1351results about "Walking aids" patented technology

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 relates to the technical field of robot control and somatosensory interaction, and particularly discloses a knee joint exoskeleton robot control system based on somatosensory interaction. The system comprises a somatosensory signal acquisition and fusion module, a personalized dynamic model construction module, an adaptive intention decision module, a variable impedance compliance control module and a rehabilitation process evaluation and parameter self-tuning module. Through cooperative work of the modules, precise recognition of the motion intention of a wearer, online construction of an individualized biomechanical model and flexible and adaptive motion control are achieved, control parameters can be automatically adjusted according to the rehabilitation process, and therefore the flexibility and individuation level of man-machine interaction and the effectiveness of rehabilitation training are improved.

A mobility augmentation system monitors a user's motor intent data and augments the user's mobility based on the monitored motor intent data. A machine-learned model is trained to identify an intended movement based on the monitored motor intent data. The machine-learned model may be trained based on generalized or specific motor intent data (e.g., user-specific motor intent data). A machine-learned model initially trained on generalized motor intent data may be re-trained on user-specific motor intent data such that the machine-learned model is optimized to the movements of the user. The system uses the machine-learned model to identify a difference between the user's monitored movement and target movement signals. Based on the identified difference, the system determines actuation signals to augment the user's movement. The actuation signals determined can be an adjustment to a currently applied actuation such that the system optimizes the actuation strategy during application.

A stable walking apparatus can be used to allow the elderly, disabled, injured, or infirmed to move for day-to-day activities and exercise. The apparatus supports the individual at an upper body portion, such as under the arms of the user. This allows use of the arms and legs of the individual, such as better balance and move with the device, while also controlling aspects of the device. The support is height adjustable, and also includes a braking system to both slow down and stop the user-apparatus. The braking system can be used with limited extremity functionality for greater use of the apparatus by a wide range of individuals. Swiveling wheels provide for additional functionality to use the device for more purposes and in increased locations.

The present disclosure provides an apparatus for providing assistance. Further, the apparatus may include a frame comprising two or more frame members interconnected to define a structure. Further, the apparatus may include a movement assembly configured for moving the apparatus for navigating the apparatus. Further, the apparatus may include a processor configured for determining one or more requirements of a user associated with the apparatus and generating one or more commands based on the one or more requirements. Further, the one or more commands includes one or more navigation commands and one or more operation commands for performing one or more tasks. Further, the moving of the apparatus may be based on the one or more navigation commands. Further, the apparatus may include a peripheral device configured for executing one or more operations for the performing of the one or more tasks based on the one or more operation commands.

The invention belongs to the technical field of smart old-age care product behavior debugging, and particularly discloses a smart old-age care product behavior dynamic adjustment method based on interactive data perception. According to the method, a sole mechanical fragment, a lower limb movement fragment and a heart rate fragment are extracted based on gait cycle alignment, gait stability, gait coordination and physiological conformity indexes are calculated, and coupling sensing of user movement behaviors and physiological states in the dynamic walking assisting process is achieved; the gait stability and the physiological conformity are fused to construct a gait physiological synchronism criterion, a hierarchical adaptive control strategy is implemented accordingly, and the limitation that a traditional supporting robot only depends on kinematics feedback control is broken through, so that on the premise that the user safety is guaranteed, response type physical and mental collaborative intelligent assistance is achieved, and the user experience is improved. And the risk prevention and control capability of rehabilitation training is effectively improved.

The present application relates to the field of medical devices, and provides a back plate adjustable exoskeleton, comprising: a column structure and a control module, the column structure is slidably connected with a back plate mechanism, and a lower limb exoskeleton connected with the back plate mechanism, and the back plate mechanism is provided with a back plate which can move up and down relative to the back plate mechanism; further comprising: a binding device arranged on the lower limb exoskeleton and a foot bottom exoskeleton, the foot bottom exoskeleton is provided with a pressure sensor. When the human body wears the exoskeleton and changes from a sitting posture to a standing posture, the back plate mechanism adjusts the back plate mechanism along the column structure to the height matched with the user according to different body shapes of the user; and when the user changes the posture in the walking process in the standing posture, the foot bottom exoskeleton detects the change of the foot bottom pressure, so that the control module can control the up and down movement of the back plate relative to the back plate mechanism according to the foot bottom pressure to adjust the human body posture.

An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.

A self-standing rollator is provided for assisting a user in walking and in moving from a seated position to a standing position. A frame is carried by a plurality of rollers. A support brace is positioned along the frame to contact a leg portion of the user to brace the frame against movement in relation to the user. At least one handle positioned along the frame to allow a user to grasp the handle when the support brace is contacting the leg portion of the user. At least one floor support member extends from a lower portion of the frame beneath the user when the support brace is contacting the leg portion of the user. Thus, when the support brace is contacting the leg portion of the user, the floor support member braces the frame against rotation as the user moves from a seated position to a standing position.

The invention discloses a real-time collaborative cross-scene visual assistance and environment perception system for visually impaired people based on head-mounted equipment. According to the invention, through fusion of a multi-mode perception technology and a neural feedback mechanism, all-around environmental cognition support is provided for visually impaired people. Key targets such as curbs, steps and traffic signals in a complex scene can be accurately recognized, and a safe navigation scheme is generated in real time in combination with a dynamic path planning and obstacle avoidance algorithm. Through personalized feedback modes such as voice and vibration, the system can adjust the interaction rhythm according to the behavior habit and cognitive state of the user, ensure efficient and natural information transmission, effectively reduce the cognitive load of the user, help the visually impaired people to travel autonomously in different environments, improve the independent living ability, and improve the user experience. Real-time response and calculation efficiency are balanced through a collaborative architecture, so that a high-performance auxiliary function is not limited by heavy hardware equipment any more. The universal design reduces the use threshold, and is helpful for more visually impaired people to enjoy the convenience brought by science and technology.

The invention provides a blind person navigation assisting method, device and equipment based on AI glasses and a storage medium. The method comprises the following steps: constructing a navigation path between a current position of a user and a destination; according to the image data and the sensing data, determining environment information in a preset range of the navigation path and a real-time pose of the user; generating navigation guidance information according to the environment information and the real-time pose of the user; and converting the navigation guidance information into a spatial audio signal, and carrying out traveling navigation based on spatial audio prompt on the user through the spatial audio signal. According to the method, the navigation guidance information related to the real-time pose of the user is generated by integrating the visual sensing data of the AI glasses, the pose information of the inertial sensor and the navigation path information, and the navigation guidance information is converted into the spatial audio signal for navigation; when the user is separated from the navigation path, the user can be guided to accurately judge the advancing direction through spatial audio prompt, and the appearance safety of the user is improved.

Exemplary task-agnostic exoskeleton control system and method are disclosed that are task-agnostic utilizing instantaneous estimates of biological joint moments from deep neural networks to assist the user movements. The exemplary control system employs multiple body sections and joints in-the-loop estimation to provide multi-joint assistance operation, e.g., within an autonomous, clothing-integrated exoskeleton. The exemplary control system may deploy a deep domain adaptation (DDA) method configured to translate human movement data between a simulated sensor domain and a real sensor domain.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.

A modular passive-to-active exoskeleton system utilizes motor unit modules, an electromagnetic-clutch power transmission system, and biometric control. The passive exoskeleton has a stamina-increasing “chairless chair” function and optional use of magnetic ball-and-socket joints and knee torsion springs. To convert the exoskeleton system into an active robotic wearable device, modular attachments allow for motor units to be securely connected to the exoskeletal frame. An exoskeleton system may contain a knee motor unit that has a transmission system with an electromagnetic clutch that enables a passive mode, active mode, and / or hybrid mode. The motor units are controlled using wireless biometric motion sensors that measure limb joint angle and muscle activity. These motor units also communicate via wireless transmission with a central processing unit of the exoskeleton. This central processing unit serves as a gateway for user feedback from an Internet-of-Things (IoT) device, such as a smartphone, tablet, computer, etc.

The present invention is directed at a series of leg garments that provide support for reducing loads at the knee, hip, ankle, and spine, as well as options for leg shape contouring, muscle training, pain reduction, and injury treatment. The leg garments may comprise a base layer with reinforced portions disposed throughout. The leg garments may comprise adjustable support elements. The size, shape, position, quantity, and material composition of the reinforced portions and the adjustable support elements may be selected to achieve the desired tensive properties for the leg garment. Various tensioning mechanisms may be positioned at strategic areas to further control the leg garments' tensive properties, improving effectiveness and comfort. In some embodiments, cables may run through channels in the reinforced portions or support elements.

An exoskeleton is configured to reduce muscle forces in a user's back during forward lumbar flexion. The exoskeleton includes a frame coupled to the user's trunk, a first link coupled to a first thigh and rotatably connected to the frame, and a second link coupled to a second thigh and rotatably connected to the frame. An actuator coupled to the frame includes a first element and a second element that rotate or translate relative to each other to generate a force or torque transmitted through lines connected to the thigh links. A lockout mechanism selectively couples components of the exoskeleton to restrict rotation of the first link relative to the frame in at least one direction, providing controlled support during flexion while permitting free movement during other activities.

The utility model relates to an exoskeleton using flexible joints for walking aiding, which comprises a waist supporting mechanism, a hip bone supporting mechanism is arranged below the waist supporting mechanism, thighbone supporting components capable of deforming are arranged on two sides of the hip bone supporting mechanism, and the top of each thighbone supporting component is connected with a wire driving mechanism. A shank supporting assembly is hinged to the bottom of the thighbone supporting assembly, a deformable flexible joint assembly is further arranged between the bottom of the thighbone supporting assembly and the linear driving mechanism, and a driving rope is connected to the surface of the flexible joint assembly. One end of the driving rope is connected to the wire driving mechanism and the other end is connected to the top of the thighbone supporting assembly of the shank supporting assembly; according to the utility model, the traction of the driving rope and the adaptability of the elastic bandage are combined to form a bimodal power-assisted mechanism. Compared with a gear / motor driving mode of a traditional rigid exoskeleton, power consumption is remarkably reduced, and motion fluency is improved.

The utility model discloses a novel abdominal post-operation walking aid, which relates to the technical field of post-operation walking aid and comprises a U-shaped frame, a height adjusting mechanism arranged on the U-shaped frame, a longitudinal beam arranged on the height adjusting mechanism, a supporting plate fixedly mounted on the upper surface of the longitudinal beam, a soft cushion fixed on the upper surface of the supporting plate and a cross beam fixedly mounted on the upper surface of the longitudinal beam. A cross beam is arranged on the U-shaped frame, a position adjusting mechanism is arranged on the cross beam, a grip is arranged on the position adjusting mechanism, a hanging mechanism is arranged on the cross beam, a support is fixedly installed on the surface of the front side of the U-shaped frame, and a protection mechanism is arranged on the support. The device can support the upper part of the body of a patient and can replace manual supporting to assist the patient in movement of the abdominal operation, the patient can still be correspondingly treated in the movement process, protection is provided for the patient, and the patient is prevented from catching a cold in the movement process.

The invention relates to a robot agent evaluation system for a lower limb exoskeleton and a gait strategy training method corresponding to an agent, and belongs to the technical field of rehabilitation medical auxiliary equipment. The device comprises a humanoid robot, an exoskeleton, an auxiliary device and a detection element, the exoskeleton is connected with the humanoid robot through the auxiliary device, a first auxiliary structure is provided with a groove, a second auxiliary structure is provided with a protrusion, the groove is connected with the humanoid robot in a clamped mode, and the protrusion is detachably connected with the humanoid robot; the detection elements are installed on the soles of the humanoid robot. The gait of the humanoid robot is adjusted by using a gait strategy training method, so that the humanoid robot can simulate the walking postures of different healthy people or patients with different hemiplegia levels. By wearing the exoskeleton on the device and deploying different walking aid strategies, related data such as angle, torque and power change of each joint, total energy consumption and gait symmetry of the humanoid robot under different walking conditions are obtained, and an exoskeleton developer is assisted to better test and optimize an exoskeleton product.

A personal mobility / utility system includes a housing, first and second dual-shaft electric motors within the housing with each having respective inboard and outboard shafts, first and second traction wheels rotatably attached to the first and second output shafts via first and second wheel clutches, first and second module gears rotatably attached to the first and second inboard shafts via respective first and second module clutches, first and second vertical apertures having respective top openings at a top of the housing and respective bottom openings adjacent the first and second module gears, a sensor array, and a controller for controlling the electric motors and clutches to provide propulsion, steering and braking of the system, extension, retraction and / or rotation of a module inserted into one or both of the vertical apertures, and maintaining the system in an upright position.

The invention discloses a lower limb rehabilitation robot self-adaptive control method based on a kinetic model, and relates to the technical field of rehabilitation robot control, and the method comprises the steps: when the similarity of historical lower limb rehabilitation indexes is divided into low similarity, obtaining interaction data, and carrying out the analysis and calculation; self-adaptive control driving torques of all joints of the lower limb rehabilitation robot are obtained, and the self-adaptive control driving torques are used for automatically adjusting operation of the lower limb rehabilitation robot; by comparing the rehabilitation similarity indexes of the current patient and the historical cases, the system can intelligently identify the matching degree of the rehabilitation modes: when a high-similarity historical case exists, the optimal control scheme is automatically called to improve the training efficiency; and when all historical data are low in similarity, a self-adaptive regulation and control mechanism based on a kinetic model is started, personalized parameter adjustment is achieved by calculating the driving torque of each joint, real-time fine adjustment of the lower limb rehabilitation robot is achieved, and continuity and effectiveness of rehabilitation training are ensured.

The invention relates to the technical field of visual impaired people assistance, in particular to a self-adaptive perception prompting system and method for visual impaired people assistance, and the method comprises the following steps: obtaining environment data around a user; the target information is recognized and transmitted to the user through the wearable somatosensory feedback module in a skin stimulation mode, so that the user can perceive surrounding objects and directions thereof through skin stimulation, and then obstacle avoidance can be achieved. Furthermore, an active exploration self-adaptive auxiliary module is introduced, an action track of a user is collected and analyzed to be compared with an environment model, an omission area or space deviation in perception is recognized, and a reinforcing prompt is triggered, so that the user is guided to complete more comprehensive environment exploration and space construction. Limitations of a traditional blind guiding stick and a traditional blind guiding dog are avoided, and higher-precision space perception and navigation assistance can be obtained only by wearing the somatosensory feedback module.

The invention discloses a training mode determination method and system for a lower limb exoskeleton rehabilitation robot. The method comprises the steps that angle data, joint torque data and plantar pressure data when a patient executes multiple target actions are collected; according to the angle data and the joint torque data, calculating to obtain a joint motion range, and according to the angle data and the plantar pressure data, calculating a joint output torque; acquiring a pain score of the patient, and calculating a training mode score according to the joint motion range, the joint output torque and the pain score of the patient; and according to the training mode score, determining a training mode of the lower limb exoskeleton rehabilitation robot, wherein the training mode comprises a passive mode, an auxiliary mode and an anti-resistance mode. The motion range of the hip, knee and ankle joints can be accurately quantified, the joint motion range can be dynamically evaluated, the optimal training mode is dynamically recommended in combination with the training score calculated in real time, therefore, the rehabilitation efficiency can be improved, and the method can be widely applied to the technical field of rehabilitation training.

The present disclosure provides an apparatus, method and kit to provide a safe traversal of stairs in a home environment. The system has subsystems for mounting and trolley apparatus. The system also has subsystems for de-slacking a tether along with harness configurations. The kit provides a retrofittable de-slacking, tether, and harness configuration for safety systems of other configurations. The present disclosure further provides interchangeable features of the various subsystems. The mounting and trolley subsystem may be mounted to a wall or a ceiling depending on the needs of the user.

The invention provides a personalized man-machine coupling digital twinning model construction method and system, and relates to the technical field of digital twinning, and the method comprises the steps: constructing a man-machine coupling lower limb exoskeleton rehabilitation robot digital twinning model constructed for a target rehabilitation patient; the model is coupled with a rehabilitation patient musculoskeletal system digital twinborn model and a lower limb exoskeleton rehabilitation robot digital twinborn model. The initial rehabilitation parameters are input into the human-machine coupling lower limb exoskeleton rehabilitation robot digital twinborn model for simulation, and simulation physiological feature information of a key muscle group is obtained; and comparing the simulation physiological feature information with evaluation information from experts, and verifying the reliability and effectiveness of the theoretical method provided by the invention.

The invention relates to the technical field of intelligent traffic equipment, in particular to an induction blind sidewalk brick, a trigger type tactile stick and a blind sidewalk cooperation system. The sensing blind sidewalk brick comprises a blind sidewalk brick body and a sensing device, wherein a cavity is formed in the blind sidewalk brick body; the trigger device is arranged on the blind sidewalk brick body and is used for receiving a trigger signal triggered by short-distance wireless induction; the sensing device is arranged in the cavity and is in signal connection with the triggering device, and the sensing device sends out a warning signal after the triggering device receives the triggering signal; wherein the trigger device is a tactile stick trigger device; a trigger signal triggered by short-distance wireless induction is sent out by the tactile stick. According to the tactile stick, a point-to-point identification relation is established through close-range induction (magnetism, metal and radio frequency), and the effect that the brick responds only when a visually impaired person carrying the tactile stick arrives is achieved; the selective triggering suppresses broadcast flooding caused by scene noise (raindrops, footsteps, baby carriages and the like), so that information fatigue and urban noise pollution are avoided.

An apparatus for an active exoskeleton boot is provided. The apparatus can include a foot plate disposed within a boot of a user. The apparatus can include a first adapter extending from a side surface of the foot plate having a slot and an actuator module comprising a chassis and a post, and the post coupled to the chassis. The apparatus can include a second adapter extending from an end surface of the post. The slot of the first adapter can be configured to engage the second adapter when the actuator module is positioned at a first angle relative to the first adapter. The first adapter can be configured to lock with the second adapter when the actuator module rotates from the first angle to a second angle relative to the first adapter.

The invention belongs to the technical field of personal movement auxiliary equipment, and discloses walking equipment (including walking aid equipment) and a storage method thereof to solve the problems that existing walking equipment is free of linkage in folding, tedious in operation and large in size after being folded. The equipment comprises a front main frame, a rear main frame, a front wheel assembly, a rear wheel assembly, a cushion assembly, a folding assembly, a steering assembly and a front and rear main frame connecting piece. During folding, through the folding assembly, the rear main frame is synchronously driven to be lifted together with the rear wheel set, the cushion assembly is folded downwards, and the front main frame and the rear main frame are drawn together through the front and rear main frame connecting piece, so that the whole equipment is drawn close and folded; and then the steering assembly is shrunk downwards and rotated to the rear end. When folding is completed, the rear wheel sets get close to each other, the cushion assembly is folded downwards, the front main frame and the rear main frame get close to each other, the steering assembly shrinks to the lowest point and turns to the rear end, and meanwhile the pedal assembly on the front main frame is folded upwards. Multi-component cooperative linkage storage is achieved, operation is simplified, and the folding size is reduced.

A method of configuring one or more exoskeleton systems in an exoskeleton network, the method including: receiving exoskeleton data from one or more exoskeleton systems that are operably connected to a network; storing the exoskeleton data from the one or more exoskeleton systems; generating a configuration input for configuring at least one of the one or more exoskeleton systems; and sending the generated configuration input to the at least one of the one or more exoskeleton systems via the network to cause the at least one of the one or more exoskeleton systems to be configured based at least in part on the generated configuration input.

The invention discloses a method and system for driving and controlling a lower limb exoskeleton through brain-computer interface intention confidence, and relates to the technical field of medical rehabilitation. The method comprises the following steps: firstly, identifying an original electroencephalogram signal to obtain intention confidence, and mapping an impedance parameter group containing joint stiffness and a damping coefficient in combination with gait phase information; secondly, extracting a motion position and an interaction force error, comparing an intention confidence coefficient with an actual execution state by using a sliding time window to obtain a nerve matching error, and fusing the three into a total composite error; meanwhile, the human-machine coupling compliance is evaluated based on the human body joint angle and the exoskeleton torque variation, and a safety gain coefficient is discriminated and generated; and finally, performing gain operation on the total composite error based on the impedance parameter group, and performing safety gain coefficient correction to obtain a target control torque to be output to a driving actuator. In this way, a nerve-force-motion three-closed-loop framework is constructed, and compliant self-adaptive on-demand assistance and high-safety man-machine collaborative rehabilitation with defense protection are achieved.