb or wrist, having sleeve-like main member made of an elastic material, adapted to envelop the joint and distal and proximal limb portions on either side of the joint, elastically deformable panel housed in a pocket formed in the main member, and non-elastic bracing device for bracing the main member and a proximal portion of the panel around the proximal limb portion, the panel being configured such that, over at least 50 % of the length of the main member along the limb portions, including a limb portion covered by the bracing device, the panel has a cross-section occupying more than 30 % of the perimeter of the underlying limb, the panel having a stiffness defined by a Young's modulus between S and 10 MPa, while the material forming the main member has a stiffness of a lower order of magnitude.

The invention relates to the technical field of robots, and particularly discloses a bionic humanoid mechanical arm which comprises a shoulder joint module, a big arm module, an elbow joint module, a small arm module and a wrist joint module which are connected in sequence. The wrist joint module realizes two-degree-of-freedom flexible movement through a regular octahedron tensegrity structure, and the rotation centers of the wrist joint module naturally intersect at one point and are connected with the rolling shaft in series to form three-degree-of-freedom concurrent rotation; the length-adjustable supporting rod in the flexible structure changes the joint rigidity in real time and dynamically adapts to the load change so as to enhance the man-machine interaction safety; an elbow joint adopts a virtual pitch circle rolling mechanism, all joint-crossing driving rope paths are forced to remain unchanged, and multi-joint motion coupling is eliminated from the mechanical intrinsic level; a driving motor and a rope wheel system are arranged on the large arm module in a centralized mode, the rope tensioning state is continuously optimized in cooperation with a ratchet wheel type self-locking tension mechanism, and the tail end inertia is reduced under the condition that an elbow and wrist joint motor is completely removed.

The present invention provides a tantalum metal wrist joint prosthesis with a gradual porous structure and a wear-resistant layer, comprising: a distal implant, a special-shaped ball head, and a proximal implant. The distal implant comprises a distal insertion plug, a proximal platform, and a circular pin. The overall shape of the special-shaped ball head is a small half-notch of an ellipsoid. One end of the special-shaped ball head is provided with a socket that matches the circular pin, so that the distal implant and the special-shaped ball head are plugged and fixed. The other end of the special-shaped ball head is a convex ball structure. The proximal implant comprises a concave joint ball and a gradual porous structure segment. The surface of the concave joint ball is provided with a coating. The coating contacts the surface of the convex ball structure of the special-shaped ball head, so that the proximal implant and the special-shaped ball head are connected to form a compensatory wrist joint. The technical solution of the present invention solves the problems of incomplete coordination between artificial wrist joint prostheses and muscles and soft tissues, severe wear at the joint, and short service life in the prior art.

The present invention discloses a method for identifying mobile phone usage behavior in low-resolution monitoring scenarios, comprising the following steps: collecting low-resolution video images for frame-by-frame analysis, and identifying the wrist joint and head position in the analyzed low-resolution video images through an AlphaPose posture recognition model; obtaining a first probability that the mobile phone is being held by obtaining a mobile phone ROI area and its confidence based on a target detection model YOLOv7; based on the first probability, according to the wrist joint and head position, identifying whether there are several abnormal mobile phone usage situations in the current frame that indicate that the mobile phone is prohibited from being used in the current frame through an LSTM-based timing judgment model; the present invention realizes the identification of abnormal mobile phone usage behavior in low-resolution monitoring scenarios, and improves the applicability of intelligent recognition technology in low-resolution scenarios.

The present disclosure relates to a prosthesis (400) configured for implantation in a carpometacarpal joint in the wrist, the prosthesis comprising a first and a second implant part member (405a,b) configured to be screwed into a radius and metacarpal bone respectively. Each implant part member (405a,b) comprising an articulation member (420a,b) configured to be received in the bone fixation member (410a,b) in a releasable manner. The articulation members (420a,b) comprise orientation pins (423) configured to be inserted into bore sections of the bone fixation members 410a,b. When seated in the bore sections, the first portions of the articulation members (420a,b) with the orientation pins (423) are substantially centered along the central axes of the bone fixation members (410a,b), thereby forming common central axes extending through the bone fixation members (410a,b) and the articulation members (420a,b). The radius articulation member (420a) comprises a replacement articular surface configured for articulation with a replacement articular surface located on the metacarpal articulation member (420b). The radius replacement articular surface has (420a) a configuration that is asymmetric about the common central axis of the radius bone fixation (410a) and articulation members (420a). The bore sections have cross-section (419) extending perpendicularly to the central axis defining a first polygonal outline (429). The orientation pins (423) have cross-sections defining a second polygonal contour line, such that when the orientation pins (423) of the articulation members (420a,b) are seated in the bores of the bone fixation members (410a,b), rotation of the articulation members (420a,b) in relation to the bone fixation members (410a,b) is prevented.

A humanoid robot arm belongs to the field of humanoid robots and is characterized in that a first driving mechanism is mounted in a first arm fixing part, a second arm fixing part is connected with the output end of the first driving mechanism, and the second driving mechanism and a third driving mechanism are transversely mounted and fixed on the second arm fixing part; the upper end of the U-shaped arm fixing part is fixed with a shell of the third driving mechanism, the second lower end of the U-shaped arm fixing part is hinged with a Y shaft of the hollow cross shaft, the upper part of the manipulator flange is hinged with an X shaft of the hollow cross shaft, and the lower part of the manipulator flange is fixedly connected with the manipulator; the Y axis and the X axis of the mechanical arm intersect at one point, the intersection point is located on the axis, rotating around the Z axis of the arm, of the arm, the three axes intersect at one point, the conveying structure layout is consistent with the human arm movement structure layout, the size is gradually decreased from the elbow joint to the wrist joint, and the characteristic of simulating the human arm is achieved. And the two driving power sources bear driving loads at the same time, and the higher load capacity is achieved.

The application discloses a kind of located in humanoid robot joint sensing system and method, belong to humanoid robot technical field, system includes humanoid robot limbs and joint, camera, processor and calibration board, the joint includes shoulder joint, elbow joint, wrist joint and end effector, and / or hip joint, knee joint, ankle joint and end effector;Camera is composed of a binocular camera module and a TOF module, camera and processor are located on the joint of humanoid robot, processor calibration position, process the data obtained by camera and output control instruction to control end effector.The application can realize more extensive range of environmental perception, the camera on the joint can be freely adjusted with the movement of joint Angle and direction, so as to realize more flexible environmental perception and operation;Integrated camera data processing and motor control, reduce the communication delay between sensor and controller, improve the response speed and processing efficiency of system.

The application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot, which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting the movement of a patient's arm, the mechanical arm comprises, in sequence, a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

The invention discloses an XR gesture tracking and recognition method based on multi-view depth fusion. The method comprises the following steps: constructing a virtual camera by adopting a perspective cutting method, and dynamically extracting a hand region after geometric correction through gesture detection and perspective cutting of each frame of image; in combination with internal and external parameters of a camera, through position coding and a multi-head attention mechanism, a geometrical relationship between visual angles is modeled, semantic relevance of multi-visual-angle 3D features is deeply excavated, globally consistent hand representation is constructed, then six-degree-of-freedom information of wrist joints and rotation angles of the joints are output based on a regression device, and forward kinematics and a linear skin algorithm are combined, so that the degree of freedom of the wrist joints is calculated. Generating a complete hand posture and skeleton key point coordinates; and based on the key point position and the rotation angle of each joint, gesture recognition is realized through template matching. According to the method, multi-view image information and hand kinematics constraints are combined, high-precision and high-robustness three-dimensional gesture attitude estimation and classification are achieved while real-time performance is guaranteed, and the method is suitable for various XR scenes.

The utility model provides a disposable nail path protection device, and relates to the technical field of wrist joint fixing frames, the disposable nail path protection device comprises a supporting plate, a distance adjusting assembly is arranged on the surface of the supporting plate, the distance adjusting assembly comprises a fixing frame, the fixing frame is fixedly connected to the surface of one side of the supporting plate, and the distance adjusting assembly is arranged on the surface of the supporting plate. And a screw groove is formed in the surface of the other side of the supporting plate, a one-way screw is inserted into the screw groove, one end of the one-way screw is connected with a handle, and the other end of the one-way screw is connected with a first bearing. When the distance of the movable frame needs to be adjusted, the handle can be rotated to drive the one-way screw rod to rotate, so that the movable frame is moved through thread rotation, the distance between the movable frame and the fixed frame is adjusted, a screw channel can be protected through the sliding sleeve, and the overall practicability is improved; the problem that the distance of an existing nail channel cannot be adjusted according to the actual situation is solved.

A wrist joint (100) for a surgical instrument (160) having a proximal end (164), a distal end (166), an end effector (102) mounted at the distal end and (166) at least one actuation tendon (108a, 108b) for actuating the end effector (102) The wrist joint (100) comprises proximal and distal parts (110, 120) having respective proximal and distal rolling surfaces (112, 122), wherein respective axes (114, 124) extend through the proximal and distal parts (110, 120) centrally with respect to the associated rolling surfaces (112, 122). The distal part (120) is rotatably coupled to the proximal part (110) with the proximal and distal rolling surfaces (112, 122) able to roll against one another. Proximal and distal guiding assemblies (130, 132) are mounted to the proximal and distal parts (110, 120) respectively. Respective guiding surfaces (131, 133) of the proximal and distal guiding assemblies (130, 132) are configured to guide the at least one actuation tendon (108a, 108b) therebetween as the at least one actuation tendon (108a, 108b) extends from the proximal end (164) to the end effector (102), thereby decoupling actuation of the end effector (102) from wrist movement.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

To depict the actions and / or states of humans, animals, robots, etc., in a realistic or intriguing manner. [Solution] A wrist joint structure according to one embodiment comprises a plate-shaped projection 45 that protrudes from the base of the hand body 44 toward the forearm part 42, a palmar shaft portion 46 that protrudes from the projection 45 in the thickness direction of the projection 45, a joint shaft portion 47 that is pivotably connected to the palmar shaft portion 46, and a connecting projection 420 that protrudes from the tip portion 42E of the forearm part 42 toward the longitudinal direction of the forearm part 42, the connecting projection 420 having a forearm-side shaft support hole 421 that opens in a direction intersecting the longitudinal direction of the forearm part 42 and into which the joint shaft portion 47 is rotatably inserted.

The invention relates to a variable impedance control method for a wrist joint rehabilitation training robot, and the method comprises the steps: constructing a self-adaptive reference stiffness correction model, inputting the rehabilitation score of a patient and the real-time muscular tension of each motion dimension of a wrist joint, and outputting the self-adaptive reference stiffness of each motion dimension; constructing a composite cost function which comprises a contact force safety threshold penalty term model and an impedance parameter change rate penalty term model; and constructing an uncertainty weighted correction model, inputting the composite cost value, the state prediction result and the patient rehabilitation score, and outputting the weighted instantaneous cost. Through the composite cost function and the dynamic impedance adjustment strategy, the impedance adjustment characteristic of the human arm is simulated, high-rigidity rapid approaching in the non-contact stage, low-rigidity high-damping buffering in the contact stage and low-rigidity low-damping compliant control in the stable stage are achieved, and the training comfort and safety are improved. According to limb impedance characteristics, rehabilitation stages and training tasks of patients, personalized requirements and dynamic rehabilitation scenes of different patients can be adapted.

The embodiment of the invention provides a regular hole cutting method and device, a cutting robot and a storage medium, and relates to the technical field of robots. Geometric parameters and cutting parameters corresponding to the to-be-cut regular holes set by a user are obtained, and a plurality of cutting point positions corresponding to the to-be-cut regular holes are determined according to the geometric parameters; under the condition that the current cutting mode is determined to be wrist cutting according to the cutting parameters, the robot Cartesian position of the six-axis body when the sixth joint position serves as the zero-degree position is calculated through a kinematics positive solution; according to the Cartesian position of the robot, the point position Cartesian position of each cutting point position and the tool parameters of the cutting tool, the wrist joint position of the wrist mechanism under each cutting point position is calculated; and the wrist mechanism is driven to move according to the positions of all the wrist joints, so that the cutting tool is moved to all the cutting point positions for regular hole cutting, and therefore the machining efficiency can be improved while the regular hole cutting precision and the automation degree are improved.

This invention provides a brace that limits the range of motion of the wrist joint's ulnar flexion, which is made of two parts using a harder TPU material, causes less pain when worn, and can be used for water work. Solution: We used a hard, non-absorbent TPU material that provides a certain degree of fixation even at a thickness of 1.2 to 1.5 mm. TPU is a bendable material that does not stretch, so we designed it to fit the hand using a draping method. We designed it with a hole in the ulnar head area so that the position of the brace can be identified. The hook-and-loop fastener is designed to be passed through a slit and bent to be fixed in place, so that it can be easily replaced when it gets wet from water work, etc. Two types of designs were designed: a short type that is fixed with only two hook-and-loop fasteners at the wrist, and a long type that is fixed with three hook-and-loop fasteners and also restricts palmar and dorsiflexion of the wrist. The above materials and designs solved the problem.

The embodiment of the invention relates to the technical field of data processing and rehabilitation medical instruments, and provides a wrist joint rehabilitation method and related device based on multi-stage on-demand assistance grading, and the method comprises the steps: obtaining a compensation interaction torque, a real-time angle and a surface electromyogram signal; based on the compensation interaction torque and the surface electromyogram signals, extracting characteristic values through a sliding window method to obtain an average absolute value set and a root-mean-square value set; performing normalization processing on the average absolute value set and the root mean square value set to obtain a normalized eigenvalue set; dynamic weight distribution is carried out based on the real-time angle, and a muscle weight coefficient is obtained; performing score calculation according to the normalized characteristic value set and the muscle weight coefficient to obtain a comprehensive score set; according to the method, assistance interval division is carried out on the basis of the comprehensive score set, multi-stage assistance intervals are obtained, the multi-stage assistance intervals can be accurately divided, personalized and dynamic assistance grading of wrist joint rehabilitation training is achieved, and the pertinence and effectiveness of wrist joint rehabilitation training are improved.

The utility model discloses a finger recovery training device, which relates to the technical field of medical rehabilitation equipment and comprises an arm supporting plate, a palm supporting plate, a fixing component, an arm protecting plate and a finger recovery mechanism. The arm supporting plate and the palm supporting plate are of an integrated structure, the palm supporting plate is arranged close to one end of the arm supporting plate, the arm supporting plate is used for supporting an arm, and the palm supporting plate is used for supporting a palm and a wrist joint; the arm protecting plate is arranged on the arm supporting plate through the fixing assembly, and the arm protecting plate is matched with the arm supporting plate; the finger recovery mechanism comprises a four-finger recovery assembly and a thumb recovery assembly; the four-finger recovery assembly and the thumb recovery assembly are arranged on the arm protection plate; the technical problems that although some finger rehabilitation training devices exist in the market, the structure is complex, operation is inconvenient and the like generally exist, and in addition, some devices cannot be adjusted in a personalized mode according to the specific conditions of patients, and the training effect is limited are solved.

This application discloses a training method, apparatus, device, and storage medium for a joint angle prediction model, relating to the field of computer technology. The method includes: acquiring training sample data, which includes skeletal parameters, sample wrist joint pose sequences, and arm angle labels for the sample wrist joint pose sequences; obtaining arm angle feature information based on the sample wrist joint pose sequences using a selective state-space network of the joint angle prediction model to be trained; obtaining elbow position prediction information based on the arm angle feature information and skeletal parameters using a differentiable kinematic layer of the joint angle prediction model to be trained; and iteratively updating and training the joint angle prediction model to be trained based on a preset objective function, the training sample data, the arm angle feature information, and the elbow position prediction information to obtain a trained joint angle prediction model.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

The present invention relates to a joint bandage for a wrist or an ankle with a strap element, wherein the strap element has at least two elastic sections and at least one non-elastic section between the two elastic sections, wherein the second end of the strap element is reversibly fastenable to the strap element or to a tube element and / or wherein the strap element is at least 40 cm long.

The utility model is suitable for the technical field of rehabilitation training gloves, and provides an auxiliary glove for rehabilitation training of encephalopathy. The male magic tape is sewn on the outer wall of one side of the wrist strap through a needle and a thread; the female magic tape is sewn on the outer wall of the other side of the wrist strap through a needle and a thread; the corrugated telescopic band is fixed at the top of the wrist band; the connecting belt is fixed at the top of the corrugated telescopic belt; the palm sleeve is fixed at the top of the connecting band; the fingerstalls and the palm center belt are integrally formed on the inner side wall of the palm sleeve, and the fingerstalls are located above the palm center belt; expansion and contraction of the first air bag and the second air bag are achieved by controlling inlet and outlet of air in the first air bag and the second air bag, angle adjustment of the wrist strap and the palm sleeve is achieved through pushing force and pulling force generated by deformation of the first air bag and the second air bag, and therefore wrist movement is controlled, and rehabilitation training of hand wrist joints is facilitated. Manual auxiliary training is not needed, and manpower is greatly saved.

The customized artificial meniscus prosthesis comprises a meniscus body, a joint cotyle is arranged in the middle of the meniscus body, a meniscus joint protrusion capable of simulating the shape and the movement track of a meniscus is installed in the joint cotyle, and a center nail is fixedly connected to the top of the meniscus joint protrusion. The free end of the center nail extends out of the lunar bone body and is arranged in a head-shaped bone of the wrist of the human body, and a plurality of sets of ligament suture holes are further formed in the back side of the lunar bone body. The customized artificial lunar bone prosthesis provided by the invention aims to be applied to lunar bone replacement surgery, mainly aims at treating advanced lunar bone ischemic necrosis caused by non-traumatic or traumatic factors, and is beneficial to improving the stability of the prosthesis and improving the joint activity; basic biomechanics and clinical experiment research verify that the prosthesis has good mechanical properties and clinical curative effects, promote development of the lunar bone prosthesis, enable more patients to retain wrist joint movement, create more values for society and families, and contribute to achieving the goal of healthy China.

The application discloses a kind of fine-diameter pneumatic muscle driven elbow wrist joint flexible rehabilitation device, it is related to the technical field of rehabilitation robot, wearable rehabilitation equipment.It includes glove, wearing in the hand of human body;Elbow guard, wearing in the elbow of human body, is made of flexible fabric;Shoulder guard, wearing in the shoulder of human body, is made of flexible fabric;A pair of forearm fine-diameter pneumatic muscle bundle, setting in the front and back of forearm, one end is connected with glove, one end is connected with elbow guard;A pair of arm fine-diameter pneumatic muscle bundle, setting in the front and back of arm, one end is connected with elbow, the other end is connected with shoulder guard;Control system, the contraction and extension of forearm fine-diameter pneumatic muscle bundle and arm fine-diameter pneumatic muscle bundle are controlled, the data of elbow joint and wrist joint angle are acquired and handled.The application is convenient to wear, more conforming to human body, high comfort, good contraction performance, high compliance.