5053results about "Walking aids" patented technology

The invention discloses an exoskeleton motion signal peak valley intelligent detection method and system, and relates to the technical field of computer assistance. The method is used for solving the problems of control delay and high misjudgment rate caused by large motion signal noise interference and inaccurate processing in an exoskeleton system. The method comprises the steps of firstly, suppressing motion artifact noise and generating a high-signal-to-noise-ratio preprocessing signal through multi-modal signal collaborative noise reduction and dynamic energy entropy segmentation, secondly, constructing a parallel convolution attention network to extract multi-modal features, and extracting peak and valley candidate points in combination with dynamic weight fusion and multi-scale differential detection; a peak valley point set is optimized based on a variable structure density sensing clustering algorithm and density gradient analysis, artifact interference is eliminated, finally, a multi-rule confidence model is constructed by fusing time sequence prediction of a bidirectional gating circulation unit and biomechanical correlation, and a threshold value is dynamically adjusted to trigger an exoskeleton joint assistance instruction. Closed-loop processing from signal acquisition to real-time control is realized, and peak valley detection precision and response speed are remarkably improved.

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 walking-assisting knee joint exoskeleton structure comprises an exoskeleton, the exoskeleton comprises an assisting assembly, a thigh supporting assembly, a shank supporting assembly and a crossed four-bar linkage assembly, the assisting assembly comprises a waistband and a driving mechanism arranged on the waistband, the thigh supporting assembly comprises a thigh binding mechanism and a thigh support, and the shank supporting assembly comprises a shank binding mechanism and a shank support. The shank supporting assembly comprises a shank binding mechanism and a shank support, and the thigh support is in power connection with the shank support through a crossed four-connecting-rod assembly. The power assisting assembly further comprises a motor assembly, a first brake cable and a second brake cable, and the first brake cable and the second brake cable are connected with the front end and the rear end of the shank binding mechanism respectively. The motor assembly is moved upwards to the waist, the load of the knee joint area is reduced, joint abrasion and muscle fatigue can be reduced, the wearing comfort and the feasibility of long-time walking are improved, the trousers bear part of the weight of the exoskeleton, the load of the legs is reduced, and the overall attractiveness is further improved.

A multi-mode wheelchair includes a frame, two front wheels, two rear wheels and two driver units. The frame includes an intermediate unit for interconnecting two side units. The intermediate unit is movable between a collapsed position and an extended position. The front wheels are connected to the side units. The rear wheels are connected to the side units. The driver units are connected to the side units. Each of the driver units includes a motor located in a corresponding one of the rear wheels and a brake operable to stop the motor. The driver units are located between the rear wheels. A distance between the driver units is larger than a breadth of a user when the intermediate unit is in the extended position.

The invention discloses a foot drop assisting method based on a flexible ankle joint exoskeleton, and belongs to the field of rehabilitation medical assistance. According to the method, an unhealthy side ankle joint angle is input into a self-adaptive oscillator to learn related parameters in the self-adaptive oscillator, and an affected side ankle joint angle is predicted; meanwhile, a CNP model is adopted to predict the ankle joint angle of the shank on the affected side according to the gait phase estimated by the self-adaptive oscillator, two prediction results of the ankle joint angle of the shank on the affected side are subjected to weighted fusion to finally obtain the expected angle of the ankle joint on the affected side, and the fused ankle joint angle prediction output is more stable and continuous. And a weighted fusion result is smoothed. According to the method, the normal walking mode based on the unhealthy side ankle joint angle of the patient can be dynamically learned online in real time, and personalized affected side ankle joint angle reference tracks at each moment are generated for different patients, so that the abnormal motion mode of the patient is inhibited, and the patient is guided to reach the normal gait in the rehabilitation training process.

The invention discloses an image processing method and system for intelligent glasses, and relates to the technical field of image recognition. The method comprises the following steps: synchronizing and preprocessing data collected by heterogeneous sensors in the intelligent glasses; constructing a global space-time coordinate system; a high-risk area is determined through dynamic saliency analysis, a high-resolution detection ROI is generated, full-pixel analysis is performed on a focus area, and an obstacle list with 3D positions, categories and danger levels is output; and generating a personalized safety path through a safety corridor generation algorithm based on the 3D position of the obstacle, the motion model of the visually impaired person and the real-time position. Data collected by heterogeneous sensors in the intelligent glasses are synchronized, a global space-time coordinate system is constructed, path planning is performed after obstacles are identified, high-frequency IMU angular velocity data and a self-adaptive optical flow correction network are fused, the image reverse compensation precision in a dynamic scene is improved, and navigation safety in a complex scene is guaranteed.

Disclosed are a main unit module and an assistive device equipped with the main unit module, for example, a nursing machine and an overhanging machine. The main unit module comprises a shifting module, a supporting framework module and a coupling module; the supporting framework module is assembled above the shifting module, the coupling module is provided on the supporting framework module. The opening and closing operations of wheel leg sets in the shifting module can drive and control the movement of the main unit module. The supporting framework module is loaded with a nursing module having different functions, so that the main unit module has a plurality of different nursing functions. By means of the main unit module, one or a combination of a loading module, a jacking module, a supporting module and a large wheel module can be loaded on the nursing machine, and by means of the main unit module or the nursing machine, one or a combination of a suspension support module, a sling machine, a cross bar, and a hanging cloth can be loaded on the overhanging machine. Therefore, a user can achieve multiple purposes by means of the nursing machine or the overhanging machine, and different modules can be freely matched, thereby facilitating the assembly, disassembly, storage and transportation, and saving the cost.

A system includes exoskeleton having at least one inflatable bladder. The exoskeleton is made of fabric / flexible materials, and has flexible (deflated) and rigid (inflated) states. The system's pressurization system operates to pressurize and depressurize the bladder(s). A control system includes a sensor operable to gather data to in relation to movement of a wearer of the exoskeleton. A control module is operable to process data gathered from the sensor(s) and provide a control signal to the pressurization system to cause the pressurization system to selectively pressurize or depressurize the bladder(s) as a function of the data. The control system may be configured to inflate the bladder(s) into the rigid state to provide assistive support when sensor data indicates that the wearer is standing / walking, and to deflate the bladder(s) into the flexible state to allow the wearer to sit / lie comfortably when not standing / walking, and thus when support is not needed.

A rollator includes first and second upright frames supported on respective first and second wheeled leg assemblies. The first and second leg assemblies are configured to fold inwardly toward one another, and front and rear legs of each leg assembly are configured to fold upwardly to transition the rollator into a compact state, making the rollator easy for transport or storage when not in use.

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 pull-type robot blind guiding system and method, and relates to the technical field of mobile service robots, the pull-type robot blind guiding system comprises a robot body, the robot body comprises an environment sensing and recognition module and a path planning module, the environment sensing and recognition module is used for obtaining three-dimensional point cloud information of the surrounding environment, and the path planning module is used for planning the three-dimensional point cloud information of the surrounding environment; generating an environment composite map according to the three-dimensional point cloud information; the path planning module analyzes the environment composite map by introducing artificial potential field factors, and generates a safe and collision-free initial path for the blind; the robot body is physically connected with the blind person through the rigid guide rod. Multi-sensor coupling is introduced, and artificial potential field factors are added, so that the obstacle avoidance capability of the blind guiding robot in a complex environment is improved, safe walking of the blind in indoor and outdoor scenes is ensured, and the life autonomy of the blind is remarkably improved.

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.

The invention provides an intelligent blind person navigation system, and relates to the technical field of intelligent wearable blind person navigation, the intelligent blind person navigation system comprises a multi-mode sensing unit, an A I decision center, a bidirectional feedback module and an emergency response system.According to the intelligent blind person navigation system, through a three-layer sensing architecture of a dual-light fusion camera, a laser radar and an ultrasonic array, 94% of obstacle detection rate is still kept under 5lux low illumination, and the blind person navigation efficiency is improved. And the effective detection distance reaches 8 meters. The semantic segmentation algorithm enables the detection rate of the suspended obstacle to rise from 12% to 92%, and the recognition error of the glass door in the underground garage scene is only 2.1 cm. And a multi-sensor space-time alignment technology is adopted, so that the false alarm rate in a complex scene is reduced from 25% to 3.2%, and all-weather and full-height accurate sensing of obstacles is realized. A biological characteristic + environmental risk multi-stage triggering mechanism is adopted, automatic alarming and shared positioning are performed within 2.1 seconds when a user falls down, and the success rate of rescue for falling down of the underground garage is increased from 62% to 100%. An environment video with positioning is automatically recorded without operation timeout, and a'prevention-early warning-rescue 'closed-loop safety net is constructed.

The wearable knee joint exoskeleton comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the knee joint rotation limiting device is used for limiting the angle range of human knee movement, and the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part; the leg support part is fixedly connected with the thigh support part and the shank support part; the knee joint rotation limiting device is provided with a variable rotation center and supports motion angle limiting of the knee joint in a large range, the knee joint rotation limiting device comprises a continuum rotation mechanism located on the side face of the knee joint of the human body, the continuum rotation mechanism comprises a plurality of continuum rotation modules, and a rotation freedom degree exists between every two adjacent continuum rotation modules. The size of the front-back rotation angle of each rotation freedom degree is related to the shape of the continuum rotation module. The exoskeleton has a variable rotation center, can adapt to natural movement of the knee joint of the human body, and is high in safety, good in stability and easy to wear.

The invention provides an obstacle sensing and visual impairment guiding method, a head-mounted device and a storage medium, and the method comprises the steps: obtaining an RGB image collected by an RGB camera and a depth image collected by a depth camera in a current scene; predicting the RGB image by adopting a preset YOLOX model and predicting the depth image by adopting a preset SAM segmentation model to obtain the category, distance and position of each obstacle in the current scene; determining the speed of each obstacle by using a preset Kalman filtering estimation algorithm; performing obstacle danger coefficient evaluation according to the category, distance, position and speed of each obstacle to obtain an obstacle danger coefficient of each obstacle; and performing visual impairment guiding operation according to the obstacle danger coefficient. By applying the obstacle sensing and visual impairment guiding method, the danger coefficient of each obstacle can be evaluated, and the visual impairment guiding safety is improved.

A rollator is provided, which includes a front wheel bracket, a rear wheel bracket, at least one seat assembly configured for a user to ride on, and a connection mechanism connected between the front wheel bracket and rear wheel bracket and configured for the seat assembly to be detachably connected; the seat component can be flipped around the connection mechanism to drive the front wheel bracket to move towards the rear wheel bracket and be folded onto the rear wheel bracket. Through detachable connection and flipping design of the seat component, the rollator can achieve a compact folding by moving the front wheel bracket towards the rear wheel bracket and being folding onto the rear wheel bracket. This folding way can render the rollator to occupy a small space when not in use, and it is convenient to carry and store.

Provided in the present invention are an exoskeleton shared control method, system and device based on AI co-driving, and a storage medium. The exoskeleton shared control method based on AI co-driving comprises: acquiring real-time pose data of an exoskeleton wearer; on the basis of the pose data, performing switching between a local trajectory correction mode and a hybrid long-short-term motion optimization mode in real time, wherein the local trajectory correction mode is completed on the basis of an AI co-driving policy network model; and performing multi-task tracking on the direction of a three-dimensional motion of an exoskeleton and a walking trajectory thereof, so as to achieve motion tracking control over the exoskeleton. By using the method provided in the present application, when encountering a sudden obstacle, an initial path can be corrected to an optimal path in combination with pose data and target point image feature data, thereby helping an exoskeleton to realize omnidirectional walking in a three-dimensional complex environment.

A flexible mechanism for an exoskeleton allows for a simple and low-cost method of allowing a high range of motion between an frame and a human interface while effectively transferring support forces from the frame to the human interface. Additionally, the flexible mechanism adds kinematic redundancy that compensates for incongruities between the exoskeleton and human during forward flexion to prevent the human interface from uncomfortably sliding on the person via purely tension-loaded force transmitting elements.

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 invention provides an intelligent blind guiding method and device, electronic equipment and a storage medium, and relates to the computer technology, in particular to the technical field of intelligent blind guiding. According to the specific implementation scheme, the method comprises the steps of obtaining multi-modal sensing information; the multi-mode sensing information comprises images, videos, audios and pose information; preprocessing and fusing the multi-modal sensing information to obtain fused information; identifying the fusion information to obtain an identification result; the identification result comprises at least one of the following information: user surrounding environment information and user motion state information; and generating feedback information based on the identification result.

A walker with an automated power drive system is disclosed. The walker comprises a rigid frame comprising a left grip and a right grip; a plurality of wheels affixed to the rigid frame; a plurality of drive motors integrally mounted in the plurality of wheels; and a drive motor controller configured to power the plurality of drive motors. The drive motor controller is configured to: determine the orientation of the walker; generate a first motor current component to compensate for orientation of the walker and the resulting torque on the drive motor; determine the speed of the walker; generate a second motor current to component for internal friction based on the speed of the walker; determine a user force applied to the left grip and right grip; generate a third motor current component for the drive motors based on the user force applied to the left grip and right grip; and power the drive motors based on a sum of the first motor current component, second motor current component, and third motor current component. The drive motor controller is configured to determine the user force applied to the left grip and right grip based on a measured current from the drive motors. Specifically, the drive motor controller is configured to determine the user force applied to the left grip and right grip based on a difference between a target current provided to the drive motors and the actual current utilized by the drive motors.

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the method has the requirements of light weight and low control complexity.

A walker tray is removably attachable to a walker for enabling a user to support items. In some embodiments, the walker tray is light-transmissive for enabling a user to see through the tray. The walker tray includes a tray-to-walker attachment mechanism, and in this regard, some embodiments either include a pair of laterally opposed handle-receiving apertures or resilient clip elements. In those embodiments having handle-receiving apertures for mounting the tray upon the walker, each aperture has an aperture and an aperture width. The aperture lengths and aperture widths are configured to receive at least upper handle portions of a walker. Each of the handle-receiving apertures are defined inwardly by an inner leg-engaging edge configured to engage at least a forward leg portion and a rearward leg portion. Together the forward and rearward leg portions and the inner leg-engaging edge are cooperable to support the walker tray upon the walker.

The invention discloses an intelligent blind guiding glasses system based on a multi-mode large language model. The intelligent blind guiding glasses system comprises an image acquisition module, a voice acquisition module, a large language model module, a bone conduction sound transmission module, a navigation path planning module, a central processor module and a wireless communication module, the image acquisition module is used for acquiring a three-dimensional image of a front scene and providing three-dimensional space information; the voice acquisition module is used for acquiring a voice instruction of a user; the big language model module is used for generating character answers and converting the character answers into voice according to the voice instruction of the user by utilizing a big language model; the bone conduction sound transmission module is used for receiving and playing the voice generated by the large language model module; the navigation path planning module is used for planning a navigation path according to the user position and the destination; the functions of navigation positioning, line guiding, voice prompting and the like are provided for the blind, the glasses are adopted as a carrier, carrying is convenient, voice awakening and other instructions are adopted to replace keys, operation is easy, and practicability is high.

The invention relates to a blind person travel assisting robot which comprises a hardware structure and a control module, and the control module comprises a navigation and positioning module, an AI intelligent control module and a remote monitoring module. The navigation and positioning module comprises map drawing, path planning and obstacle avoidance and fusion positioning, the AI intelligent control module comprises a sensor system, a voice interaction module, a tactile feedback module and an intelligent decision module, the hardware structure comprises a traction device and a mobile robot, and the traction device is provided with a touch feedback device. The touch feedback device comprises multiple sets of linear motors, obstacle information is coded through vibration of different frequencies, the mobile robot is of a circular structure, and a crawler belt is arranged at the bottom of the mobile robot. According to the auxiliary robot, through fusion of multiple positioning modes, the positioning precision and reliability are improved, it is ensured that the robot accurately knows the position of the blind person, and therefore the guiding service is better provided for the blind person.

The foldable multifunctional walking-aid wheelchair mainly comprises a left frame, a right frame, a left handle, a right handle and four wheels, the left frame and the right frame are of a symmetrical structure, the left handle and the right handle are installed at the upper ends of the two frames respectively, and a left brake handle and a right brake handle are installed on the front sides of the upper ends of the two frames respectively. The left front wheel and the right front wheel are installed on the front sides of the lower ends of the two frames respectively, the left rear wheel and the right rear wheel are installed on the rear sides of the lower ends of the two frames respectively, the three supporting rod sets which are not located on the same straight line are installed between the two frames, and the left backrest plate, the middle backrest plate and the right backrest plate are sequentially and rotationally connected and installed between the two frames. The middle seat cushion is rotatably connected with the middle backrest plate, the two sides of the middle seat cushion are rotatably connected with the left seat cushion and the right seat cushion respectively, the left pedal and the right pedal are rotatably installed at the front ends of the two frames respectively, the left front wheel and the right front wheel can be braked by pinching the left brake handle and the right brake handle, and a user can select a wheelchair mode, a walking aid mode or a folding mode according to needs.