47 results about "Lumbar joint" patented technology

A back includes an integrated articulating back frame and a back support. The back frame has a lower segment pivoted to a chair control, an upper segment for thoracic support, and links forming a four-bar linkage with the upper and lower segments, with a joint being formed at the lumbar region. The back support is stretchable in limited directions to accommodate shape change in the articulating back frame but to provide adequate support to a seated user. Upon receiving a rearward pressure on the lumbar joint, the back frame itself changes shape. The pivot locations in the four bar linkage create a mechanism that simultaneously controls rotational and translational movement of the upper segment during flexure of the lumbar. The back frame is close to the back support to provide significant design flexibility, but permit substantial lumbar flexure. Various back supports are contemplated that accommodate articulation of the back frame.

There is provided a posterior lumbar joint prosthesis which includes prosthetic elements reproducing the movements of the joint facets and vertebral anchors which adapt to the variations in the anatomy of vertebra. In use, the prosthesis has lower and upper connectors on each side of the lumbar vertebra. The lower connectors are coupled with, and pivotably mounted onto, respective lower pedicular screws, and a member defining a member axis links lower and upper connectors on each side of the lumbar vertebra. Upon lateral flexion of one of the upper and lower vertebrae relative to the other, each lower connector is capable of multiaxis pivotable movement relative to the respective lower pedicular screws such that each member is capable to pivot with respect to (i) the axis of the lower screw, (ii) a first axis intersecting the lower screw and the lower connector, and / or (iii) an axis intersecting the above first axis and the lower screw, while the member can also move along the member axis.

A back includes an integrated articulating back frame and a back support. The back frame has a lower segment pivoted to a chair control, an upper segment for thoracic support, and links forming a four-bar linkage with the upper and lower segments, with a joint being formed at the lumbar region. The back support is stretchable in limited directions to accommodate shape change in the articulating back frame but to provide adequate support to a seated user. Upon receiving a rearward pressure on the lumbar joint, the back frame itself changes shape. The pivot locations in the four bar linkage create a mechanism the simultaneously controls rotational and translational movement of the upper segment during flexure of the lumbar. The back frame is close to the back support to provide significant design flexibility, but permit substantial lumbar flexure. Various back supports are contemplated that accommodate articulation of the back frame.

The plate (1) has a generally triangular shape and includes two juxtaposed lower holes (7), intended to receive implantation screw (2) in the sacrum (100), and a first upper hole (8) for receiving an implantation screw (2) in the fifth lumbar vertebra (101). According to the invention, the plate (1) includes an extension (6) integral therewith, extending its upper side, i.e. protruding from the side opposite the two juxtaposed lower holes (7), the extension (6) having a second upper hole (15) formed in its entirety thereon, for receiving a second screw (2) intended to be implanted in the fifth lumbar vertebra (101), and having, at all points of its length, a width not greater than two times the diameter of the second upper hole (15); the direction in which the extension (6) protrudes from the plate (1) is such that the first upper hole (8) and the second upper hole (15) are placed on a first line (L1) substantially perpendicular to a second line (L2) passing through the two juxtaposed lower holes (7).

Hip brace for motion control and support of the hip joint, and / or to the surrounding sacroiliac joint and / or lumbo-sacral joints concomitantly, built of configured elasticized neoprene with tensile strength, and with closures built of Velcro whose combined forces impart dynamic action and protection from hip dislocation and subluxation; range of motion control, joint protection and support, pain management, proprioceptive cueing, alignment support, resistive and assistive exercise options for people with disorders of the hip joint and as well for those with concomitant sacroiliac and lumbo-sacral instability. Medical conditions addressed include but not limited to hip pain, status post surgical hip, hip dislocation / subluxation, arthritis, sprains, strains, bursitis, tendonitis, joint hypermobility, ligamentous tears and sacroiliac and / or lumbo-sacral pain and instability, radiculitis as well as for athletes in need of hip joint and / or the sacroiliac, lumbo-sacral joint protection and support on and off the field and for everyday activities of daily living (ADL) and exercise.

A back includes an integrated articulating back frame and a back support. The back frame has a lower segment pivoted to a chair control, an upper segment for thoracic support, and links forming a four-bar linkage with the upper and lower segments, with a joint being formed at the lumbar region. The back support is stretchable in limited directions to accommodate shape change in the articulating back frame but to provide adequate support to a seated user. Upon receiving a rearward pressure on the lumbar joint, the back frame itself changes shape. The pivot locations in the four bar linkage create a mechanism the simultaneously controls rotational and translational movement of the upper segment during flexure of the lumbar. The back frame is close to the back support to provide significant design flexibility, but permit substantial lumbar flexure. Various back supports are contemplated that accommodate articulation of the back frame.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention relates to an exoskeleton device. The exoskeleton device comprises an energy storage mechanism, a back supporting mechanism, a shoulder supporting mechanism and a hand power assisting mechanism, wherein the back supporting mechanism is movably arranged on the energy storage mechanism, the shoulder supporting mechanism is connected with the back supporting mechanism, and the hand power assisting mechanism is connected with the shoulder supporting mechanism. When a heavy object is carried, a body of a wearer bends forwards, at the moment, the back supporting mechanism extrudes theenergy storage mechanism, and the energy storage mechanism is pressed to store elastic energy; in the process that the wearer moves and lifts the heavy object and recovers an upright posture, the energy storage mechanism releases the elastic energy and can effectively support shoulders of the wearer, and therefore loads and stress of waist joints and hip joints of the wearer are relieved; and meanwhile, the hand power assisting mechanism can synchronously transmit a load borne by an upper limb to the shoulder supporting mechanism and the back supporting mechanism, so that the stress of shoulder joints, elbow joints, wrist joints and finger joints is greatly reduced or disappears, and then the problem of strain of the upper limb is effectively relieved and even solved.

The invention provides a seven-freedom-degree main operating handle for a surgical robot, relates to a main operating handle, and aims at solving the problems that an existing main operating handle cannot realize gravity balance, and the burden is generated on the motion of the hand of a doctor, so that a doctor easily feels fatigued. A wrist swinging joint, a shoulder joint and a waist joint of the seven-freedom-degree main operating handle rotate in the vertical direction; the shoulder joint and the waist joint are connected through a connecting rod; a wrist pitching joint and an elbow jointrotate in the horizontal direction; the wrist swinging joint and the wrist pitching joint are connected through a connecting rod; the wrist pitching joint and the elbow joint are connected through aconnecting rod; a balancing weight is arranged at the tail end of the elbow joint; an elbow rolling joint is connected with the elbow swinging joint through a clamping mechanism; and the axial lines of the wrist pitching joint, the wrist swinging joint and the wrist rolling joint are intersected at one point. The seven-freedom-degree main operating handle can be used for collecting position and posture information of the hand and the opening angle between two fingers of an operator (doctor), and is used in the field of medical appliances.

Disclosed is a method and apparatus for adjusting lumbosacral area, which corrects misalignment of the vertebrae in the lumbosacral area by applying pressure on the lumbosacral area. The present invention simultaneously applies vertical and horizontal forces to the lumbosacral area where vertebral displacement has occurred to adjust the vertebral displacement in the lumbosacral area and remove stress concentrated on the lumbosacral area. Accordingly, the lumbosacral area where the vertebral displacement has happened can be easily adjusted. Also, when the apparatus is manually operated, there is an effect that muscular strength can be increased while adjusting the lumbosacral area. In addition, stress concentrated on a lumbosacral joint wherein the lumbar vertebrae and the sacral vertebrae meet together is removed, so that a user can enjoy physically and mentally healthy life.

The invention relates to a female weightlifting athlete lumbosacral joint biomechanical analysis method based on numerical simulation; the method comprises the steps: selecting a plurality of female weightlifting athletes as to-be-tested athletes, and screening a target athlete according to spine form data; monitoring in the whole weightlifting process of the target athlete, and establishing a weightlifting action model; conducting static spine CT scanning on the target athlete, and establishing a finite element model of the lumbosacral joint according to a scanning result, finally performingnumerical simulation analysis to generate an analysis result. Modeling and numerical simulation analysis are specially carried out on lumbosacral joints of female weightlifting athletes to obtain stress change conditions of anatomical structures such as joints, muscles and soft tissues in the weightlifting movement process, so that structural optimization is carried out on weightlifting actions ofthe female weightlifting athletes, the competitive ability is improved, movement injuries are avoided, the safety of the female weightlifting athletes is improved, and guidance opinions are providedfor exercise rehabilitation.

The plate (1) has a generally triangular shape and includes two juxtaposed lower holes (7), intended to receive implantation screw (2) in the sacrum (100), and a first upper hole (8) for receiving an implantation screw (2) in the fifth lumbar vertebra (101). According to the invention, the plate (1) includes an extension (6) integral therewith, extending its upper side, i.e. protruding from the side opposite the two juxtaposed lower holes (7), the extension (6) having a second upper hole (15) formed in its entirety thereon, for receiving a second screw (2) intended to be implanted in the fifth lumbar vertebra (101), and having, at all points of its length, a width not greater than two times the diameter of the second upper hole (15); the direction in which the extension (6) protrudes from the plate (1) is such that the first upper hole (8) and the second upper hole (15) are placed on a first line (L1) substantially perpendicular to a second line (L2) passing through the two juxtaposed lower holes (7).

The invention relates to a profiling joint robot system. The profiling joint robot system uses pneumatic muscles to simulate human muscles to drive hip joints, knee joints, ankle joints, waist joints, chest joints, shoulder joints, elbow joints and wrist joints to move and has the function of completely simulating human joint movement. The profiling joint robot system is mainly composed of vertebrae, pneumatic motors, pneumatic muscles, connecting pieces and a joint control system. A waist joint assembly comprises the pneumatic muscles serving as a driving element to drive vertebrae to rotate, and the pneumatic motors and a universal joint form a spherical hinge with the driving element and are combined with the pneumatic muscles to drive the joint. Hip joints, knee joints, ankle joints, shoulder joints, elbow joints and wrist joints in lower limb joints and upper limb joints are driven by the combination of single-joint pneumatic muscles and multi-joint pneumatic muscles; and the shoulder joints are driven by flexible redundancy in parallel consisting of a group of eight pneumatic muscles. The profiling joint robot system has the characteristics of compact structure, good flexibility and various pneumatic muscle states, and can be used for teaching and demonstration.

There is provided a posterior lumbar joint prosthesis which includes prosthetic elements reproducing the movements of the joint facets and vertebral anchors which adapt to the variations in the anatomy of vertebra. In use, the prosthesis has lower and upper connectors on each side of the lumbar vertebra. The lower connectors are coupled with, and pivotably mounted onto, respective lower pedicular screws, and a member defining a member axis links lower and upper connectors on each side of the lumbar vertebra. Upon lateral flexion of one of the upper and lower vertebrae relative to the other, each lower connector is capable of multiaxis pivotable movement relative to the respective lower pedicular screws such that each member is capable to pivot with respect to (i) the axis of the lower screw, (ii) a first axis intersecting the lower screw and the lower connector, and / or (iii) an axis intersecting the above first axis and the lower screw, while the member can also move along the member axis.

Proposed is a whole body-shaped striking dummy including joints. In the whole body-shaped striking dummy, a human-sized manikin is realized using elastic joints including an elastic neck joint, an elastic waist joint, and elastic thigh joints. The manikin is configured to be supported on a floor using a rear support pivotably provided on the rear end of the manikin. The elastic joints of the manikin have reliable ranges of elastic movement in front-rear and right-left directions. Accordingly, the whole body-shaped striking dummy is used in martial arts training, such as Taekwondo, in the same manner as a real human body, thereby improving the efficiency of striking training.

The invention discloses a single-leg device of a double-parallel four-rod transmission mechanism and a six-wheeled leg robot. The single-leg device of the double-parallel four-rod transmission mechanism comprises a base section part, a thigh part and a shank part and has three degrees of freedom. A knee joint is driven through the double-parallel four-rod mechanism, the weight of a shank is reduced, and meanwhile the knee joint can obtain the motion range larger than 180 degrees. A hip joint driving motor and a knee joint driving motor are embedded into a thigh part, so that the movement rangeof a waist joint is enlarged. A modularized driving wheel component can be additionally arranged on the single-leg device according to needs. The six-wheeled leg robot applying the single-leg deviceof the double-parallel four-rod transmission mechanism can achieve leg type movement or wheel type movement, simple operation is conducted, the posture of a robot body does not need to be adjusted toreturn to the state before overturning during overturning, and the robot can continue to move only by standing in the reverse direction.

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 human-like dual-arm cooperative robot based on synchronous pulley transmission, and relates to the field of robots. The human-like dual-arm cooperative robot comprises two SCARA mechanical arms and a lumbar joint mechanism; the two sides of a rotor of the lumbar joint mechanism are each connected with one SCARA mechanical arm; each SCARA mechanical arm comprises a forearm, a middle arm, a last arm, a forearm transmission mechanism, a middle arm transmission mechanism and a last arm transmission mechanism, wherein the forearm, the middle arm and the last arm are arranged in order from front to back, the forearm transmission mechanism is a first-stage transmission mechanism, an output shaft of a motor of the forearm transmission mechanism is connected with a rotating shaft of the front arm through a set of synchronous pulley, the middle arm transmission mechanism is a secondary transmission mechanism, an output shaft of a motor of the middle arm transmission mechanism is sequentially connected to a rotating shaft of the middle arm in a transmitting manner through two sets of synchronous pulleys, the last arm transmission mechanism is a three-stage transmission mechanism, and an output shaft of a motor of the last arm transmission mechanism is sequentially connected with the last arm in a transmitting manner through three sets of synchronous pulleys. Thehuman-like dual-arm cooperative robot has the advantages that the rotating angles of the mechanical arms are not limited and the volume of the mechanical arms is reduced.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention discloses a quadruped bionic system based on the pneumatic muscle. The bionic system uses the pneumatic muscle to simulate the muscle of a quadruped to drive the neck, fore legs, thoracic joint, lumbar joint and hind legs to move, particularly simulate the pneumatic muscle having the actions of the sternocephalicus muscle, brachiocephalic muscle, musculi splenius, superficialis chestmuscle, arm triceps muscle, wrist radial extensor muscle, wrist oblique extensor muscle, wrist ulnar lateral flexor muscle, wrist radial flexor muscle and the like to drive the neck and the fore legsto flex, fold, unfold and rotate, simulate the posterior serratus muscle and the latissimus dorsi muscle to drive the thoracic joint to do lateral bending, pitching and circular rotation motions, simulate the internal oblique muscle and the medius arm muscle to drive the lumbar joint to do lateral bending, pitching and circular rotation motions, and simulate the pneumatic muscle having the actions of tensor fascia lata, quadriceps femoris, semitendinosus, tibialis anterior, peroneal longus, gastrocnemius and the like to drive the hind legs to flex, fold and unfold. According to the quadrupedbionic system based on the pneumatic muscle, the pneumatic muscle is used for driving, the quadruped bionic system based on the pneumatic muscle has the beneficial effects of being compact in structure, clean and good in explosion-proof performance and can be used for teaching and demonstration.

The invention discloses a quadruped bionic system based on the pneumatic muscle. The bionic system uses the pneumatic muscle to simulate the muscle of a quadruped to drive the neck, fore legs, thoracic joint, lumbar joint and hind legs to move, particularly simulate the pneumatic muscle having the actions of the sternocephalicus muscle, brachiocephalic muscle, musculi splenius, superficialis chestmuscle, arm triceps muscle, wrist radial extensor muscle, wrist oblique extensor muscle, wrist ulnar lateral flexor muscle, wrist radial flexor muscle and the like to drive the neck and the fore legsto flex, fold, unfold and rotate, simulate the posterior serratus muscle and the latissimus dorsi muscle to drive the thoracic joint to do lateral bending, pitching and circular rotation motions, simulate the internal oblique muscle and the medius arm muscle to drive the lumbar joint to do lateral bending, pitching and circular rotation motions, and simulate the pneumatic muscle having the actions of tensor fascia lata, quadriceps femoris, semitendinosus, tibialis anterior, peroneal longus, gastrocnemius and the like to drive the hind legs to flex, fold and unfold. According to the quadrupedbionic system based on the pneumatic muscle, the pneumatic muscle is used for driving, the quadruped bionic system based on the pneumatic muscle has the beneficial effects of being compact in structure, clean and good in explosion-proof performance and can be used for teaching and demonstration.

The invention discloses a painless bonesetting method. The method comprises the following steps: pushing and pressing an affected part within a joint dislocation range for 10-30 minutes with prepared soothing energy liquid; soaking a compress towel in the soothing energy liquid for 0.5-2 minutes, attaching the soaked compress towel to a joint dislocation part, and covering the compress towel with a preservative film; making a self-heating patch attached to the outer side of the compress towel for heating; and performing bonesetting according to a dislocation direction by adopting a method of pushing, shifting, kneading and pressing. According to the painless bonesetting method, with the cooperation of through the prepared soothing energy liquid and a massage technique, qi and blood of the whole body are mobilized, cells of the whole body are activated, meridians and collaterals of joints are dredged, a large number of hormones are released and the self-healing ability is improved, and the soothing energy liquid has relatively good curative effects on diseases such as waist joint hyperplasia, bone dislocation, lumbar and cervical vertebra strain, traumatic injury, sciatica and scapulohumeral periarthritis.

The invention discloses a human waist joint simulation system based on the series-parallel connection of pneumatic muscles and an air cylinder. The pneumatic muscles simulating the human muscles and the thin-walled air cylinder drive the ribs and the vertebrae to move, and the system has the function of completely simulating the movement of the human waist joints. The human waist joint simulationsystem is mainly composed of the pelvis, the ribs, the vertebra, the thin-walled air cylinder, the pneumatic muscles and the like, and the pneumatic muscles simulating the effects of the latissimus dorsi muscles, the obliquus externus abdominis muscles, the rectus abdominis muscles, the erector spinae muscles and the like and the thin-walled air cylinder drive the rib and vertebral joints to rotate around a vertical axis, a sagittal axis and a coronal axis and make linear movement in the three directions. The system is driven by the pneumatic muscles and the thin-walled air cylinder, has the advantages of compact structure, multiple degrees of freedom and good explosion-proof performance, and can be used for medical diagnosis, teaching demonstration, exhibition and the like.

The invention discloses a bionic robot, system and method based on series-parallel pneumatic muscles and air cylinders, the pneumatic muscle air cylinders drive a waist joint, a hip joint, a knee joint, an ankle joint, a shoulder joint, an elbow joint and a wrist joint to move, and the bionic robot has the function of completely simulating joint movement of a person. The waist joint upper layer, the waist joint middle layer and the waist joint lower layer are composed of four pneumatic muscles which are connected front, back, left and right, and the waist joint upper layer, the waist joint middle layer and the waist joint lower layer are connected in parallel through four air cylinders. The hip joint is jointly driven by two parallel air cylinders and two pneumatic muscles connected with the waist joint and the shank, the knee joint is driven by two pneumatic muscles connected with the waist joint and the shank and two pneumatic muscles connected with the thigh and the shank in parallel, and the ankle joint is driven by four pneumatic muscles connected in parallel. And the wrist joint is driven by two groups of big arm pneumatic muscle antagonism muscles. The mechanical arm is driven by the pneumatic muscles and the air cylinders and has the advantages of being rigid and flexible, high in bearing capacity and large in motion space.

The invention relates to a humanoid robot based on pneumatics. The humanoid robot uses pneumatic muscles to simulate human muscles to drive knee joints, ankle joints, waist joints, neck joints, shoulder joints, elbow joints and wrist joints to move, and has the function of completely simulating human joint movement. The humanoid robot based on pneumatics is mainly composed of pneumatic claws, belt wheels, vertebrae, the pneumatic muscles, connecting pieces and a joint control system. A waist joint assembly is formed by connecting two layers of pneumatic muscle parallel platforms connected in series in parallel, and the shoulder joint is a spherical hinge composed of a pneumatic motor and a universal joint and provided with an active element and is combined with the pneumatic muscles to drive the joint. The elbow joints and the knee joints are driven by a group of flexible redundancy parallel connection composed of eight pneumatic muscles, the wrist joints and the ankle joints are driven by parallel connection pneumatic muscles, and the hip joints are driven by belt wheels driven by the pneumatic motors. The humanoid robot 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 four-foot multi-direction movement robot system based on an air cylinder. The air cylinder drives leg joints and waist joints of a four-foot robot to move, the robot has a function of moving in a transverse direction and a longitudinal direction, and has a function of moving in a direction at a certain angle with the transverse direction and the longitudinal direction. The four-foot multi-direction movement robot for the air cylinder is mainly composed of supporting legs, fixing plates, waist joint air cylinders, vertebrae, a supporting frame, a swinging air cylinder,supporting leg air cylinders, a rod end joint bearing and connecting pieces. The swinging air cylinder and the supporting leg air cylinders drive the four supporting legs of the four-foot robot to realize the free switching of transverse angle, longitudinal angle and other angles; and the waist joint air cylinder and the vertebrae are adjusted according to the actual movement requirement of the four-foot robot so as to meet the requirements of different movement directions of the four-foot robot to the posture of the waist joint. The four-foot robot driven by the air cylinder has the characteristics that flexibility is good, movement direction is multiple, the movement direction can be freely switched, and the robot can be applied to the fields of field work, obstacle-crossing and explosion-proof, military load-bearing transportation and the like.

The invention discloses an upper limb carrying power assisting device based on pneumatic muscles. The upper limb carrying power assisting device comprises main body mechanical structure design, driver selection and control methods. In the lifting and carrying process of a wearer, for waist joint rotation, loads are transmitted to the legs through structural design, and assistance is achieved through thigh counterforce; for the shoulder joints, ratchet wheel and pawl mechanisms are designed to realize supporting assistance; and as for the elbow joints, assistance is achieved through the pneumatic muscles and line driving. The whole mechanism adopts multi-degree-of-freedom adjustable design and accords with ergonomics; the pneumatic muscles are used as a driver, so that the light weight of the device is realized; and a voice module is used for recognizing the motion intention of the wearer, and then the power assisting device is controlled to operate. Aiming at the working conditions of industrial production, warehouse carrying and the like, a good assisting effect on the waist, shoulder and elbow joints of a user can be achieved.