44 results about "Right hip joint" patented technology

Upper arms are fixed to drive shafts of a pair of drive sources at or near respective left and right hip joints. The upper arms are coupled to an upper body trunk harness by first passive rotary shafts via third passive rotary shafts, and are mounted to a lower body trunk harness by a mounting device. Lower arms are fixed to drive source bodies, and are coupled to thigh harnesses by second passive rotary shafts via fourth passive rotary shafts. The first and second passive rotary shafts and third and fourth passive rotary shafts are angularly displaceable about axial lines in a lateral direction of the wearer and axial lines in an anteroposterior direction of the wearer, respectively. An acceleration/angular speed sensor fixed to the lower body trunk harness detects an acceleration of the body trunk in a vertical direction by landing of a foot.

The embodiment of the invention provides a motion state discriminating method and system based on an aiding exoskeleton robot. The method comprises the steps that an angle sensor and a pressure sensor are adopted for collecting the angle values of the human left hip joint and the human right hip joint within the current gait period, the pressure of the human left planta pedis and the human right planta pedis on the aiding exoskeleton robot and the pressure of a left planta pedis pedal and a right planta pedis pedal of the aiding exoskeleton robot on the ground; the accelerated speeds of the human left hip joint and the human right hip joint within the current gait period are calculated according to the angle values of the human left hip joint and the human right hip joint within the current gait period; the motion state of the human body within the current gait period is recognized according to the accelerated speeds of the human left hip joint and the human right hip joint, the angle values of the human left hip joint and the human right hip joint, the pressure of the human left planta pedis and the human right planta pedis on the aiding exoskeleton robot and the pressure of the left planta pedis pedal and the right planta pedis pedal of the aiding exoskeleton robot on the ground. According to the motion state discriminating method and system, the motion state recognition algorithm is simplified, the calculation amount of motion state recognition is reduced, implementation is easy, and good real-time performance is achieved.

The invention provides a flexible wearable lower limb assistant exoskeleton suit. The suit is characterized by comprising high waist short pants, knee caps, shoes, a controller, a traction belt and two drive devices. The left and right hips joints and sacrum position of the high waist short pants are all provided with gyroscope sensors. The waist position of the high waist short pants is fixedly provided with an adjustable belt. The two drive devices are symmetrically installed at the adjustable belt located at front side of the high waist short pants in a left-right mode. Each drive device is connected with the upper end of a traction belt. The lower end of the traction belt penetrates through the kneed caps to be connected with the shores. Each drive device is used for driving the corresponding ankle joint move; the three gyroscope sensors and two drive devices are all connected with the controller; the controller is used for processing the data of three gyroscope sensors and controlling the motion of power elements of the drive devices, the knee caps are located at the knee joints and is provided with a plurality of magic sticker pasting points of different lengths, and the knee caps are also provided with knee dents.

The invention provides a four-limb exoskeleton rehabilitation robot, in which a left-right exoskeleton base frame is installed on a robot turnover bed through a width adjusting guideway and a slider;a left upper limb exoskeleton and a right upper limb exoskeleton are installed at the upper ends of a left exoskeleton base frame and a right exoskeleton base frame, respectively; a left lower limb exoskeleton and a right lower limb exoskeleton are installed at the lower ends of the left exoskeleton base frame and the right exoskeleton base frame, respectively; a width adjusting mechanism is installed between the left exoskeleton base frame and the right exoskeleton base frame, and fixed on the robot turn-over bed; a shoulder height adjusting mechanism is installed at the upper parts of the left upper limb exoskeleton and the right upper limb exoskeleton, and fixed on the robot turn-over bed; a leg length adjusting mechanism is installed on the left lower limb exoskeleton and the right lower limb exoskeleton; and a left-right shoulder joint rotary mechanism, a left-right hip joint rotary mechanism, a left-right knee joint rotary mechanism and a left-right ankle joint rotary mechanism are installed on shoulder joints of the left upper limb exoskeleton and the right upper limb exoskeleton and hip joints, knee joints and ankle joints of the left lower limb exoskeleton and the right lower limb exoskeleton, respectively. The invention realizes the adjustment of size range by electric push-rod motors, and uses servo motors to control joint movement, and the invention has the characteristics of saving cost, adjusting time and simplifying control process.

The invention discloses a rope pulling type flexible lower limb exoskeleton power-assisted robot and a motion control method thereof. An existing flexible lower limb exoskeleton robot is insufficient in driving precision and poor in active power assisting performance. The device comprises a waist wearing binding piece, a waist control box, a right thigh inclination angle sensor, a left thigh inclination angle sensor, a right shank inclination angle sensor, a left shank inclination angle sensor, a left hip joint driving device, a right hip joint driving device, a left hip joint assisting steel rope, a right hip joint assisting steel rope, a left thigh wearing binding piece, a right thighwearing binding piece, a right shank wears wearing binding piece, a left shank wearing binding piece, a right knee joint drive device, a left knee joint drive device, a right knee joint power-assisted steel rope and a left knee joint power-assisted steel rope. The leg lifting willingness of a wearer can be accurately judged, the walking posture of a healthy person is simulated to assist in leg lifting, the left leg and the right leg are independently controlled, and better experience is brought to the wearer.

The invention provides a wearable power-assisted lifting exoskeleton device. The device comprises ankle joints, knee joints, hip joints, thigh support rods, shank support rods and a waist support, wherein the ankle joints are connected with the knee joints through the shank support rods, the knee joints are connected with the hip joints through the thigh support rods, the left hip joint and the right hip joint are connected through the waist support, and driving devices for driving the shank support rods to move are arranged on the thigh supporting rods. The device is simple in structure and high in adaptability.

The invention relates to a wearable walking aid robot. The wearable walking aid robot comprises a backpack support, a battery box, a left leg support, a right leg support, a left robot joint module, aright robot joint module, manual clutches, a lower left joint, a lower right joint, a left pressure switch and a right pressure switch. The left robot joint module and the right robot joint module are equivalent to a left hip joint and a right hip joint of a human body. When a left manual clutch and a right manual clutch are separated, the left hip joint and the right hip joint move freely, and aleft knee joint and a right knee joint move freely. The wearable walking aid robot is equivalent to an unpowered human body exoskeleton walking aid, and the burden of a traveler is effectively supported. When the left manual clutch and the right manual clutch are combined, the wearable walking aid robot is equivalent to a powered human body exoskeleton walking aid, stepping, walking and pausing of an exoskeleton can be accurately controlled according to the intention of a user, the walking speed of the exoskeleton can be controlled according to the intention of the user, and the exercise capacity and the load bearing capacity of the human body are effectively improved.

The invention relates to a walk posture straightening device for human body recovery. The walk posture straightening device comprises a waist supporting assembly, a left hip joint connecting rod, a right hip joint connecting rod, a left thigh connecting rod, a right thigh connecting rod, a left thigh spacer assembly and a right thigh spacer assembly, wherein the waist supporting assembly comprisesa waist back plate, a waist regulating connecting rod and a waist binding band; a waist regulating device comprises two adjustable connecting rods on the left side and the right side, a synchronous telescopic mechanism and a locking knob; each hip joint connecting rod is integrally connected with the waist supporting assembly through the waist regulating device, and has a rotation freedom degreeat the waist relative to the waist regulating device; each thigh connecting rod has a rotation freedom degree at a position relative to the corresponding hip joint connecting rod, of a hip joint of ahuman body, and the axis directions of the thigh connecting rods are the direction of a coronal axis of the human body; and each thigh spacer assembly comprises a thigh spacer and a thigh binding band. According to the walk posture straightening device disclosed by the invention, through the waist back plate and leg connecting rods having a specific freedom degree, the walk posture of the human body is straightened, and the walk posture straightening device is used for assisting people having defects in walk posture to perform walk recovery training.

The invention provides a control method and device for hip joint exoskeleton. The control method comprises the steps of obtaining a left side current rotating angle track and a left side current rotating angle speed track of left side hip joint exoskeleton worn by a wearer and a right side current rotating angle track and a right side current rotating angle speed track of a right side hip joint exoskeleton; determining a state switching trend of the wearer according to the left side current rotating angle track, the left side current rotating angle speed track, the right side current rotatingangle track and the right side current rotating angle speed track, wherein the state switching trend comprises stepping and standing up; and according to the state switching trend, respectively determining power-assisted moment tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton, and according to the power-assisted moment tracks, driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in conducting corresponding state switching. Various different lower limb movement tasks can be accurately recognized, correspondinglower limb assistance can be provided, and the device is suitable for being used in different scenes.

The invention discloses an intelligent lifting type exoskeleton robot. The intelligent lifting type exoskeleton robot is provided with a left power exoskeleton and a right power exoskeleton, cranes are arranged at the upper ends of the left power exoskeleton and the right power exoskeleton, lifting hooks are arranged at the upper ends of the left crane and the right crane, and the left lifting hook and the right lifting hook are connected with a left thigh annular belt and a right thigh annular belt in a hanging mode respectively; and the left thigh annular belt and the right thigh annular belt sleeve the upper end of the left thigh and the upper end of the right thigh of a human body respectively. The left crane and the right crane lift the gravity centers of the left end and the right end of the human body according to the consciousness of the human body respectively, so that the human body does various movements in the state of reducing 1/2 weigh, the freedom degrees of the four joints of the intelligent lifting type exoskeleton robot synchronously and freely move along with the left knee joint, the right knee joint, the left hip joint and the right hip joint of the human body, the coordination problem between the human body skeleton and the exoskeleton does not exist, self-balance control of the human body is not affected, four joint motors are omitted, the structure is simplified, the performance is improved, and the multifunctional modes of no power and power are achieved.

The invention relates to an element matching information processing method and device based on camera vision, and the method comprises the steps: obtaining a human body image, inputting the obtained human body image to kinect equipment, and receiving a human body skeleton joint point returned by kinect; selecting left and right shoulder blade joints and left and right hip joints in all human skeleton joint points, and extracting an upper body part image defined by the left and right shoulder blade joints and the left and right hip joints from the human body image; and analyzing the color in the upper body part image to obtain color information, and sending the color information to an application module. Compared with the prior art, the upper body part image can be accurately acquired through the left and right shoulder blade joints and the left and right hip joints in the human skeleton joint points, so that accurate matching of face elements is performed, and the matching speed and the matching precision are improved.

The invention discloses a wearable lower limb rehabilitation exoskeleton control method which comprises a passive control mode and an active control mode, in the passive mode, gait data of left and right hip joint angles and left and right knee joint angles of corresponding heights are obtained and processed by a central processing unit, and signals are transmitted to a motor module; the lower limb rehabilitation exoskeleton is driven to complete passive movement of the patient according to the corresponding gait data; according to the active control mode, electromyographic signals of all actions of a patient need to be collected firstly, the signals are amplified and filtered, the electromyographic signals of all the actions are established to serve as a known action intention library of rehabilitation training, one-to-one mapping of the actions and the electromyographic signals is conducted on the filtered electromyographic signals, and gait data is obtained according to the height of the patient; the gait data of the knee joints and the hip joints are converted through the central processing unit. The wearable lower limb rehabilitation exoskeleton robot aims at solving the technical problems that an existing wearable lower limb rehabilitation exoskeleton robot is single in rehabilitation training mode and poor in patient initiative.

A bending and stretching motion assist device includes: left and right thigh links; left and right lower leg links swingably coupled to lower ends of the thigh links; a torso mount member having an annular shape and supporting upper ends of the left and right thigh links swingably on respective sides of left and right hip joints; left and right lower leg mount members respectively attached to lower ends of the left and right lower leg links; an assist force generation device configured to generate assist force in a stretching direction between the lower leg links and the thigh links to assist bending and stretching motion of lower limbs; and a buttocks support member extending between parts of the torso mount member adjacent to connecting parts that connect the torso mount member to the left and right thigh links, respectively, and including a buttocks pad.

The invention provides an adjustable hip joint training device capable of accurate feedback. One end of a leg length matching mechanism is hinged to a sliding block; the sliding block moves on a sliding rail parallel to the connecting line of the left hip joint and the right hip joint of a human body, and an angular displacement sensor collects the rotating angle of the leg length matching mechanism at the hinged position; the other end of the leg length matching mechanism adjusts the length through a guide rail and is provided with a position locking mechanism; one end of a servo driving mechanism is hinged to a bed board, and the other end of the servo driving mechanism is hinged to the leg length matching mechanism; the servo driving mechanism is used for driving the leg length matchingmechanism to rotate; a leg bandage is used for fixing the thigh of a patient and installed at the other end of the leg length matching mechanism through a compensation guide rail; the compensation guide rail can move freely in the leg length direction; and a force sensor is installed between the leg bandage and the compensation guide rail to measure the force applied on the leg bandage by the patient. The hip joint training device is safe and reliable, adjustment and locking can be effectively conducted, and the hip joint training condition can be accurately fed back.