71 results about "Lower extremity joint" patented technology

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

The invention discloses a room VR-oriented whole-body three-dimensional posture tracking method. The method comprises the following steps: (1) dividing 17 joints of a human body into five kinematic chains C1, C2, C3, C4 and C5; (2) acquiring the position of each joint on the C2 chain according to a two-arm hinge joint structure by head display position information provided by a VR HMD, and (3) acquiring the postures of C1 and C3 kinematic chains according to a three-arm hinge joint structure by handle position information provided by a VR handle; (4) establishing and training a lower limb kinematics model through C4 and C5 kinematic chains; (5) processing the captured lower limb image by adopting a low-pass filter; (6) transmitting the processed images into a trained model to be recognized, and obtaining 3D position information of nine joint points of the lower limbs; and (7) unifying the obtained upper limb joint positions and lower limb joint positions under the same coordinate system by taking pelvis joints as common root joints. According to the invention, the tracking accuracy and real-time performance can be improved.

A real-time estimation of 3D moments of lower-limb joints using a robotic multi-axis training system with a 6-axis force / torque (F / T) sensors and a 6-DOF goniometer is described. A joint moment such as the knee abduction moment (KAM) can be determined in real-time without using sophisticated optoelectronic motion tracking system. The system also does not require computation of the COP location. The knee adduction moment or any other lower-limb 3D joint moments can be determined conveniently during stepping movement on the training system for real-time biofeedback training on controlling the targeted joint moment(s). The 6-DOF goniometer is convenient to use with other analog signals including the 6-axis F / T and locomotion variables. As an example application, combined with the frontal plane movement on the robotic multi-axis elliptical trainer, it provides a useful tool suitable for clinical setting to help patients with knee OA to reduce potentially damaging peak knee adduction moment through real-time feedback training.

The invention discloses a lower limb joint training device which comprises a base and a linear movement mechanism. The linear movement mechanism is arranged on the lower portion of the lower limb joint training device, a fixing plate is connected onto a linear movement portion of the linear movement mechanism, a shank support frame is arranged above the fixing plate and is connected onto a support, the support is rotationally connected onto the fixing plate, a left brace rod of a foot tying device is connected with the shank support frame, two sides of a foot tying device frame are rotationally connected onto two support rods of the foot tying device, the foot tying device is arranged on the foot tying device frame, thigh support rods are rotationally connected with the front ends of shank support rods, an L-shaped connecting rod is connected with the front end of one of the two thigh support rods, the other end of the L-shaped connecting rod is connected onto a universal joint, and an adjusting rod is connected with the other end of the universal joint and is connected with the lower portion of the lower limb joint training device. The lower limb joint training device has the advantages of simple structure and low cost.

The invention discloses a passive energy-storage-type gravity supporting lower limb exoskeleton. The passive energy-storage-type gravity supporting lower limb exoskeleton comprises a waist supportingassembly and two lower limb exoskeleton assemblies symmetrically arranged at the two sides of the waist supporting assembly; each lower limb exoskeleton assembly comprises a thighbone supporting rod which is connected with the waist supporting assembly through a hip joint movement assembly, a tibia supporting rod which is connected with the thighbone supporting rod through a knee joint movement assembly, a sole supporting plate assembly, a hip joint energy storage assembly, a knee joint energy storage assembly and an ankle joint energy storage assembly, and the sole supporting plate assembly,the hip joint energy storage assembly, the knee joint energy storage assembly and the ankle joint energy storage assembly are connected with the tibia supporting rod through an ankle joint movement assembly. The passive energy-storage-type gravity supporting lower limb exoskeleton is suitable for patients with lower limb dysfunctions or function limitations caused by lower limb joint and muscle tissue injuries or bone diseases, the patients can be assisted in normally walking on the ground and walking up and down stairs, and take care of themselves in daily life, the physiological pain feelingof the patients is reduced, the economic and vigor burden of families of the patients is relieved, and the passive energy-storage-type gravity supporting lower limb exoskeleton has high application value.

The invention relates to a multifunctional robot for sitting-standing mobility assistance and rehabilitation exercise training and belongs to the field of machinery. The multifunctional robot for sitting-standing mobility assistance and rehabilitation exercise training comprises a top hanger device, support oblique beams, support inner tubes, a master control transmission box, armrest cross beams,armrest supports, base main beams, moving support rods and the like. Weight-reduced assisted sitting-standing protection and rehabilitation exercise training are achieved through the two transmissiondevices, a lower limb correction assist exoskeleton structure fixed to legs and a top dumbbell-like spiral reel unit, under driving of a central control motor. According to kinematic analysis, underclinical bid data statistics, for lower limb joints, shoulder points and body center of mass during body stand-up, a user with lower limb mobility difficulties can gain sitting-standing mobility assistance at the premise of meeting ergonomics, rehabilitation training can be performed on lower limb muscles in complete standard accordance with correct force exertion plans of muscles during stand-upof a healthy body, abnormal force exertion of muscles due to distortion of stand-up attitude is avoided, and therefore, safe and healthy exercise rehabilitation training is achieved.

The invention discloses lower limb rehabilitation equipment for weight reduction walking training and balance evaluation. The equipment comprises a training platform, a walking training device which is arranged on the training platform and is used for assisting the patient to do lower limb joint movement; a weight reduction supporting device which is arranged on the training platform and is used for carrying out weight reduction control and pelvic heeling control on a patient who is carrying out lower limb joint movement, a posture conversion device which is arranged at the top of the weight reduction supporting device and used for assisting a patient in achieving conversion between a sitting posture and a standing posture, a power output part which is arranged on the weight reduction supporting device and used for cooperating with the patient to conduct pelvis cooperative movement when the patient does lower limb movement, and a pelvis cooperative motion feedback device which is usedfor feeding back pelvis motion data so as to carry out balance evaluation. Pelvis movement data are obtained while a patient is assisted in conducting lower limb joint movement under weight reductioncontrol, and subsequent balance evaluation and pelvis balance movement autonomous adjustment are facilitated; and synchronous improvement of walking ability and balance ability of a patient is facilitated.

The invention relates to a lower limb exoskeleton system with actively adjustable leg rod length and a control method of the lower limb exoskeleton system with the actively adjustable leg rod length,and belongs to the technical field of wearable robots. The control method comprises the steps that according to parameter detection data representing that the lower limb exoskeleton system is in an action state, a thigh rod unit and a shank rod unit are controlled to adjust the leg rod lengths of the thigh rod unit and the shank rod unit until the position deviation between the joint rotation center position of the lower limb exoskeleton system and the lower limb joint rotation center position of a wearer is compensated. According to the control method of the lower limb exoskeleton system withthe actively adjustable leg rod length, the use safety is improved while the wearing comfort can be effectively improved, and the control method of the lower limb exoskeleton system with the activelyadjustable leg rod length can be widely applied to rehabilitation training of patients with lower limb weakness or hemiplegia or walking assistance of old people.

A limb bone joint rehabilitation training device comprises a power structure, the upper end of the power structure is connected with a limb training structure, and the limb training structure comprises an upper limb joint training assembly capable of conducting arc-shaped reciprocating rotation and reciprocating autorotation twisting on hand joints of a patient and a lower limb joint training assembly connected with the upper limb joint training assembly. The lower limb joint exercise assembly can perform up-down bending and stretching exercise and left-right opening and closing exercise on leg joints of the patient; the front end of the power structure is connected with a transmission structure, and the transmission structure is connected with a lumbar vertebra massage structure capable of conducting circumferential rotation and intermittent up-down protruding massage on the two side edges of the lumbar vertebra of a patient. The transmission structure is further connected with a cervical vertebra joint massage structure which can circularly extrude and massage different positions in front of and behind the cervical vertebra of the patient and automatically adjust the extrusion force, and the problems that a rehabilitation exercise device in the prior art is single in structure and cannot fully arouse the enthusiasm and autonomy of the patient in use are effectively solved.

A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.

The invention relates to a rehabilitation exercise device for a patient, and effectively solves the problems that movement of lower limb joints cannot be carried out in one step, and the lower limb joints of a patient can be subjected to secondary damage when the joints are moved. According to the technical scheme, the device comprises a support plate for supporting a lower leg of the patient andan L-shaped plate for supporting a foot of the patient; and the upper end of a vertical plate of the L-shaped plate is hinged with a pressing block. When the supporting plate moves left and right horizontally, a hip joint and a knee joint of the patient are moved; when the supporting plate moves left and right horizontally, the L-shaped plate is driven to swing left and right through first gears and incomplete gears, so that an ankle joint of the patient is moved; and when the L-shaped plate swings left and right, the pressing block is driven to swing left and right, so that toe joints of thepatient are moved. The L-shaped plate and the pressing block are respectively and fixedly provided with finger pressing plates, so that when the ankle joint and the toe joints of the patient are moved, the finger pressing plates are used for massaging a sole of the patient, blood circulation of the foot of the patient is promoted, and good help for rehabilitation exercise of the patient is facilitated.

The embodiment of the invention provides a single-leg exoskeleton robot and a control method. The single-leg exoskeleton robot comprises a control assembly, an affected side leg exoskeleton and an uninjured side leg detection assembly. The control assembly is connected with the affected side leg exoskeleton and the uninjured side leg detection assembly. The affected side leg exoskeleton is electrically connected with the healthy side leg detection assembly; the healthy side leg detection assembly comprises a hip joint detection block, a knee joint detection block and an ankle joint detection block which can independently detect and correspond to lower limb joints of the patient. The rotation angle of the driver, the rotation speed of the driver, the gait track curve and the like are adjusted according to the motion intention of the healthy side legs of the patient, and therefore rehabilitation training is achieved. The robot adopts a lightweight design, so that the weight is lighter, and the output torque is larger. Rehabilitation training is conducted on the affected side in a targeted mode, the burden of the patient is relieved through the exoskeleton on the single side, and the patient can wear the exoskeleton more conveniently and comfortably.

The invention discloses an orthopaedic joint muscle strength exercising restorer. The orthopaedic joint muscle strength exercising restorer comprises a base, a seat surface, a leg driving frame, a moving seat, a foot stepping part, leg binding belts, a guide rail, a power mechanism and the like, wherein a frame body is fixedly arranged on the base. According to the orthopaedic joint muscle strength exercising restorer, the lower limb of a patient can be well matched, so that the lower limb joint muscle strength of the patient is well exercised. Specifically, through two side-by-side thigh driving rods and two side-by-side shank driving rods of the leg driving frame and the leg binding belts on the two side-by-side thigh driving rods and two side-by-side shank driving rods, the leg to be exercised can be always located between the driving rods, and the bending degree of the leg of the patient is always consistent with the bending angle of the driving rods in the exercising process; andthe leg can be automatically driven to exercise through the rotation of a motor, and meanwhile, the moving seat can be conveniently separated from the power mechanism through the power failure of an electromagnetic seat, so that the patient can autonomously and actively exercise the leg of the patient.

A brace for dynamically correcting the bending of the joints of the lower limb including a thigh grip (1), a leg grip (2), connection means between said thigh grip and said leg grip, wherein said connection means includes at least two flat flexible profiles (3′, 3″) that work in extension, elastically opposing the bending of the knee, and said brace comprises a foot grip (7) and further flexible means (6, 3′a, 3″a) arranged for connecting said leg grip (2) to said foot grip (7), which work in extension elastically opposing the bending of the ankle.

The invention discloses a light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method. According to the method, through kinesiology analysis, acceleration data of lowerlimb joints is extracted to perform off-line analysis, then, joint control target traces are resolved, and finally, motion control is performed by a control system through the traces to realize humangait motion of exoskeletons of lower limbs. The brand-new prediction method for the motion gait traces of the lower limbs is provided, can be applied to controlling the exoskeletons of the lower limbs, creatively realizes parallel structure input on a Light GBM, and predicts continuous target values of the gait traces of lower limb joints; and the prediction method has relatively high accuracy, and shortens training time.

The invention discloses a horizontal lower limb joint trainer. The horizontal lower limb joint trainer comprises a thigh skeleton, a shank skeleton, a leg bracket fixed to an inner side of the shank skeleton, a linear push rod, a controller and a hand controller, the thigh skeleton and the shank skeleton are hinged to form a knee joint, two ends of the linear push rod are rotatably connected to the thigh skeleton and the shank skeleton respectively, the controller is connected with the linear push rod and the hand controller, and the hand controller controls a telescopic motion of the linear push rod to drive the thigh and the shank to rotate relatively. The horizontal lower limb joint trainer can drive lower limbs of a patient to complete bending and stretching movement of a knee joint, enables the patient to improve or gradually recover normal bending and stretching functions of the lower limbs, and provides multiple training modes to meet rehabilitation training requirements of different patients.

The invention discloses a human body lower limb joint angle measuring method and system. The method comprises the following steps: S1, receiving pressure data and lower limb posture video data in real time; S2, aligning time sequences in the pressure data and the video data, and calibrating an imaging space; S3, determining a gait cycle, and dividing the video stream into a plurality of video clips according to the starting and ending time of the gait cycle; S4, detecting lower limb joint key points in each video clip by using an OpenPose open source algorithm, constructing a lower limb three-dimensional coordinate, and acquiring the spatial position of each lower limb joint key point; and S5, establishing a human body coordinate system, and calculating an included angle between the femur and the tibia and the human body coordinate system, an included angle between the femur and the tibia and an upward vector perpendicular to the ground, and an included angle between the femur and the tibia. According to the method, automatic calculation of the joint angles of the knee joint and the hip joint is realized by using multi-view imaging and plantar pressure data, so that a data basis is provided for design and improvement of a plantar orthopedic device, and a data basis is provided for conjoint analysis of follow-up plantar pressure distribution and the joint angles.

A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.

The embodiment of the invention provides a lower limb rehabilitation training exoskeleton robot and a control method. The lower limb rehabilitation training exoskeleton robot comprises a control assembly, a waist assembly used for assisting in supporting the waist of a patient and driving assemblies used for driving the lower limbs of the patient, wherein the control assembly is fixed to the waistassembly; the two sides of the waist assembly are each detachably connected with one drive assembly, and the drive assemblies are electrically connected with the control assembly; and each driving assembly is provided with a hip joint driving part, a knee joint driving part and an ankle joint driving part which can independently rotate by angles and correspond to the lower limb joints of the patient. Active rehabilitation training is realized through the movement intention of the patient; the robot adopts lightweight design, so that the weight is lighter; and in addition, the bilateral exoskeleton or the unilateral exoskeleton can be flexibly selected to be used according to the condition of the patient, and therefore, the exoskeleton is lighter and more convenient to wear.

The invention discloses a humanoid robot lower limb joint zero position calibration method. The humanoid robot lower limb joint zero position calibration method comprises the following steps that whether or not a fourth joint reaches a zero position is judged according to whether or not the sum Sv of the square of change rates of qx, qy and f<z> reaches a minimum value firstly, after the fourth joint reaches the corresponding zero position, the angle of a first joint is adjusted to enable the first joint to reach the corresponding zero position; and then a second joint, a sixth joint, a thirdjoint and a fifth joint are adjusted to enable the second joint, the sixth joint, the third joint and the fifth joint to reach the corresponding zero positions. Parameters qx, qy and f<z> in the calibration method are acquired through an attitude sensor mounted on a trunk and a six-dimension force / torque sensor fixed to an ankle joint correspondingly, other devices are not needed for assistance, moreover, zero position calibration is completed by the robot itself, the effects of being rapid and accurate are achieved, and the cost is saved.

The clinical lower limb joint muscle recovery device for the orthopedics department comprises a bottom plate, and a supporting box is fixedly connected to the rear side of the surface of the upper end of the bottom plate; massage handles capable of swinging up and down are mounted on the left side and the right side of the inner wall of the middle of the supporting box respectively; first supporting plates which can swing up and down and turn over left and right are installed on the left side and the right side of the front end of the supporting box respectively, and second supporting plates which can swing left and right after moving upwards and turning over along with swinging of the first supporting plates are installed at the front ends of the first supporting plates respectively. By means of the first supporting plate which can swing up and down and turn left and right and the second supporting plate which can swing outwards after moving upwards along with turning of the first supporting plate, the knee joints of the two legs of the patient can be bent upwards, the two legs of the patient can be unfolded outwards, and limb stiffness, muscular atrophy and the like can be prevented.

The invention discloses a lower limb joint recovery bed mattress. The lower limb joint recovery bed mattress comprises an overturning pad, a first rotation shaft, a recovery instrument, a first motor and a first transmission device. The first rotation shaft is horizontally and fixedly installed on the overturning pad. Two ends of the first rotation shaft are installed on a bed frame. The recovery instrument is fixedly installed on the overturning pad. The first transmission device is connected with the output end of the first motor and transmits the power to the first rotation shaft so that the first rotation shaft is rotated around the axis. The first rotation shaft drives the overturning pad to be rotated around the axis of the first rotation shaft during the rotation process. The lower limb joint recovery bed mattress can be freely switched by a patient from the working state to the standby state, so the patient can conveniently use the recovery instrument without nursing.

According to an IPSO-BPNN-based long-time human body lower limb motion prediction method provided by the invention, the initial values of the weight and the threshold value of each node in the BPNN network are obtained based on the particle swarm optimization, and six prediction models for predicting the joint angle of each lower limb joint are obtained, so that the prediction model is higher in calculation efficiency. Iterative convergence speed of the improved particle swarm optimization (IPSO) is higher, optimization results are better, and prediction results are closer to actual observation data. In addition, the original joint angle data of each lower limb joint can be reconstructed according to the set time span, so that the prediction duration can be adjusted according to the actual prediction demand, and the system delay can be covered.

The invention discloses a wearable data acquisition system and method based on multi-sensor fusion. The system includes a mechanical skeleton, and the mechanical skeleton includes a waist support (1), a thigh link (2), calf link (3), ankle link (4) and smart shoes (5); the back of the waist support (1) is provided with a main control box (6), the main control box (6), Both the thigh link (2) and the calf link (3) are provided with an attitude indicator (7); the thigh link (2) and the calf link (3) are provided with a gusset plate (8); The thigh connecting rod (2), the calf connecting rod (3) and the ankle joint connecting rod (4) are respectively provided with encoders (9). The invention is used for real-time and accurate measurement of the joint angles of the lower limbs and sole pressure distribution of the wearer during the walking process of wearing the exoskeleton robot, to determine whether the exoskeleton is in a stable walking state, and to evaluate the current health status of the wearer.

A movement intention recognition and device method for lower limb exoskeleton, belonging to the field of lower limb exoskeleton robot sensing technology. The movement intention recognition device includes a lower limb electromyographic signal acquisition module, a plantar pressure acquisition module, a lower limb inertial information measurement module, a data acquisition and transmission module and a central controller. The method uses one-to-one SVM multi-classification to obtain an offline database gait trajectory based on plantar pressure signals, uses a CNN online joint angle estimation model to obtain a real-time prediction trajectory of joint angles based on myoelectric signals, and combines the two types of gait trajectories based on the degree of muscle fatigue. The trajectory is fused with variable gain information to provide an accurate desired motion trajectory for the lower limb joint drive of the exoskeleton robot. The invention effectively combines the advance of the electromyographic signal and the stability of the plantar pressure signal, greatly improves the accuracy and real-time performance of movement intention recognition, and provides sufficient guarantee for the safety and power-assisted efficiency of the exoskeleton robot. ensure.

The invention relates to a pneumatic humanoid robot system. The pneumatic humanoid robot system uses pneumatic muscles to simulate human muscles to drive hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints to move and has the function of completely simulating human joint movement. The pneumatic humanoid robot system is mainly composed of pelvis, ribs, vertebrae, the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. Bones of the waist joints are constructed by vertebrae, ribs, chest structural members and pelvis, and long pneumatic muscles and short pneumatic muscles drive the waist joints to move together. In lower limb joints, single-joint pneumatic muscles and multi-joint pneumatic muscles are combined, and the multi-joint pneumatic muscles and the multi-joint pneumatic muscles are crosswise combined to drive the lower limb joints to move. Multi-joint pneumatic muscles in upper limb joints form antagonistic muscles to drive the shoulder joints and the elbow joints to move. The pneumatic humanoid robot system is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

The invention discloses a lower limb joint rehabilitation training device with a cold therapy massage function, which comprises a base, a supporting pipe, an adjusting frame, a driving mechanism, a shank fixing mechanism, a thigh fixing mechanism, a sole fixing mechanism, an ankle pump movement mechanism and cold therapy equipment, the thigh fixing mechanism, the shank fixing mechanism and the driving mechanism are rotationally connected, the sole fixing mechanism is rotationally connected with the part, away from the thigh fixing mechanism, of the shank fixing mechanism, the driving mechanism is arranged on the base, and the ankle pump movement mechanism is arranged between the thigh fixing mechanism and the sole fixing mechanism. The shank fixing mechanism and the thigh fixing mechanism rotate relatively under the action of the driving mechanism, and the sole fixing mechanism and the shank fixing mechanism rotate relatively under the action of the ankle pump movement mechanism. The cold therapy equipment performs cold therapy and massage on the affected limbs of the patient. The problems that in the prior art, a CPM machine can only drive the lower limbs to do leg bending and leg stretching actions, and the training movement is single are solved.

The invention discloses a medical lower limb joint rehabilitation physical therapy device in the technical field of joint rehabilitation physical therapy devices. The medical lower limb joint rehabilitation physical therapy device comprises physical therapy devices mounted on a sickbed and used for knee joint rehabilitation, and is characterized in that two physical therapy devices are bilaterally symmetrically arranged; each physical therapy device is divided into two parts from the middle and can be opened in a left-right sliding manner; and supporting devices for supporting legs are movably mounted on the sickbed in front of and behind the physical therapy devices. According to the invention, the traditional massage means depending on doctors is replaced, time and labor are saved, and the price is low.

A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.