87 results about "Right lower limb" patented technology

The invention relates to a lower limb rehabilitation training exoskeleton with bionics design. An existing lower limb rehabilitation training exoskeleton is complex in driving structure, low in the response speed and not ideal in rehabilitation training effect, and lacks bionic consideration. The lower limb rehabilitation training exoskeleton comprises a waist tightening mechanism and lower limb exoskeleton leg rods, wherein the waist tightening mechanism is connected with the waist of a wearer, the left lower limb exoskeleton leg rod and the right lower limb exoskeleton leg rod respectively have four degrees of freedom and achieve three degrees of freedom of hip joints through a hip joint adduction and abduction mechanism, a hip joint bending and stretching mechanism and a hip joint medial rotation and lateral rotation mechanism. The axes of the three rotation degrees of freedom are orthogonal at the motion center of the hip joints of the human body. The rotation center of a knee joint bending and stretching mechanism moves along with the rotation center of the knee joints of the human body, so that the exoskeleton and the rotation center of the knee joints of the human body are always kept in the same axis. The hip joint bending and stretching mechanism and the knee joint bending and stretching mechanism are directly driven by a motor in cooperation with a speed reducer. The lower limb rehabilitation training exoskeleton is compact and portable in structure, man-machine interference force is avoided, damage caused by rehabilitation training to the knee joints is reduced, and the whole rehabilitation training becomes more natural and easier.

The invention discloses a hydraulically-driven wearable human body assisting walking robot. The assistive walking robot comprises a mechanical skeleton system, wherein the mechanical skeleton system comprises a left lower limb module used for walking, a right lower limb module used for walking, a waistband, a back frame and a hydraulic driving system; the hydraulic driving system comprises a hydraulic integrated control unit, an oil tank, a storage battery, a motor, a hydraulic pump and assisting oil cylinders, the storage battery is connected with the motor, the motor is connected with the hydraulic pump connected with the oil tank, the storage battery supplies power to the motor, the motor drives the hydraulic pump to operate, the hydraulic pump pumps oil from the oil tank and conveys the high-pressure oil into the hydraulic integrated control unit, the hydraulic integrated control unit controls the high-pressure oil to flow to all the assisting oil cylinders, and the assisting oil cylinders drive the left lower limb module and the right lower limb module to move. The hydraulically-driven wearable human body assisting walking robot is simple and compact in structure, low in cost, easy to assemble and maintain and suitable for mass production and application. After people wear the device, the fatigue feeling caused by large loads of the human body can be effectively relieved, and the hydraulically-driven wearable human body assisting walking robot can be widely applied to industrial production, provision for the aged, assistance to the disabled, disaster assistance, load bearing assistance and the like.

The invention relates to a sitting, standing and lying lower limb rehabilitation robot system. The sitting, standing and lying lower limb rehabilitation robot system comprises a chassis mechanism with a chassis frame, a lifting mechanism which is composed of two lifting mechanism units, a lower limb exoskeleton mechanism, a cushion assembly and a backrest assembly, wherein the two lifting mechanism units are symmetrically arranged on the left and right sides of a chassis and have the same structures, and the lower limb exoskeleton mechanism comprises two lower limb exoskeleton mechanism units which are the left lower limb exoskeleton mechanism unit and the right lower limb exoskeleton mechanism unit separately. According to the sitting, standing and lying lower limb rehabilitation robot system, the lengths of the thigh and the shank of the lower limb exoskeleton mechanism can be adjusted, the height of a seat can be adjusted, and the angle of the seat can be adjusted; through the adjusting functions, providing of a proper training posture for a patient is facilitated, and since all joints of the lower limb exoskeleton mechanism are provided with driving motors, providing of multiple training modes, such as passive training, active training and assistance training, for the patient is facilitated.

The invention discloses a power-assisted walking robot adapted to medical rehabilitation, correction or training. The power-assisted walking robot comprises a left lower limb, a right lower limb, a waist support board, left and right connecting blocks. The waist support board has a radian and is horizontally placed. The concave surface of the waist support board faces forward. The left and right ends of the waist support board are integrally connected with the left lower limb and the right lower limb through the left and right connecting blocks. The left and right connecting blocks are of integral shaft-hole structures with shafts in the vertical direction and holes in horizontal directions. The perpendicular bisector of the longitudinal center line of the waist support board is a symmetrical shaft. The power-assisted walking robot is composed of a left half part and a right half part, both of which are in bilateral symmetry. The power-assisted walking robot adapted to medical rehabilitation, correction or training has the following beneficial effects: the robot is simple in structure and compact and reasonable in layout and has three active degrees of freedom including two motion of the hip joint and one knee joint motion and one passive degree of freedom including ankle joint motion; and all components of the robot are good in coordination, high in running precision, flexible in control and adjustable in leg length and convenient to use.

A method is disclosed for diagnosing and treating a patient having lesions in both arteries of left and right lower limbs. By determining that a lesion distal to an aortailiac bifurcation is to be treated first, catheters and an operation time can be reduced is to be treated first on a priority basis based on diagnostic data, deciding that a lesion proximal to the bifurcation is to be treated next, then treating the lesions substantially continuously.

The invention provides a rehabilitative training device for a patient with unilateral limbs paralysed. The device comprises a left upper and lower limb rehabilitative training mechanism, a right upper and lower limb rehabilitative training mechanism and a double-universal coupler. One end of the double-universal is fixedly connected to a second right rotary shaft in the right upper and lower limb rehabilitative training mechanism. The left end of the double-universal coupler is fixedly connected with first left rotary shaft of the left upper and lower limb rehabilitative training mechanism. A second right gear fixed on the second right rotary shaft is engaged with a first right gear fixed on the first right rotary shaft. The first rotary shaft is connected with a right lower limb fixing mechanism through belt driving. The second right rotary shaft is connected with the right upper and lower limb rehabilitative training mechanism through a parallel four-link mechanism. The parallel four-link mechanism is provided with a weight reducing mechanism which utilizes a right disc-shaped cam to suspend heavy objects through a right pulling line. The left upper and lower limb rehabilitative training mechanism and the right upper and lower limb rehabilitative training mechanism are symmetrically arranged with relative to the patient.

The invention discloses a rehabilitation training device with the adjustable movement direction of bilateral limbs. The device comprises a right upper limb mechanism, a right transmission mechanism, a right lower limb mechanism, a lower limb connecting mechanism, a left lower limb mechanism, a left transmission mechanism and a left upper limb mechanism, wherein the right upper limb mechanism and the left upper limb mechanism and the right transmission mechanism and the left transmission mechanism are symmetrical about the symmetrical planes of a base in the left and right directions respectively; the right upper limb mechanism is connected with the right lower limb mechanism through the right transmission mechanism, and the reverse transmission is realized; the right lower limb mechanism is connected with the left lower limb mechanism through the lower limb connecting mechanism, and the left lower limb mechanism is provided with a belt-wheel combination or separation device which is movably sleeved with the right lower limb mechanism or the left lower limb mechanism; the lower limb connecting mechanism is connected with a damping mechanism to realize the codirectional or reverse movement of the left and right lower limb rehabilitation training device, which improves the patients' rehabilitation training pleasure.

The invention provides a multifunctional weight-reducing dynamic balance training bed, comprising a bed seat, a bedstead and a bed plate, wherein the bedstead is arranged on the bed seat and is rotatably connected with the bed seat; the bed plate is fixed on the bedstead; the front end of the bedstead is connected with a left lower-limb bracket movement mechanism and a right lower-limb bracket movement mechanism so as to realize synchronous extension and alternative extension. A bed plate angle adjusting mechanism is arranged between the bedstead and the bed seat so as to realize a back weight reducing function with various angles. A left-side up-down moving mechanism and a right-side up-down moving mechanism of the bed plate are respectively arranged among the two sides of the bedstead and the base; and the mechanisms realize side turning of the bed and horizontal training of the diseased side. The left lower-limb bracket movement mechanism and the right lower-limb bracket movement mechanism comprise thigh expansion rods and crus expansion rods to realize adjustment of the lengths of thigh brackets and crus brackets, and therefore, the personalized limb training is realized. A control box is arranged on the bed seat. In the multifunctional weight-reducing dynamic balance training bed, devices for carrying out rehabilitation assessment and training on the dynamic balance functions are integrated, and the weight-reducing degree can be adjusted.

The invention provides an active and passive limb rehabilitation training device. The training device comprises a base, a left upper limb mechanism, a right upper limb mechanism, a left lower limb mechanism and a right lower limb mechanism, wherein the left upper limb mechanism and the right upper limb mechanism are installed on the two sides of a double-upper-limb position adjusting mechanism fixed to the base respectively, the left lower limb mechanism and the right lower limb mechanism are installed on the two sides of a double-lower-limb position adjusting mechanism fixed to the base respectively, the two lower limb mechanisms are bilaterally symmetrical, and the two upper limb mechanisms are basically bilaterally symmetrical. A right rotating shaft is rotationally installed on a rightupper limb connecting frame of the right upper limb mechanism and is connected with a piston rod on one side of a right double-side rod outlet oil cylinder and a piston rod of a first right oil cylinder through a gear-rack and guide rail-slider mechanism, a piston rod on the other side of the right double-side rod outlet oil cylinder is connected with a piston rod of a third right oil cylinder, aright connecting plate of the right lower limb mechanism is connected with a second right foot connecting rod and a fourth right coil cylinder in a hinged mode, and a piston rod of the fourth right oil cylinder is connected with a right foot swing rod in a hinged mode. A right double-side rod outlet piston cylinder is connected with a left double-side rod outlet piston cylinder through a three-position four-way valve, the fourth right oil cylinder is connected with the first right oil cylinder through a three-position four-way valve, a fourth left oil cylinder is connected with a first left oil cylinder through a three-position four-way valve, a third right piston cylinder is connected with the atmosphere and an energy accumulator through a three-position four-way valve, and a third leftpiston cylinder is connected with a hydraulic pump and an oil tank through a three-position four-way valve.

The invention discloses an eight-section impedance model based body composition analysis method. The body composition analysis method comprises the following steps: according to input currents and measured voltages, acquiring six valid body impedance expressions through the eight-section body impedance model; acquiring the difference value between the resistance values of left and right upper limbs as well as the difference value between the resistance values of left and right lower limbs through a five-section body impedance model; calculating to obtain the body impedance expression of each section; according to at least two groups of different input currents and the body impedance expression of each section, obtaining at least two groups of body impedance values; selecting the optimal group of eight-section impedance values, and determining a fitting model according to the selected optimal group of eight-section impedance values; conducting training on a plurality of known samples in the fitting model to obtain unknown coefficients of the fitting model as well as a body composition predicting formula; according to the body composition predicting formula, analyzing the unknown samples to obtain body composition parameters. Through the adoption of the body composition analysis method, the obtained the body composition is accurate.

The invention discloses a magneto-rheological force feedback type active-passive lower limb rehabilitation training device and a control method. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device comprises a left lower limb device and a right lower limb device, wherein the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism, a knee joint mechanism and a shank supporting mechanism, and the knee joint mechanism comprises a rotary magneto-rheological damper and a knee joint driving mechanism. When passive lower limb rehabilitation training is performed, a first spiral push rod device, the knee joint driving mechanism and a second spiral push rod deviceare switched on and respectively drive thigh hip joints, knee joints and ankle joints of the human body to perform passive movements. When active lower limb rehabilitation training is performed, a first linear magneto-rheological damper, a rotary magneto-rheological damper and a second linear magneto-rheological damper are switched on and drive thigh hip joints, knee joints and ankle joints of the human body to perform active movements to increase resistance. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device meets the requirement that a rehabilitation trained person performs active-passive rehabilitation training of two legs simultaneously, and a rehabilitation period is shortened.

The invention discloses a resistance position adjustable four-limb rehabilitation training apparatus, which comprises a right upper limb rehabilitation training mechanism, a right transmission mechanism, a right lower limb rehabilitation training mechanism, a left lower limb rehabilitation training mechanism, a left transmission mechanism and a left upper limb rehabilitation training mechanism, wherein the right upper limb rehabilitation training mechanism and the left upper limb rehabilitation training mechanism are symmetrical about a symmetry plane in a longitudinal direction of a base, and the right transmission mechanism and the left transmission mechanism are symmetrical about the symmetry plane in the longitudinal direction of the base; the right upper limb rehabilitation training mechanism is in reversing transmission connection to the right lower limb rehabilitation training mechanism by virtue of the right transmission mechanism; a damping position adjusting device is arranged on the right lower limb rehabilitation training mechanism; the left lower limb rehabilitation training mechanism and the right lower limb rehabilitation training mechanism are such different that the left lower limb rehabilitation training mechanism is additionally provided with a device for enabling the left lower limb rehabilitation training mechanism to be combined with or separated from the right lower limb rehabilitation training mechanism; and the left lower limb rehabilitation training mechanism and the right lower limb rehabilitation training mechanism are connected by virtue of a reversing mechanism. The rehabilitation training apparatus is adjustable in resistance position and is capable of meeting requirements of various patients.

The invention provides a visual feedback type dynamic balance assessment and training system. The system comprises a training bed, a control box, a main control computer, a display device for a patient and a main display screen. The training bed comprises a bed stand, a bed frame and a bed board, wherein the bed frame is arranged on the bed stand and rotationally connected with the bed stand; and the front end of the bed frame is provided with left and right lower limb bracket moving mechanisms for realizing passive synchronous extension and alternated extension. A bed board angle adjusting mechanism for realizing back weight reducing function of various angles is arranged between the bed frame and the bed stand. A bed board left up-and-down moving mechanism and a bed board right up-and-down moving mechanism for realizing side turning of the bed are arranged between the two sides of the bed frame and a base respectively. Left and right lower limb stretching mechanisms comprise thigh stretching rods and shank stretching rods for realizing adjustable lengths of thigh and shank brackets so as to realize personalized lower limb training. The control box is arranged on the bed stand. The system integrates the devices for rehabilitation assessment and training for dynamic balance function, and can adjust the weight reducing degree.

The invention provides a four-limb linkage rehabilitation training machine which comprises a base, a display screen, a left upper limb manual training frame, a left lower limb manual training frame, a right upper limb manual training frame and a right lower limb manual training frame, wherein the left upper limb manual training frame and the right lower limb manual training frame are respectively mounted on the left and right sides of a forklike piece I; the left lower limb manual training frame and the right upper limb manual training frame are respectively mounted on the left and right sides of a forklike piece II; the two forklike pieces are rotatably connected with a fixed shaft I on the base and form a hinged four-rod mechanism with a rotary disc through a connecting rod I and a connecting rod II, respectively; the rotary disc is connected with a multi-shift adjustable resistance mechanism. The patient can select proper resistance according to self conditions.

The invention discloses a four-limb rehabilitation training device with a function of moving angle detection. The device comprises a lower right limb mechanism and a control system, left and right hand swing rods are fixed to left and right rotary shafts respectively, rotary supporting members of the left and right rotary shafts are arranged on a base, a rotary encoder is fixed to the right rotaryshaft, the rotary encoder is connected with the control system through a line, the left and right rotary shafts are connected with two inner gears, the two inner gears mesh with two meshed cylindrical gears, the two cylindrical gears are fixed to left and right transmission shafts respectively, left and right rocking rods which are fixed to the left and right transmission shafts are connected with left and right lower limb mechanisms respectively, two revolute four-bar mechanisms are adopted by the left and right lower limb mechanisms to be connected with left and right pedal plates to achieve the swinging of legs in the lower limb moving process of a patient, four limbs move synchronously, and the moving angles of the limbs of the patient are detected by the rotary encoder to perform evaluation feedback on the rehabilitation effect of the patient.

The invention discloses a spine health-care tendon-regulation bed, which comprises a bracket device, a massaging device, a mechanical operator and a controller, wherein the massaging device has a swinging function and is arranged on the mechanical operator, the mechanical operator is electrically connected with the controller and is arranged on the bracket device, the mechanical operator drives the massaging device to move forwards and backwards, ascend and descend through a mechanical bearing arranged in the mechanical operator, and a motor is controlled by the controller to carry out fascia regulation on the back part and left and right lower limbs. In operation, only the controller needs to be pressed down slightly, then massaging balls can be controlled to prop and massage muscle fasciae correspondingly at the both sides of the spine, and simultaneously, a foot stool can be controlled to push and press the lower limbs, so the waist and back and the lower limb fasciae of the human body are stretched to achieve the effect of relieving the sciatic nerves.

The invention provides a digital multi-state balance training device. The device comprises a bed base, a bed frame and a bed board, wherein the bed board is divided into a back sliding board and a lower limb fixing board; the back sliding board is connected with the bed frame in a sliding manner and can move back and forth along the bed frame; a displacement sensor is arranged below the back sliding board; a left lower limb bracket and a right lower limb bracket are connected with the front end of the bed frame; a left lower limb bracket moving mechanism and a right lower limb bracket moving mechanism are arranged between the left lower limb bracket and the bed frame, and between the right lower limb bracket and the bed frame respectively; and a bed frame angle adjusting mechanism is arranged between the bed frame and the bed base. The digital multi-state balance training device is a device which integrates rehabilitation evaluation and rehabilitation training of static balance, and crouch and stand positive and negative dynamic balance functions of a patient, can perform in any inclination angle backside support weight loss state, and can realize visual feedback through a display device and a computer for the patient so as to perform training and evaluation.

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 whole body rehabilitation robot, comprising: a bracket part, an inner bracket part, a left upper limb rehabilitation robot, a right upper limb rehabilitation robot, a left lower limb rehabilitation robot, a right lower limb rehabilitation robot, a back part and a driving control part; the bracket part is used for carrying the remaining parts; the inner bracket part is located inside the bracket part; the left upper limb rehabilitation robot is used to provide left arm rehabilitation training; the right upper limb rehabilitation robot is used to provide right arm rehabilitation training; the left lower limb rehabilitation robot is used to provide left lower limb rehabilitation training of a patient; the right lower limb rehabilitation robot is used to provide rightlower limb rehabilitation training for a patient; the back part is fixed at the inner bracket part; and the driving control part is used for controlling the movement speed and the movement angle of the left upper limb, right upper limb, left lower limb and right lower limb rehabilitation robots. The whole body rehabilitation robot of the invention can provide the patient with coordinated rehabilitation actions of limbs, so that the patient can obtain systematic effective limb rehabilitation training during a rehabilitation process.

The invention relates to a human body part segmentation method and system based on SPECT imaging, based on a bone imaging data matrix, a human body region is extracted from a bone imaging image to obtain effective information of the bone imaging data matrix, the calculation amount is reduced, and the segmentation precision is improved. Then the human body area is divided into a head area, a chest area, a pelvic bone area and a leg area based on the data matrix corresponding to the human body area and human morphological characteristics, then the chest area is divided into a trunk area, a left upper limb and a right upper limb based on the data matrix corresponding to the chest area, and finally based on the data matrix corresponding to the leg area, the leg area is divided into the left lower limb and the right lower limb, so that the human body is divided into the head, the trunk, the four limbs, the pelvis and other parts, accurate segmentation of the human body parts is achieved, and accurate segmentation of the head, the trunk, the four limbs, the pelvis and other parts can be effectively conducted on any SPCET bone imaging image.

The present invention discloses a shoe-pad with corrective function and the use method of corrective pad, which has pad body and corrective pad set on the side of pad body, When the user stand on pad body set with corrective pad, the corrective pad will be situated first under front half-sole of any one lower limb, and different thickness corrective pads are changed, the lower limbs wherein anteroposterior muscles of articular feel balance and relax is the lower limbs wherein the corrective pad will be imbedded through comparing anteroposterior muscles reaction of left and right lower limbs,When corrective pad is imbedded under wither one of lower limbs front half-sole, two of lower limbs joint anteroposterior muscles should likewise be balanced and relaxed, According to effect of correcting and supporting of the corrective pad, force application of user two lower limbs is average in the time of standing or walking, thus the balance between muscles and skeletal architecture of users can be obtained, thereby it can protect muscles and skeletal architecture of users.

The invention discloses an intelligent interactive walking training system. The system comprises a lower limb motion capture sensor combination, a gait processor connected with the lower limb motion capture sensor combination, a feedback controller connected with the gait processor, and a prompt module connected with the feedback controller. The invention further discloses an implementation methodof the intelligent interactive walking training system. The method comprises the following steps: a gait model is established in a gait recognition module, and a training target value is set in a training setting module; and the lower limb motion capture sensor combination acquires magnetic field intensity, angular velocity and acceleration values of a left lower limb and a right lower limb in the motion process in real time. According to the adopted gait recognition method, each step is decomposed into four gaits, the duration time of each gait is very short, and therefore, the abnormal gaitrecognition speed is high; once an abnormal gait is found, a prompt of correction is immediately made when the abnormal gait is repeated next time; the responsiveness is high; and the method is similar to the actual guidance scene of a rehabilitation therapist.

The invention provides an electric vehicle for disabled people. The electric vehicle mainly comprises a cab frame, a steering wheel steering gear, a front wheel steering gear, a steering wheel, a front fork, a brake drum, a brake pull rod, a brake pull wire, a brake pedal, a brake pedal movable bar, a rear wheel start-up gear disc, a brake handle, an automatic connecting circuit breaker, a rear door, a rear bed, a rear bed support bar, an accumulator, a motor, an engine cover, a steering wheel shaft fixing bracket, a brake pull rod shaft and the like. By adopting electric energy as a dynamic source and supplying power for the electric vehicle through the accumulator, the electric vehicle can achieve a dynamic function and is started. The electric vehicle is known as a modern environmentally-friendly, energy-saving and economical electric vehicle, has the advantages that the advanced brake system and a novel steering wheel structure are arranged; the cost is low, the manufacture is easy, and the use is convenient; the electric vehicle can be used by disabled people having hands but no legs, disabled people having legs but no hands, disabled people having a right upper limb but no right lower limb, disable people having a left upper limb but no left lower limb, disabled people having a right upper limb but no left lower limb, disabled people having a left upper limb but no right lower limb and the like on streets and roads independently without other people, and is popular with the disabled people.

The invention provides a lower limb joint rehabilitation training device which is suitable for left and right lower limbs at the same time, easy to adjust according to different heights, light and foldable. The device can well simulate rotation flexion and extension movement of the hip joint and the knee joint of the human body, and is particularly suitable for rehabilitation training of a patientafter knee joint replacement surgery, hip joint replacement surgery, ligament surgery, lower limb nerve surgery and the like.

The inVention discloses a lower limb-aided rehabilitation training deVice used in a neurology department. The lower limb-aided rehabilitation training deVice comprises a base plate, a muscle rehabilitation training deVice is installed on the upper surface at the rear end of the base plate, and the muscle rehabilitation training deVice comprises a supporting plate which is Vertically installed on the upper surface at the rear end of the base plate. FiVe first threaded through holes are formed in the left side of the supporting plate, fiVe first threaded through holes are formed in the right side of the supporting plate, the insides of the first threaded through holes in the left side are in threaded connection with the rear ends of first connection rods, and first blind holes are formed inthe front ends of the first connection rods. Compared with the prior art, the lower limb-aided rehabilitation training deVice has the adVantages that a user can choose to make the fiVe first connection rods in threaded connection into the fiVe first threaded through holes in the left side or the right side of the supporting plate according to the situation that the left or right lower limb of a patient needs to be subjected to rehabilitation training, and meanwhile, the number of the first connection rods is adjusted according to the rehabilitation conditions of the patient, so that the leg ofthe patient bears an appropriate force during training.

The invention discloses an imitation frog water clamping propulsion robot for wet land underwater detection, which is integrally divided into a front part, a middle part and a rear part. The front part of the robot is formed by a trunk, a steering motor and a control system in the trunk, the middle part of the robot is formed by a waist section and a pitching motor, and the rear part of the robot is formed by a tail section, a clamping motor, a left gear, a right gear, a left femur, a right femur, a left lower limb, a right lower limb and a spring. The forward rotation and the reverse rotation of the claming motor and the extension of the spring can control the left lower limb and the right lower limb of the robot to be opened and closed slowly and rhythmically to simulate the principle of underwater water clamping propulsion of a frog, and continuous water clamping propulsion power is provided for the robot. The imitation frog water clamping propulsion robot for the wet land underwater detection is simple in structure, strong in driving capacity and capable of finishing linear, steering, upwards-floating and downwards-sinking movements underwater flexibly and reliably through coordinate rotation of the steering motor and the pitching motor, and automatically completing operation tasks of detection of underwater rare wild animals and plants of a wet land, detection of underwater cultural relic, military reconnaissance and the like.

The invention relates to a lower limb massage machine for massaging feet, which includes a frame body. There are two parallel massage units on the frame body, which are used for respectively massagingleft lower limb and right lower limb of a user. Each massage unit includes a torsional massage member and a transveral massage member, wherein the torsional massage member includes at least one firstmassage part and the transveral massage member is provided with at least one second massage member; the first massage part is faced to the second massage part left and right to form an accommodatingspace therebetween for accommodating to-be-massaged portion of the limbs of the user, i.e., crus (local) or feet. A motor can drive the two massage units at the same time so that the torsional massage members periodically swing and the transveral massage members reciprocatingly moves left and right, thus repeatedly rubbing the left and right sides of the transveral massage member.

The invention relates to a lower limb massage machine for massaging feet, which includes a frame body. There are two parallel massage units on the frame body, which are used for respectively massagingleft lower limb and right lower limb of a user. Each massage unit includes a torsional massage member and a transversal massage member, wherein the torsional massage member includes at least one first massage part and the transversal massage member is provided with at least one second massage member; the first massage part is faced to the second massage part left and right to form an accommodating space therebetween for accommodating to-be-massaged portion of the limbs of the user, i.e., crus (local) or feet. A motor can drive the two massage units at the same time so that the torsional massage members periodically swing and the transversal massage members reciprocatingly moves left and right, thus repeatedly rubbing the left and right sides of the transversal massage member.

The invention discloses a human body lower limb exoskeleton with a semicircular hip structure, and belongs to the technical field of human body simulation exoskeletons. A joint rotating shaft structure of a traditional human body lower limb exoskeleton is improved, and a force return structure is added, so that a passive human body lower limb exoskeleton with the semicircular hip structure can relieve the load of a wearer and increase the comfort of the wearer; and meanwhile, a back connecting structure for connecting left and right lower limb exoskeletons is improved to the semicircular hip structure, so that left and right lower limbs of the human body lower limb exoskeleton with the semicircular hip structure can be singly produced and used, and are better in hip degree of freedom. The human body lower limb exoskeleton with the semicircular hip structure can be widely applied to various fields of assistance, disabled helping and health correction.