6213results about "Chiropractic devices" patented technology

The invention discloses an upper limb exoskeleton rehabilitation robot control system and method, and relates to the technical field of rehabilitation robot upper limb control, and the method comprises the steps: collecting multi-modal data such as multi-channel myoelectricity, joint angles, angular velocity and interactive torque; constructing a sliding window feature vector, predicting a next joint angle increment through TCN and Bi-LSTM deep networks, and outputting intention confidence; and based on the confidence coefficient and the muscle fatigue factor, dynamically adjusting an impedance parameter, and combining an impedance control model to generate a power-assisted torque in real time so as to realize power-assisted torque output. By introducing an impedance adjustment mechanism of multi-modal perception, deep time sequence learning and myoelectricity driving, the bottleneck of a traditional upper limb rehabilitation robot in the aspects of intention prediction, parameter adjustment and training individuation is broken through, and the accuracy, safety and active participation degree in the rehabilitation training process are remarkably improved; wide clinical application prospects and industrial transformation values are realized.

Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

The invention belongs to the technical field of digital twinning, and discloses a digital twinning rehabilitation robot state monitoring and control system based on the Internet of Things. Multi-dimensional state data such as joint angles, torque output, electromyographic signals and environment temperature of the rehabilitation robot are obtained in real time through an Internet of Things sensor network, a digital twin model is constructed, and hierarchical updating is carried out based on a self-adaptive updating frequency adjustment mechanism. And the system dynamically adjusts the updating periods of the high-frequency updating layer and the low-frequency updating layer according to the change rate of the state parameters and the deviation trend of the prediction response vector, so that accurate synchronization of the digital twin model and the physical system is realized. The state prediction module predicts a future response behavior, the error compensation module generates an error compensation vector adjustment model update and control instruction, and the control module generates an optimization control instruction meeting multiple constraints. The control precision and safety of the rehabilitation robot are remarkably improved, personalized precise rehabilitation is supported, and rapid changes and irregular motions can be effectively coped with.

The invention discloses a glove with a touch sensing function and a dexterous hand, and the glove comprises a glove body, and a plurality of sensor modules and a controller module which are regularly arranged on the glove body; the plurality of sensor modules are regularly arranged on the front surfaces of the palm part, the finger belly part and the fingertip part of the glove body, and the controller module is regularly arranged on the back surface of the palm part of the glove body. The glove is small, light, convenient to carry and suitable for being used in any occasions, the glove body is made of double-layer fabric, devices are all made of flexible materials, and a patient wears the glove comfortably. The glove integrates various sensors, has the function of detecting lateral force, normal force and temperature, can identify various signals of materials, pressure, temperature and the like of a contact object, has important significance on athlete hand function training research, patient rehabilitation training evaluation and the like, and is also suitable for achieving the tactile perception function after a robot dexterous hand is worn.

The invention relates to the technical field of medical rehabilitation training, in particular to an intelligent hand training method and system, electronic equipment and a storage medium, and the method comprises the steps: receiving a training mode instruction selected by a user; real-time biomechanical data of the affected side hand are collected through a multi-source sensor array, the real-time biomechanical data comprise finger joint angles, electromyographic signal intensity and a touch pressure distribution matrix, and when the affected side hand is in a mirror image training mode, the six-degree-of-freedom motion trail of the uninjured side hand is synchronously collected; calling a corresponding algorithm model for processing based on the training mode, and generating a control instruction set containing pneumatic pressure parameters, electrical stimulation waveforms and virtual interaction instructions; the control instruction set is sent to a server side, a mechanical glove arranged on the hand of the affected side in a sleeving mode executes corresponding pneumatic-electric combined driving operation, and multi-sense feedback is synchronously presented. According to the application, the composite requirements of patients in different rehabilitation stages on training mode diversity, control accuracy and interactive immersion can be met.

The invention belongs to the technical field of signal processing, and particularly relates to a lower limb motion intention recognition method and system based on electromyographic signals. The method comprises the following steps: S1, arranging electromyographic sensors on a hip key muscle group, a knee joint key muscle group and an ankle joint key muscle group in sequence, and collecting electromyographic signals; s2, performing time-frequency-space domain feature fusion and dimension reduction processing on the electromyographic signals acquired at the hip key muscle group and the knee joint key muscle group, and performing corresponding motion intention prediction by using a dynamic weight distribution method and a decoder based on an LSTM-attention mechanism; electromyographic signals collected at key muscle groups of ankle joints are processed through a muscle force distribution matrix, and meanwhile a time-varying weight adjustment strategy and impedance control are adopted for corresponding motion intention prediction; s3, according to the predicted motion intention, the system controls a direct-current brushless motor on rehabilitation training equipment, a fuzzy self-adaptive PID control method is adopted to regulate and control joint motion, and a walking posture is simulated.

Wearable devices protect against musculoskeletal injuries and enhance performance. Systems and methods provide wearable devices to assist with human motion during physical activities, such as performing movements (e.g., lifting) and holding static poses (e.g., crouching, or holding a tool while working overhead). Materials, constructions, and system architectures allow the wearable devices to be worn over, under, or integrated into clothing for extended periods of time to improve performance or reduce risk of injury. Sensors may be included in the wearable devices to detect various activities, motions, and postures of the wearer, and various active and semi-active controls approaches may leverage sensor information to provide tailored assistance to individual users. Various controls optimization techniques ensure the wearable devices operate at peak efficiency.

The invention discloses a brain-computer interface upper limb motion recovery training system, and relates to the technical field of upper limb motion recovery training, the brain-computer interface upper limb motion recovery training system comprises a multi-modal neural signal acquisition module, a combined regulation and control module and a rehabilitation exoskeleton module, the multi-modal neural signal acquisition module is connected with the combined regulation and control module through a wireless Bluetooth protocol, and the combined regulation and control module is connected with the rehabilitation exoskeleton module. The combined regulation and control module is connected with the rehabilitation exoskeleton module through a CAN bus, and the combined regulation and control module is used for synchronously processing fNIRS blood flow signals, tDCS nerve regulation and control parameters and EEG electrophysiological characteristics and generating a closed-loop feedback instruction. By installing the signal fusion unit and the intention analysis unit, time-space complementary fusion of EEG and fNIRS signals is realized, the problem of low precision of traditional single-mode intention recognition is solved, and the motion intention decoding accuracy is improved.

The invention relates to a human body posture capture-based disabled assisting robot planning method and system, and the method comprises the following steps: S1, a patient is fixed to a system main body through a flexible fixing device, so that the posture capture precision is ensured, and accidental sliding is prevented; s2, a high-definition RGB camera and a depth sensor are used, real-time posture joint point data of the patient are obtained based on a human body posture estimation algorithm, and the real-time posture joint point data comprise the head position, the limb position and the trunk position; s3, resolving the captured data in real time, and referring to a posture database to generate a most suitable initial rehabilitation posture; s4, collecting visual, voice and physiological signals by using a camera, a microphone and other sensors, and performing feature extraction and fusion by using a convolutional neural network to improve the recognition accuracy; s5, judging the satisfaction degree of the patient to the current posture through an emotion recognition technology in combination with voice emotion analysis, and adjusting the system according to the satisfaction degree of the patient; the motion parameters of rehabilitation training of the patient are obtained quickly, the effectiveness and rehabilitation efficiency of rehabilitation training are improved, and the participation degree and enthusiasm of the patient are increased.

The invention discloses a control method, system and equipment of a remote rehabilitation robot, a medium and a product, and belongs to the technical field of robots. The method comprises the steps of obtaining multi-modal data of a patient end, obtaining a time delay prediction value through prediction of a long short-term memory network model, dynamically adjusting admittance parameters of an admittance model according to the multi-modal data and the time delay prediction value, and finally controlling the remote rehabilitation robot according to the dynamically adjusted admittance parameters. According to the method, the admittance parameters of the admittance model are dynamically adjusted in real time based on the time delay predicted value predicted by the long-short-term memory network model and the electromyographic signals of the patient in the multi-modal number, dual adaptation of the network state and the physiological features of the patient is achieved, the admittance parameters are dynamically adjusted through the electromyographic signals, and the change requirement of the complete rehabilitation cycle of the patient is met; admittance parameters are dynamically adjusted through the time delay prediction value reflecting the network time delay state, and the time delay disturbance requirement in the remote communication environment is met.

Disclosed are a high-barrier inflatable cushion and a preparation process therefor, which related to the technical fields of high-barrier inflatable cushions. The preparation process includes the following steps: material feeding, heating, vacuum counter-pressure molding, spray cooling, air cooling and drying, die-cutting, and thermal bonding. The high-barrier inflatable cushion comprises an airbag forming material and an airbag base material. The airbag forming material is prepared by laminating a TPU-EVOH composite with Lycra fabric, the TPU-EVOH composite has a total thickness of 0.4-0.8 mm, and the Lycra fabric has a gram weight of 150-230 g / m2. The airbag base material is prepared by laminating the TPU-EVOH composite with non-woven fabric, the TPU-EVOH composite has a total thickness of 0.1-0.3 mm, and the non-woven fabric has a gram weight of 60-80 g / m2.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a rehabilitation instrument motion mode control method and system, and the method comprises the steps: obtaining motion angle data and confrontation moment data of a user; determining whether the deviation between the actual motion track and a preset path exceeds a preset threshold value, determining whether the moment actively emitted by the user presents a continuous attenuation trend, and judging whether the motion performance of the user declines; if it is judged that the athletic performance of the user is reduced, diagnostic mechanical stimulation is applied; collecting mechanical response data; according to the mechanical response data, judging whether a counterforce source is active force reduction or non-autonomous muscle stretching reflex; if yes, the mode of the rehabilitation instrument is switched into a vibration assisting mode and a low-speed movement mode; and if the active force is reduced, switching the mode of the rehabilitation instrument to a force compensation mode. The intelligent rehabilitation instrument has the advantages that the movement mode of the rehabilitation instrument is intelligently adjusted, and the pertinence, safety and effectiveness of rehabilitation training are improved.

The invention relates to a chair for accommodating a person. The chair includesan upper body section having an upper body contact surface adapted or adaptable to at least parts of a front of a torso or a rear of a torso of a person placed on the chair, anda lower body section having a lower body contact surface adapted or adaptable to at least parts of at least a front of a thigh of the person, wherein the upper body section and the lower body section are arranged or arrangeable and fixable in a position relative to each other such that the upper body contact surface and the lower body contact surface cause a hyperextension posture of the hip joint of the person with a predetermined hyperextension angle. By forming the hyperextension angle of the hip on the chair, shortening of the anterior thigh and hip muscles can be counteracted. Also disclosed are a pressing device for application to the human body, which is adapted for use on a chair and which includes one or more pressure units each having at least one pressure head adapted to apply local or point pressure at a predetermined pressure location on the body of a person accommodated on the chair, and a chair having such a pressing device.

The invention discloses a high-compliance impedance training method and system based on self-adaptive visual servo control and application of the high-compliance impedance training method and system. The training method comprises the steps that historical pose data and historical contact stress data are collected; performing feature processing to obtain stress pose information and generate a corresponding pose mapping relation; constructing a dynamic mapping model associated with the muscle force, the contact stress, the training track and the impedance parameters in combination with the stress pose information and the pose mapping relation; acquiring rehabilitation training information of a current patient, and generating and optimizing a preliminary expected trajectory; calculating deviation data of the real-time trajectory and the expected training trajectory; and an impedance adjusting model is constructed, the input of the impedance adjusting model comprises the deviation data and the real-time contact stress data, and the output of the impedance adjusting model is the impedance adjusting quantity. According to the invention, through visual real-time feedback, fuzzy PID adaptive adjustment and multi-feature fusion modeling, impedance adjustment training with better dynamic adaptability, higher safety, higher flexibility and high personalized precision can be realized.

An upper-body sensorized exoskeleton is configured to interface with external systems, such as FES, advanced cognitive systems, and VR / AR interaction programs, in order to facilitate rehabilitation and assistance of patients affected by upper-limb impairments. The sensorized upper limb exoskeleton delivers anti-gravitational support at the shoulder level, enables upper-limb configuration limits for shoulder and elbow ranges of motion, and reads kinematic data that may be analyzed by users and clinicians. The sensorized upper limb exoskeleton is equipped with electronic processing and communication means that support bidirectional communication between exoskeleton and external systems.

The invention relates to the technical field of medical rehabilitation, and discloses a wearable shoulder joint rehabilitation exoskeleton mechanism and combinatories.The two ends of the shoulder joint rehabilitation exoskeleton mechanism are connected with the shoulder of the human body and the upper arm of the human body correspondingly, and the upper arm of the human body is driven to conduct forward flexion, backward extension, abduction, adduction and composite movement of the forward flexion, the backward extension, the abduction, the adduction and the composite movement. Therefore, the shoulder joint rehabilitation exoskeleton mechanism realizes forward flexion, backward extension, abduction, adduction and compound movement of the upper arm of the human body around the shoulder joint kinematic pair, rehabilitation training of the shoulder joint of the human body is facilitated, and the exoskeleton mechanism disclosed by the invention is simple in movement relation, easy to realize, less in required driving and more accurate in movement; the number of components is small, so that the weight of the exoskeleton device of the mechanism is light; meanwhile, the mechanism does not need to be aligned with human joints, so that wearing is convenient.

A knee joint rehabilitation apparatus may include a support bar fixed to a height-adjustment bar, the support bar being configured to receive a knee joint posterior; a plurality of pads configured to removably mount to the support bar to adjust an effective outer diameter of the support bar; and a lower leg support connected to the height-adjustment bar, the lower leg support being mounted to the height-adjustment bar so as to allow for changes in an angular position between said lower leg support and said height-adjustment bar.

A rehabilitative and corrective system, a strength building system, a recovery system, a muscle activation system, and methods of use are presented. The invention provides a stable platform with multiple equipment attachments, an adjustable set of pillars with a stable crossbar, and a storage compartment. The invention is collapsible for movement and storage. The invention is also adjustable to fit the needs of various individuals and exercises. The systems and methods of use provide for a variety of rehabilitative and human performance movements which provide for a health professionals intent and musculoskeletal needs. The stable platform provides for vertical and horizontal adjustment. A center bar of the invention includes pillar cams and can be adjusted to rotate or remain stable. The invention provides for space savings and can be used to increase joint mobility, muscle activation, release, and strength, and other individual needs and goals.

The invention provides a multi-motion-mode control system and method for a lower limb rehabilitation training exoskeleton robot. Surface electromyographic signals are obtained through an electromyographic sensor of the robot; inputting the surface electric muscle signal into a neuromuscular activation model to generate a muscle activation degree; a man-machine interaction torque is obtained through a pressure sensor; inputting the surface electromyogram signal characteristic value RMS, the muscle activation degree and the man-machine interaction torque into a fuzzy adaptive switching signal regulator to obtain a training mode switching signal; the training modes comprise a passive training mode, a power-assisted training mode, an active training mode and an anti-resistance training mode; and according to the training mode switching signal, switching to a corresponding training mode so as to perform training control under the corresponding training mode on the lower limb exoskeleton rehabilitation robot. The motion state of the patient is evaluated according to the physiology and force signals of the patient, fuzzy rule reasoning is carried out to achieve self-adaptive grading switching, the rehabilitation effect is enhanced, and rehabilitation training better meets the individualized requirement of the patient.

The invention provides a shank alternating type stretching massage frame and a control system thereof, belongs to the technical field of leg massage equipment, and solves the technical problems that an existing massage frame is single in function, large in transmission gap, obvious in shaking, difficult to give consideration to functionality and safety and the like. Comprising a backrest assembly and a controller, an adjusting assembly is arranged on the front side portion of the backrest assembly, a tendon stretching assembly is arranged at the front end of the adjusting assembly, a foot massage assembly is arranged at the front end of the tendon stretching assembly, the adjusting assembly, the tendon stretching assembly and the foot massage assembly are all electrically connected with the controller, and the backrest assembly, the adjusting assembly, the tendon stretching assembly and the foot massage assembly are all wrapped with outer covering layers. The system comprises a control module, an execution mechanism, an information acquisition module and an active feedback module. The recliner is adopted to guarantee stable operation, double functions of stretching and foot massage are achieved, the adjustable backrest is used for meeting the low-load requirement of people suffering from lumbar disc herniation, a closed-loop control system guarantees that parameters are accurate and controllable, and the use comfort and safety are both considered.

A massage device includes a controller for controlling the massage device; a body massage unit including a massage module for massaging at least a part of the user's body under the control of the controller; and a leg massage unit for massaging the user's legs under the control of the controller. The leg massage unit includes a first leg massage unit for massaging one of the user's legs, and a second leg massage unit for massaging the user's other leg, with the first leg massage unit and the second leg massage unit able to operate independently.

A reciprocating massage device with swing configuration, including a massage body and a rubber sleeve, the rubber sleeve is provided at outside of the massage body. The massage body includes a gripping part, a first massage component, a reciprocating component, a second massage component, an extension and a third massage component. A impact head can be dissembled and replace, which is convenient for users to replace different shapes of the impact head according to the massage demand, and also can be replaced when it is damaged. By setting the reciprocating component to cooperate with the second massage component, the massage device can combine reciprocating massage and telescopic massage.

The invention relates to the field of rehabilitation instruments, in particular to an intelligent pneumatic hand function rehabilitation training system which comprises a flexible exoskeleton glove provided with a pneumatic muscle array and used for assisting fingers of a user in grasping training. The fingertip position of the glove is connected with a magnetorheological damper through a flexible cable, and the magnetorheological damper is used for providing dynamic resistance in the training process. The electrical stimulation module is used for activating hand muscle groups in a targeted manner through a surface electrode and enhancing neuromuscular control; the sensor module is used for collecting physiological data of a user in real time; the physiological data comprises electromyographic signals and tissue blood oxygen saturation; the control unit is used for switching training modes, by means of the intelligent air pressure hand function rehabilitation training system, the training intensity can be matched with the real-time ability of a patient all the time, and the rehabilitation training effect is improved.

To provide an apparatus for the treatment or prevention of osteopenia and osteoporosis, stimulating bone growth, preserving or improving bone density, and inhibiting adipogenesis.SOLUTION: A vibration apparatus for treating a subject comprises an actuator configured to generate vibrational energy, a securing mechanism for positioning the actuator upon the body of the subject while maintaining portability of the actuator such that the vibrational energy is directed into an area of the body to be treated, an accelerometer disposed along the securing mechanism, and a controller in communication with the actuator and the accelerometer. The controller is programmed to measure an exposure level of the vibrational energy to the area of the body using acceleration acquired from the accelerometer, and to compare the exposure level with a maximum exposure level such that the exposure level is limited by the maximum exposure level within a predetermined period of time.SELECTED DRAWING: Figure 1

The invention provides a massage control method, a massage chair and a controller applied to the massage chair, the massage chair at least comprises the controller, a massage chair main body, an image acquisition device and at least one massage arm.The method comprises the steps that if it is detected that a user sits stably, the image acquisition device is controlled to acquire a current image of the user; identifying a body model of the user according to the current image; and according to the body type model and the current massage mode, determining an action track sequence of each massage arm, and according to the action track sequence of each massage arm, controlling each massage arm to execute massage. The massage process can cover a wider massage area, the personalized massage path can be automatically generated according to the body shape of the user, the massage fitting degree and comfort degree are improved, the whole body surface of the user is massaged, meanwhile, the personalized adaptation capacity of the massage process is improved, and the user experience is improved. The massage experience of the user in the massage process is enhanced, and the personification of the massage process is improved.

The utility model discloses a massage armchair separated leg and foot cross lifting and telescopic structure, which comprises a massage armchair main body support and two groups of leg massage structures, the leg massage structures comprise mutually independent leg massage structures, the leg massage structures are rotatably connected with the massage armchair main body support, a first lifting driving assembly is mounted on each leg massage structure, and a second lifting driving assembly is mounted on each leg massage structure. The first lifting driving assembly is used for driving the leg massage structure to rotate relative to the massage chair body support. The two independent first lifting driving assemblies or the two independent second lifting driving assemblies are used for driving the two leg massage structures to rotationally lift relative to the massage chair body support, auxiliary stretching and cross movement of leg joints and muscles of the human body are achieved, and the massage effect is improved.

The invention discloses a flexible exoskeleton execution device and a flexible exoskeleton system for upper limb training, and relates to the technical field of robots. The problems that an existing exoskeleton robot is complex in mechanical structure, large in size, heavy in weight and large in inertia due to the fact that rigid driving is adopted for achieving actions such as joint bending and stretching or unfolding and folding are solved. The device comprises a bandage, a forward line wheel, a reverse line wheel, a line wheel driving mechanism and Bowden lines, the bandage is fixed to a limb, one end of one Bowden line is wound around the forward line wheel, the other end of the Bowden line is fixed to the bandage, one end of the other Bowden line is reversely wound around the reverse line wheel, and the other end of the other Bowden line is fixed to the bandage; the line wheel driving mechanism is arranged on the trunk and can drive the forward line wheel and the reverse line wheel to rotate reversely in the pre-tightening stage so as to achieve line winding and pre-tightening, the forward line wheel and the reverse line wheel are driven to rotate synchronously in the same direction in the working stage, and correction force is applied to the force exerting muscle group through the two Bowden lines which are wound and unwound alternately so as to correct the action of a wearer.

The invention provides a multifunctional rehabilitation robot real-time monitoring and intelligent regulation and control system for ICU-AW patients. Comprising a trial operation data transmission self-inspection module, an initial data acquisition module, a rehabilitation data real-time monitoring module and a rehabilitation training parameter real-time regulation and control module. According to the method, the basic physiological data of the user is collected and analyzed to obtain the personalized rehabilitation characteristic coefficient, so that the training parameters of the robot are initialized, the suitability of the training parameters and the requirements of the patient is ensured, the rehabilitation efficiency is improved, and training injuries are prevented. In addition, the system also performs pilot run self-inspection, so that the data transmission quality is ensured, and the analysis efficiency and accuracy are improved. In addition, the system monitors physiological and training data in rehabilitation training in real time, provides immediate feedback, dynamically adjusts training intensity and rhythm, optimizes the training effect and reduces the training risk.

The utility model discloses an inside and outside splayed tendon stretching foot machine mechanism, which comprises a massage seat and a massage assembly arranged on the massage seat, the massage assembly comprises a rotating shaft, a massage wheel arranged on the rotating shaft and a first driving piece for driving the rotating shaft to rotate, and the massage seat comprises a mounting frame, a first torsion swing frame and a second torsion swing frame. The rotating shaft is arranged on the mounting frame and penetrates through the first torsional pendulum frame and the second torsional pendulum frame, a first eccentric part used for driving the first torsional pendulum frame to perform torsional pendulum and a second eccentric part used for driving the second torsional pendulum frame to perform torsional pendulum are arranged on the rotating shaft, and the guiding structure is used for limiting and guiding when the first torsional pendulum frame and the second torsional pendulum frame swing. When the massage assembly works, the whole massage seat can be driven to twist, so that the ankle joint can be subjected to swinging and stretching massage, and meanwhile, the calf muscle can be subjected to stretching massage.