626 results about "Large legs" patented technology

A mobile articulated robot platform is provided where the platform comprises a payload base hip section for attaching a torso, the platform having two opposing sides, where the platform includes a right leg assembly and a left leg assembly, with each leg assembly having an upper leg and a lower leg section, where the right and left leg assemblies each comprise a right upper leg being pivotally coupled on one side of said payload base hip section and a left upper leg being pivotally coupled to the other side of the payload base hip section, and a right lower leg being independently and pivotally connected to the right upper leg, and a left lower leg being independently and pivotally connected to the left upper leg, allowing rotation of each of the lower legs about each of the upper legs.

An exercise device upon which a user generally standing upright supported by foot platforms suspended from a frame via linkages in which the linkage lengths and pivot points correspond generally to the users upper and lower legs and hip and knee joints. This device not only allows natural free and spontaneous leg movement, able to simulate such exercises as walking, jogging, running, stepping, skiing or gliding, bicycling, climbing, reverse action and various isolated leg exercises, where the exercises can be performed at random generally without the need to reconfigure the device. This device preferably includes an isolation system capable of simulating natural forces throughout the entire range of movement in the horizontal and / or vertical plane. A safety / suspension system can be provided, alone or in combination with the isolation system, to resist sudden foot movement in the same direction, yet allows a slow and controlled tilting of the linkages whereby the user may simulate uphill and downhill travel.

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

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.

An apparatus and a method for leg exercises having a seat (100), a support structure (200) being operatively associated with the seat (100); a structure for resisting (300) a movement of the exerciser; and a structure for exercising (400) a leg, the leg exercising structure (400) being operatively associated with the resisting structure (300). The leg exercising structure (400) includes an upper thigh support member (410), a lower thigh support member (420) being cooperatively associated with the upper thigh support member (410), a calf support member (430), a pivoting leg-engaging mechanism (440) being mechanically coupled to the calf support member (430), and a structure for converting (500) from a leg extension exercise to a leg curl exercise, the converting structure (500) being operatively associated with the calf support member (430), the converting structure having a gravity latch device (510).

A waking mechanism of an under-actuated biped walking robot relates to the field of robots, in particular to the field of under-actuated biped walking robots. The robot comprises seven components: arms, an upper body, hip joints, laps , knee joints, lower legs, and feet; the robot has 10 degrees of freedom in all, wherein, only 3 degrees of freedom are driven, and the knee joints and the ankle joints are not driven; the two arms are respectively linked with the contralateral legs through a mechanical chaining mechanism; the hip-joints adopt an integrative linkage-driving hip-joint mechanism (6) which mainly comprises four components of a hip-joint device mounting plate (13) , an angular bisector link mechanism (15), a drive motor incomplete gear transmission mechanism (11), and a two-way drive mechanism (12); and the two feet of the robot adopt multi-mode elastic feet with double-layered structures. The waking mechanism of the under-actuated biped walking robot has a simple structure, and adopts a design of a flexible driving system with high energy efficient; and the consistent, natural and humanoid walking pace can be produced only by simple control.

A telescoping foldable chair having a skeleton having a pair of lower leg frames of U shape each having a pair of outer legs connected with a ground bar, a pair of upper leg frames of inverted U shape each having a pair of inner legs connected with a top cross bar respectively slidable contained in one of the outer legs, a front and a rear sets each having a pair of inner tubes respectively pivotally linked to the top cross bars, a pair of outer tubes respectively pivotally linked to one lower end of the outer leg frames, and a central link which pivotally connects free ends of the inner and outer tubes, and, a sitting cloth attached on the skeleton. The telescoping foldable chair has a strong structure yet small folded volume.

A purse with a tapered shape and selected adjustable stretch straps that allow the purse to be worn on around a thigh, calf or ankle underneath clothing. The purse has various secure pockets for holding items such as a cell phone, credit cards, lipstick, keys, cash, pens, make-up articles, feminine hygiene products or other items normally carried with the pockets.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention discloses a leg and wheel hybrid type hydraulic mechanical leg. The leg and wheel hybrid type hydraulic mechanical leg comprises a thigh hydraulic cylinder, a shank hydraulic cylinder, thigh rod plates installed in parallel, shank rod plates installed in parallel, main body connecting plates installed in parallel and thigh hydraulic cylinder connecting plates installed in parallel. A main body cylinder connecting pillar is arranged between a square main body fixing block of the main body connecting plates and a square main body fixing block of the thigh hydraulic cylinder connecting plates. The two main body connecting plates are hinged to the two thigh rod plates respectively. The two thigh rod plates are hinged to the two shank rod plates respectively. A thigh tail end rod parallel to the shank rod plates is fixed between the two shank rod plates through a square shank fixing block. The two ends of the thigh hydraulic cylinder are hinged to the position between the upper portions of the two thigh rod plates and the position between the bottoms of the two thigh hydraulic cylinder connecting plates. The two ends of the shank hydraulic cylinder are hinged to the position between the middles of the two shank rod plates and a side arm plate extending from the two thigh rod plates. According to the leg and wheel hybrid type hydraulic mechanical leg, the structure is simple, control is convenient due to the two hydraulic cylinders, quick switching between two proceeding modes can be guaranteed due to a wheel installed at the knee joint position, and the leg and wheel hybrid type hydraulic mechanical leg can be applied to a four-foot or six-foot robot.

A seating apparatus for allowing a user to sit in either a cross-legged yoga position or in a conventional manner. The apparatus may also include a seat for supporting a user and two adjustable leg supports for supporting the user's left and right thighs at a desired angle when the user sits in a cross-legged position. The seat may also have an attached back support. In another embodiment the apparatus includes a seat having a surface area wide enough to allow a user to sit on the seat in a cross-legged position and having a tapered front to allow a user's legs to hang comfortably over the front of seat while the user sits in a conventional manner; and a base operatively connected to the seat for supporting the seat, the base for allowing use of the seating apparatus in a conventional chair-height environment.

A universal adjustable bed is provided to accommodate twin, twin extra long, full extra long, queen, etc. adjustable beds through a single adjustable bed mechanism which can be accommodated in beds irrespective of the differences in sizes thereof. The adjustable bed mechanism includes headboard and footboard adjusting linkage mechanisms and drive mechanisms therefor with associated head, seat, thigh and foot boards, all unitized in a single assembly which can be “drop-in” assembled to an associated bed foundation. Significantly, the support frame includes locating or connecting points which correspond in transverse distances to like support points of the bed foundation irrespective of the width of the specific bed foundation. In this manner a single universal adjustable bed mechanism can be dropped-in and connected to an appropriate bed foundation to form a bed of virtually any conventional size.

A harness 10 for supporting at least two firearm accessories from a wearer's belt includes a primary support 20, a belt latch 22 for removably connecting the primary support to the belt, and a curvilinear rail 16 secured to the primary support opposite the belt latch for positioning about the thigh of the user. The rail 16 may support a handgun holster 12 and one or more other firearm accessories 14 each spaced along the rail. A strap 30 is provided for removably connecting the rail to the thigh of the wearer. A harness may also support a rail directly from the wearer's belt.

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 relates to a series humanoid robot, belonging to the robot field. The invention adopts a digital servo motor as a joint driving device; carbon fiber material is used to design a carbon fiber double-pipe structure and is used on structural parts such as backbone, big arm, small arm, thigh and calf; a similar joint frame type of structure is adopted to design a trunk so as to improve the structural intensity and stability; a pull spring mechanism is used to design a head buffer device so as to enhance the impact resistance of the head; finally a nineteen free DEG C series humanoid robot is realized, which is big in dimension, light in mass, strong in motion flexibility and has a head buffer mechanism. The invention solves the problems of the previous humanoid robot, the motor of which has too much load, is hard to control and is easily burn due to the overweight of the self structure, and provides an effective solution to the protection of the head when the robot falls down or is collided.

The present invention is directed to an exercise and training device for runners and provides a means to train them to stay in the most efficient position for optimum muscle use and to improve speed and lateral quickness. The device comprises an upper thigh strap, a foot stirrup and a length of resilient elastic material adjustably secured therebetween and adjusted to maintain the user's knee at a 90° angle during running.

The present invention relates to a bionic robot movement structure capable of regulating four feet. It mainly includes top reference flat plate, four legs, four feet, driving device and sensing device, and is characterized by that on the top reference flat plate four symmetrical regulating grooves in which its four legs can be respectively moved are cut, between four legs and top reference flat plate the davit-mounting type structure is adopted, and the thighs and shanks can be respectively driven by their respective driving device and can be moved along their respective fulcrum. Said invention is simple in structure, and can have extensive application range.

The invention belongs to a wheels and feet dual-purpose mobile robot in a robot technical field. The invention adopts a movement mode of combined wheels and feet; two long sides of a bodywork are respectively provided with four legs of the same structure with the duel-purpose of wheels and feet; the inside of the bodywork is provided with two batteries which provide energy for an on-board computer, an interior camera and an extended plug-in. Each leg comprises a thigh and a lower leg, with a power input unit of two levels; and the wheel mode and the foot mode are switched through a clutch. A first motor is fixed on a bottom plate of the bodywork through an insulation seat; a first shaft is fixed on a side of the bodywork by a seat, and the interior camera is equipped inside the bodywork as eyes of the robot; the on-board computer is taken as a planning and controlling center of movement of the entire robot; a plurality pony wheels are taken as driven wheels of which the driven movement or rotating termination is controlled by an electromagnetic contracting brake. By carrying out modularization design, the invention guarantees the rapid and flexible movement of the robot, multiple movement manners, strong ground adaptability and changes of movement gesture aimed at special landforms, which is favorable to reduce energy consumption.

An exercise device for stretching the legs of a user with pressure being applied mainly at the inner thighs, including a seat member and a horizontally disposed rail mounted at one end to the seat member and extends forwardly therefrom and terminates with a free end. Near the free end of the rail a reciprocating sleeve engages the rail for horizontal adjustment thereon. A leg supporting member is mounted pivotally at one end to the seat member on opposing sides of the rail and each such member has a free end. A linking arm is pivotally connected on opposite sides of the rail and at one end to the rail, and each such arm is connected at opposite end to the leg supporting member. A leg deck is mounted at about the side of each leg supporting member to retain the leg of the user in a horizontal position. An engagement member is mounted on each leg supporting member mediate the seat and the leg deck, and adaptable to engage the inside of the thigh of the user. Actuating cylinder is affixed to the sleeve to pivotally actuate the linking arms upon horizontal adjustment of the sleeve so as to impart an arcuate opening and closing movement to the leg supporting members, whereby pressure is applied on the inside of the user's thigh upon leg stretching movement.

A portable pocket, the assembly comprising of a pocket that attaches to the arms, legs, thighs or waist of a wearer by means of an adjustable band. A zipper closes the opening of the pocket thereby protecting inserted items from loss or theft. The portable pocket in combination with the adjustable band is a miniature carrying compartment for transporting small quantities of small-sized items thereby eliminating the need to carry bulking purses, wallets, etc. and it does not interfere with freedom of movement.

The invention discloses a resilient four-link mechanical leg and a test platform thereof. The resilient four-link mechanical leg comprises a large leg and a small leg both in strip shapes, the lower end of the large leg is hinged to the upper end of the small leg to form a knee joint, a driven wheel is fixedly connected to the small leg, a first motor is fixed to the upper portion of the large leg, a driving wheel fixedly sleeves an output shaft of the first motor, and the driving wheel is connected with the driven wheel through a synchronous belt; the middle of a strip foot is hinged to the lower end of the small leg, and a first damping spring is connected between the upper end of the foot and the upper portion of the large leg; thus the resilient four-link mechanical leg with timely response, accurate control and effective force transmission is provided; the resilient four-link mechanical leg is disposed on a conveying belt, a supporting seat fixed relative to the conveying belt is arranged, a support rod is mounted on the supporting seat, a connecting block is fixed to the support rod, a second motor is fixed to the connecting block, an output shaft of the second motor is fixedly connected with the upper end of the large leg of the resilient four-link mechanical leg, and a mechanical leg test platform small in size and simple in structure is provided.

A metal seal for a wellhead assembly has upper and lower legs extending in opposite directions from each other and a rib extending radially outward from a junction of the legs. A first conical band on the upper leg extends uninterrupted from the rib a selected distance toward a tip of the upper leg. A second conical band on the upper leg extends uninterrupted from the tip of the upper leg toward the first conical band. An annular recess is located between the first and second conical bands. The lower leg also has two conical seal bands separated by a recess.

The invention discloses a bionic cockroach robot based on a double-four link mechanism; the robot comprises six groups of the same feet, and upper connecting plates and lower connecting plates used for connecting the feet together. The configuration of the feet adopts the double-four link mechanism, and three steering gears drive the double-four link mechanism to respectively simulate the motion of the hip, thigh and calf joints of a cockroach. The bionic cockroach robot advances in a tripod gait way so as to realize the tripod gait motion. In order to improve the bearing capability of the robot and simultaneously put the three steering gears on the feet so as to improve the rigidity and the stability of the whole robot, the invention uses the plane four-link mechanism in the design of the configuration of the feet, can achieve the amplification of force and motion, reduce the requirements on the driving capability of the steering gears, and improves the load capability of the robot. From the perspective of bionics, the bionic cockroach robot which adopts the multi-link structural design is reasonable.

An exercise device having (—) a frame, (—) left and right leg linkages, each including (i) an upper leg member pivotally coupled to the frame for pivoting about an upper pivot point, (ii) a lower leg member directly pivotally coupled to the upper leg member distal to the upper pivot point for pivoting about a lower pivot point, and (—) a foot support attached to each lower leg member distal to each respective lower pivot point. The invention characterized by a biased damping means in communication with each lower leg member via an interconnect member that defines an influence line segment, and an ergonomically synergistic spatial relationship between the influence line segment and a leg line segment defined by the upper pivot point and the lower pivot on each leg linkage.

The invention discloses a multifunctional leg-wheel-combined mobile robot which comprises six leg assemblies of the same structure and a body assembly. Each leg assembly comprises a waist joint, a hip joint and a knee joint, installation of steering engines is achieved through the joints by using steering engine fixing frames, and rotary connection of thighs and shanks is completed. A three-wheel wheeling mode is adopted, the structure is arranged at the bottom of the body assembly, and a walking structure of the robot is formed by six walking legs evenly distributed on the periphery of a body, wherein the six walking legs are of the same structure. The robot can achieve leg-type movement of the six legs and wheel-type movement of three wheels independently and can further achieve the movement mode that the wheels and the legs help one another; the situations that the wheels slide down a slope and the legs pull the wheels to climb the slope can be achieved; meanwhile multi-leg operations such as a clamping operation and a carrying operation can be achieved.

Protective construction chaps are worn about a worker's waist to extend downwardly from a location just below the worker's abdomen. The chaps cover the fronts of the worker's thighs in substantially form-fitting fashion (even when the worker is bending, walking, or otherwise moving), and terminate at a point slightly above the worker's knees. The chaps include a waist section which extends vertically between an upper edge and an opposing lower portion, and laterally between opposing inner and outer side edges. A pair of leg sections is also included, wherein each leg section extends vertically between a top portion and an opposing bottom edge, and laterally between opposing inner and outer side edges. The top portions of the leg sections are joined to the waist section on opposing sides of its lower portion, with the inner side edges of the leg sections extending from the lower portion of the waist section. As a result, the waist sections and leg sections together have a shape resembling the front of a worker's waist and thighs. The chaps further include one or more waist straps which each extend from one of the side edges of the waist section, and these waist straps may be extended about a worker's waist to be selectively connected to each other or to the waist section to affix the waist section about a worker's waist. Each leg section similarly includes one or more leg straps, wherein each leg strap extends from one of the side edges of its leg section, so that the leg straps on each leg section may be selectively connected to each other or to the leg section to affix each leg section about one of the worker's legs.

The invention discloses an exoskeleton carrying power-assisted robot which comprises a back bracket, a central controller, exoskeleton upper limb components and exoskeleton lower limb components, wherein the central controller is fixedly mounted on the rear side of the back bracket; the two lower limb components of the same structures are respectively mounted on two sides of the back bracket; hip joint power devices are mounted at connections of the back bracket of a waist power-assisted robot and exoskeleton lower limbs; and shoulder joint power devices are mounted at exoskeleton shoulders. The hip joint power devices and the shoulder joint power devices consist of transmission devices, harmonic reducers, disk type motors and angle sensors; the angle sensors are used for measuring angle values of joints, and the central control device controls the corresponding joints to move according to the measured angle values; the exoskeleton lower limbs comprise exoskeleton thighs, exoskeleton shoes and expansion and retraction devices and can achieve a certain supporting effect on the back bracket; and exoskeleton upper limbs comprise exoskeleton upper arms, exoskeleton lower arms and elbow joint self-locking mechanisms.