52 results about "Joint Flexibility" patented technology

The invention relates to a variable rigidity parallel joint snake-shaped robot mechanism and belongs to the field of robots. A robot is formed by a plurality of action units in serial connection. Each action unit comprises a two freedom degree spatial parallel joint. The joint comprises a fixed U branch chain and two SPDU drive branch chains. Each drive branch chain comprises a variable rigidity linear driver. A rotary shaft and a drive gear parallel with the fixed U branch chain form contour of each action unit. The rotary shaft is connected with the fixed U branch chain through a vibration isolating device which can balance off reverse moment. Rigidity and damp of the drive branch chain is controllable and variable, so that terrain adaptability of the snake robot can be improved by increasing joint flexibility, posture accuracy and stability of the snake robot can be improved by increasing joint rigidity, and applicability of the snake robot is improved. Vibration generated during action of the robot is absorbed by the vibration isolating device and the drive branch chain, impact moment tolerance of the snake robot joint is improved, and accordingly motion speed and efficiency of the robot are increased.

The invention discloses a planar torsion spring suitable for robot joints mainly comprising an outer ring of torsion spring, an inner ring of torsion spring and a plurality of elastomers; the elastomers are uniformly distributed along a circumference, and the two ends of the elastomers are respectively connected with the outer ring of torsion spring and the inner ring of torsion spring; each elastomer is composed of two symmetrical elastomer units, and each elastomer unit comprises an excircle hole slot, an inner circle hole slot and connecting beams; the inner ring of torsion spring is connected with the inner circle hole slot through the connecting beam, the inner circle hole slot is connected with the excircle hole slot through the connecting beam, and the excircle hole slot is connected with the outer ring of torsion spring through the connecting beam; the inner ring of torsion spring of the planar torsion spring drives the inner circle hole slot to generate elastic deformation through the connecting beam during the rotation process, and the inner circle hole slot drives the excircle hole slot to generate elastic deformation through the connecting beam; the serial elastic deformation of the inner circle hole slot and the excircle hole slot realizes the large angle deformation of the torsion spring; and the planar torsion spring disclosed by the invention guarantees joint flexibility, more compact structure and more flexible design, so that the planar torsion spring is fit for robots and mechanical arm joints.

The invention relates to a flexible biped robot, in particular to a pneumatic-electric combined driving flexible biped robot. The problems that linkage between joint flexibility and a dynamic response characteristic of existing flexible biped robots is poor, the walking efficiency of the robots is low and the dynamic stability of the robots is poor are solved. The pneumatic-electric combined driving flexible biped robot comprises a left leg, a right leg and a pelvis. The left leg and the right leg each comprise a thigh, a shank, a foot, a hip joint, a knee joint and an ankle joint. Each hip joint comprises a one-way series-connection elastic driver and a hip joint transmission mechanism. Each one-way series-connection elastic driver comprises a motor, a motor seat, a torsion spring, a first hub, a second hub, a first clamping ring, a second clamping ring and a hip joint driving shaft. Each hip joint transmission mechanism comprises a driving belt wheel, a driven belt wheel, a driving belt and a hip joint driven shaft. The driving belt wheels are mounted on the hip joint driving shafts correspondingly. Each knee joint comprises a knee joint driving mechanism and a knee joint transmission mechanism. The pneumatic-electric combined driving flexible biped robot belongs to the field of humanoid robots.

A knee rehabilitation device is provided which can be used in various stages of knee rehabilitation to facilitate a full range of knee motion and promote joint flexibility following a knee impairment. The device, which can be can be used by a patient with or without the aid of medical personnel, is simple to use, compact, and is highly adjustable to accommodate different therapy regimens, and different leg sizes. To achieve maximum stretch of affected tissues of a pathologic joint, the device can be used without the need of lower extremity muscle involvement. A first embodiment device is machined or cast from a lightweight structural metal, such as titanium, aluminum or magnesium. The device includes a handle of adjustable length that is rotatably coupled to a parallel-beam leg support. The leg support provides attachment points for multiple adjustable slings that bridge the gap between the parallel beams.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.

The invention discloses an orthorhombic three-freedom joint with relatively high integration driven by pneumatic artificial muscles. The orthorhombic three-freedom joint comprises a hooke joint mechanism consisting of an X-axis bracket, a Y-axis bracket and a cross shaft, wherein an Z-axis bracket is arranged on the top of the Y-axis bracket; a steering mechanism is arranged on the Z-axis bracket; a tail end performer is arranged on the top of the Z-axis bracket; artificial muscles are arranged at one sides of the steering mechanism, the X-axis mechanism and the Y-axis mechanism; ends of the artificial muscles are connected with the bracket through a nut, and the other ends of the artificial muscles are connected with a transmission rope; the transmission rope is vertically nested on the tail end performer and the shaft shoulder of the cross shaft through the steering mechanism. The orthorhombic three-freedom joint realizes three-freedom orthogonality, simplifies motion equation, improves the control speed, strengthens the joint flexibility and expands joint working sace.

An experimental facility for analyzing and controlling vibration characteristics of a flexible joint and a flexible armed lever comprises a sensor detecting unit (10), a data acquiring and processing unit (20) and an upper computer (30) which are sequentially connected to one another; and the sensor detecting unit (10) comprises a first coder (11), a second coder (12) and a first sensor (13). The method for analyzing and controlling the vibration characteristics of the flexible and the flexible armed lever comprises the following steps of respectively detecting position measurement signals of the flexible joint and bending and vibrating signals of the flexible armed lever by using the coders and the sensor; and performing calculation to respectively obtain vibration quantity data of the flexible joint and vibration quantity data of the flexible armed lever. Accurate data of joint vibration, armed lever vibration and tail end synthesized vibration caused by joint vibration and armed lever vibration can be obtained, the upper computer has an operation interface with a plurality of functions and is quite convenient to operate, and joint flexibility parameters can be recognized by the experimental facility through an experimental result and on the basis of theoretical analysis.

The invention discloses a cable-driven flexible robot capable of stretching and bending simultaneously. The robot comprises a drive module base 1, a motor 2, a pulley 3, a pulley 4, a drive coupling flange 5, a drive top coupling flange 6, a connecting rod 7, a middle drive module 8, a disk 9, a disk 10, a disk 11, a flexible pipe 12, a middle flexible pipe 13, a flexible pipe 14, a rope 15, and ablow hole nail 16. The robot disclosed by the invention has local bending and stretching functions, and the stretching sequence and length are flexible and controllable. The robot disclosed by the invention has the advantages of high joint flexibility, simple realization way and high controllability.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness. An embodiment of the device includes a framework, a first and second crank arm, a first and second handle bar, a first and second foot pedal, a motor and pulley assembly, a first and second coupler link, and a motor controller with speed knob.

The invention discloses a multiple repeated butt joint method of a spacecraft space, and relates to a micro spacecraft space butt joint method. The multiple-repeated butt joint method of the spacecraft space comprises the following steps of: coating a pressure-sensitive adhesive or gecko glue on the surface of a flexible unfolding device; then storing the flexible unfolding device closely in a spacecraft launching cabin in a folded mode when launching is implemented; opening an airtight device after the flexible unfolding device enters a predetermined orbit, stretching out the folded flexible unfolding device, and meanwhile unfolding slowly; and bonding the flexible unfolding device with a target spacecraft through the pressure-sensitive adhesive or the gecko glue when the flexible unfolding device touches another spacecraft. According to the multiple-repeated butt joint method, the flying speed and butt joint force are buffered by adopting the flexible slow unfolding device; two spacecrafts are bonded and connected integrally by adopting the pressure-sensitive adhesive or the gecko glue when in space orbit; the spacecrafts are separated away conveniently by peeling off from surfaces of the spacecrafts, and the spacecrafts are in butt joint and are separated; and the butting-joint flexibility, reliability and success ratio of the spacecrafts can be improved, and the difficulty of the butt joint mode is lowered.

The invention provides a corner self-servo passive and supple hydraulic robot joint. According to the technical scheme of the corner self-servo passive and supple hydraulic robot joint, a valve body (14) is concentrically installed in a cylindrical cavity (32) of a cylinder body; the left end and the right end of the valve body (14) are concentrically provided with two deep groove ball bearings (5); a driving bevel gear (13) is concentrically installed on the shaft shoulder of an output shaft at the right end of the valve body (14); a driven shaft (12) is installed on a right end cover (7); a driven bevel gear (8) is concentrically installed on the driven shaft (12); two connecting rods (9) are fixedly and symmetrically installed at the two ends of the driven shaft (12) through screws; and a driven arm (10) is installed between the other ends of the two connecting rods (9). The corner self-servo passive and supple hydraulic robot joint has the beneficial effects that a fixing stop block can be fixed easily and assembled easily, the output torque of the joint is large, the force borne by the valve body is in balance, displacement is not prone to occurrence, the dynamic characteristic is good, the joint flexibility is good, the response speed is high, and the control precision is high.

The invention discloses a robust self-adaptive sliding-mode control method for a flexible-hinge space station manipulator. The robust self-adaptive sliding-mode control method comprises the followingsteps: first, through the utilization of Lagrangian methods of the second kind and through the combination with the system momentum and momentum moment conservation relation, analyzing and establishing a system dynamics model of a flexible-hinge space station manipulator system, wherein the carrier position and attitude are both uncontrollable; next, for the actual situation that the flexibility of each joint hinge is relatively high in the actual application of the space station manipulator, exporting a singular perturbation mathematical model applicable to the control system design through the introduction of a joint flexibility compensation controller and through the combination with double time scale decomposition of singular perturbation theory; and then, through the utilization of the singular perturbation mathematical model, decomposing the flexible-hinge space station manipulator system into a fast subsystem and a slow subsystem which are independent of each other, designing the robust self-adaptive sliding-mode control for the slow subsystem, and designing a moment differential feedback controller for the fast subsystem. Consequently, the control purposes of not only eliminating the negative impact of the flexibility of a flexible hinge on the positioning precision and the stability of the space station manipulator but also effectively overcoming the buffeting defect in the conventional sliding-mode control can be fulfilled.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.

A foot measuring device and method measure foot last / curvature, foot width, foot length, arch height, foot volume, first metatarsophalangeal (MTP) joint flexibility and standing rear foot pronation. The foot measuring device includes a base having a heel abutment member, a foot size and alignment graphic, an arch height measurement system, and a MTP joint flexibility measurement lever.

The invention provides an inner position loop impedance control algorithm for a mechanical arm with joint flexibility / arm lever flexibility, and belongs to the field of intelligent algorithm optimization; and motion simulation of contact operation of the two-connecting-rod flexible joint / flexible arm lever type mechanical arm is realized. The method comprises the steps of performing arm lever discrete analysis by utilizing an assumed mode method; building a mechanical arm dynamics model by adopting a Kane equation; designing an inner position loop impedance controller; and establishing a control simulation platform based on Simulink, thereby realizing the motion of the contact operation of the mechanical arm. A simulation result shows that the existence of a flexibility characteristic causes deformation of the arm lever; and the designed impedance controller can realize trajectory tracking and contact force control of the flexible mechanical arm.

The invention discloses a multi-joint flexible robot. A robot system comprises a head module 1, a head cabin section 2, a middle rotating module 3, a middle rotating module 4, a middle rotating module 5, a middle rotating module 6, a middle rotating module 7, a middle rotating module 8, a tail cabin section 9, a fixing ring 10, a fixing ring fixing screw 11, a large swinging bevel gear 12, a swing motor supporting seat fixing bolt 13, a swing motor supporting seat 14, a small swinging bevel gear 15, a swing motor 16, a middle rotating module casing 17, a rolling motor 18, a rolling motor fixing seat 19, a rolling motor fixing seat fixing bolt 20, a bearing 21, a rolling gear 22, a rolling gear ring 23, a rolling gear ring fixing ring 24, a bogie connecting shaft 25, an installing plate 26, batteries 27, a head camera 28, a light source 29 and a motion control circuit 30. An included angle formed by two rotating shafts included by each joint module of the robot is adjustable. The robot is good in joint flexibility and flexible and varied in motion.

The invention discloses a snakelike bionic robot based on flexible stretching-retracting joints and belongs to the field of bionic robots. The snakelike bionic robot comprises a robot snake head, a first snake body, a second snake body and a robot snake tail; the robot snake head is connected with the first snake body through the snake head joint; the first snake body is connected with the secondsnake body through the snake body joint; the second snake body is connected with the robot snake tail through the snake tail joint; a first motor is mounted at the front end of the first snake body; asecond motor is mounted at the front end of the second snake body; and a steering motor or a stepping motor can be selected as the first motor or the second motor, and the first motor and the secondmotor rotate synchronously and reversely. The snakelike bionic robot is better in joint flexibility, the motion posture of the snakelike bionic robot is closer to that of a snake, and energy consumption is low.

The invention discloses a flexible drive rigidity-variable differential coupling robot finger device. The robot finger device comprises a base, a first joint, a second joint, a first joint shaft, a second joint shaft, a first self-locking flexible driver, a second self-locking flexible driver, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a first transmission part, a second transmission part, a first input conic gear, a second input conic gear an output conic gear and transmission mechanisms. According to the robot finger device, through the two finger joints, the two joint shafts, the two drivers, multiple springs, the three sets of transmission mechanisms, two sets of harmonic assemblies, two rigid wheel rotating arms, the multiple gears, two sliding blocks and the like, differential coupling motion of the joints of a two-freedom-degree robot finger is achieved comprehensively, safety of a robot in the interaction process is improved through joint flexibility, and meanwhile the function of absorbing impact energy in the transmission link so as to protect the self structure is achieved.

The invention provides a heavy load stacking robot frequency response characteristic analyzing method and system. For a high-speed heavy load stacking robot, kinematics analysis is performed, a forward kinematics solution and work space is obtained, a Jacobian matrix is obtained, and the relationship between a joint space and a Cartesian space is built; static stiffness analysis is performed on the stacking robot; a rigid-flexible coupling dynamical model is built through a Lagrange second-type equation, the joint flexibility of the high-speed heavy load stacking robot is described, and a vibration mode of the robot is analyzed; and the influence law of different joint stiffnesses on the system frequency response is obtained, and according to the influence law, movement of the high-speed heavy load stacking robot is controlled. The heavy load stacking robot frequency response characteristic analyzing method and system lay a foundation for building of the kinematics and dynamical model,subsequent trajectory planning and design of a control system.

The invention relates to an upper limb joint functional evaluation rehabilitation training system and an evaluation method. The system comprises a training host and a matched upper limb joint trainingdevice; the training hoist comprises a training machine head and a control system which are installed on a machine body; the training machine head comprises a machine shell, and a motor, an encoder,a coupler, a torque sensor, a drive wheel, a driven wheel, a driven shaft, an angle sensor and a quick union output shaft are arranged inside the machine shell; the motor, the encoder, the coupler, the torque sensor and the angle sensor are all electrically connected with a control system. The system is mainly applied to patient suffering upper limb dysfunction caused by cerebrovascular disease, severe external injury or other nervous system diseases and patients needing to recover upper limb functions after operations, and has functions of motivating muscle remaining power and recovering joint coordinate ability and joint flexibility and the like.

The invention discloses an easily-machined hydraulic corner self-servo compliant driver. According to the hydraulic corner self-servo compliant driver, blades of the driver are fixed on the outer wallof a valve body through screws, a threaded hole is formed in a face, in contact with a cylinder body, of a fixed stop block, mounting through holes, corresponding to the threaded holes, are formed inthe cylinder body, and the fixed stop block is arranged on the inner wall of the cylinder body in a matched mode through screws and the threaded holes; and rectangular grooves are formed in the two rectangular side faces of each blade, each of the two sides of a lower arc face of the blade is provided with an arc groove used for preventing the blade from being tightly stuck to the fixed stop block, and the rectangular grooves communicate with the arc grooves. The cylinder body and the valve body are arranged in a split mode, so that the sealing performance is excellent, the machining and theassembling are facilitated, leakage oil is guided out easily and conveniently, and sticking zones between the blades and the fixed stop block can be prevented; and meanwhile the driver should have thecharacteristics that the valve body and a valve element are stressed evenly and are not probe to shift, the dynamic property is high, the joint flexibility is high, the response speed is high, and the control precision is high.

The invention belongs to the field of body building equipment, and particularly relates to a manufacture and use method of an ankle-joint flexion and extension training device. The device is mainly composed of a leg pad plate 1, a foot pedal 2, a bolt shaft 3 and a torsion spring 6. The leg pad plate 1 and the foot pedal 2 are hinged through bolt shaft 3 and tightly fixed through a fastening shaftnut 7, and the torsion spring 6 arranged between two symmetrical shaft sleeves 5 of the foot pedal can provide adjustable training load. By adopting the scheme, training for human ankle-joint flexibility and ankle flexion and extension ability can be easily performed, and the device is especially suitable for middle-aged and elderly people and patients needing rehabilitation exercise for the ankle joint.

The invention discloses an ankle joint protection ice skate blade without the limitation on the flexibility of an ankle. The ankle joint protection ice skate blade comprises an ice skate blade and a shoe body, and is characterized in that a U-shaped elastic piece is arranged in the shoe body; the arc-shaped bottom end of the elastic piece is fitted with a foot; arc-shaped concave parts corresponding to an ankle joint are arranged on the inner side edge and the outer side edge of the elastic piece; the part, above the arc-shaped concave part, on the inner side edge extends towards the inner side in an angle of 20 degrees relative to a vertical line; the part, above the arc-shaped concave part, on the outer side edge extends towards the outer side in an angle of 10 degrees relative to a vertical line; and a protection layer is arranged on the inner side of the elastic piece. After a user wears the ice skate blades, the user can move flexibly and the necessary protection can be provided for the ankle joint in a movement process; the ankles of the users can be effectively prevented from injuries and the enough ankle joint flexibility can be provided for ice and snow enthusiasts; and the movement including normal sliding, turning and the like is guaranteed.

The invention relates to a serial and parallel mixed connection arm / leg mechanism for a prosthetic robot fore limb mechanical system. The serial and parallel mixed connection arm / leg mechanism comprises mechanism bodies, hip joints and landing legs; and the two mechanism bodies are fixedly connected side by side to form mechanism main bodies, the two ends of each mechanism main body are provided with the hip joints, and the lower portion of each hip joint is connected with one landing leg. The serial and parallel mixed connection arm / leg mechanism comprises a mechanism body part, hip joint parts and landing leg parts, movement of six poles can obtain transverse motion, pitching and yawing of the hip joints in all directions, and the work space and the joint flexibility of the series leg parts are improved. The hip joint structure adopts double motors of big and small legs, the coaxial structure is achieved through thigh planet carriers, the rotation accuracy of swing rotation of the big and small legs can be improved when the leg part moves, and meanwhile the walking stability can be improved.

The invention belongs to the technical field of health-care foods and particularly relates to a gugua polypeptide composition. The gugua polypeptide composition comprises melon seed peptide and bone marrow peptide. The invention also provides application of the gugua polypeptide composition in preparing medicines and health-care foods which have the efficacy of improving immunity, promoting woundhealing as well as preventing and treating diseases caused by free radical damage. The gugua polypeptide composition provided by the invention has the effects of effectively promoting the wound healing, improving the immunity, eliminating excess free radicals in the body, realizing an anti-aging effect, promoting calcium absorption and collagen secretion, reducing morning stiffness, increasing joint flexibility, reducing joint pain and swelling, improving diseases such as osteoporosis, fracture, rheumatism, rheumatoid, scapulohumeral periarthritis and lumbar disc herniation, improving the digestive system, promoting gastrointestinal peristalsis and digestive enzyme secretion, treating chronic gastrointestinal disease, improving pancreatic function, promoting automatic insulin secretion ofthe body and reducing insulin resistance, thereby achieving the aims of decreasing blood sugar and preventing complications.

The invention discloses a three-DOF (degree of freedom) flexible joint structure and belongs to the field of flexible robots. The three-DOF flexible joint structure comprises a first connector connected with a robot head, a second connector connected with a robot body, composite joint body A capable of rotating relative to the first connector, and composite joint body B capable of turning relativethe second connector; the composite joint body A and the composite joint body B can rotate relatively; each rotating portion is mounted by magnetic attraction and is provided with a deformable elastic pad that may compressively deform such that a 3-DOF joint generates minor compressive deformation when rotating, the center of rotation is changed, and joint flexibility is improved. The three-DOF flexible joint is a no-stability rotation center with three orthogonal degrees of rotation and has flexible vibration-isolating and protecting functions.