3261results 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.

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.

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 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 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 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.

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.

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 present invention relates to a walking assistance wearable robot for assisting walking exercise of a wearer, comprising: a fixing unit, which can be mounted on a body part of the wearer; a driving unit, which can be mounted on the fixing unit, wherein the driving unit calculates the degree of change in the state trajectory of the wearer, calculates output torque on the basis of same, and calculates the output torque to be a value that is less than or equal to a threshold during the predetermined time period within a range, not exceeding a threshold, that includes the point at which the sign of the calculated output torque changes, the predetermined time period being 0.5-1 second.

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 present invention is directed to a reusable residual limb protector that can be used with a knee immobilizer to protect a recent amputee patient from further injury and infection of the amputation site while preventing knee flexion contractures. In alternative embodiments, the residual limb protector is configured for use with one patient. A method of use of the residual limb protector is also disclosed herein.

A folding lock mechanism used on a folding wheel type walking aid relates to the field of walking aids and comprises a folding connecting piece, a lock hook, a folding pipe and an unlocking pull rope, the folding connecting piece is provided with a mounting space with an opening in the right end, the lock hook is located in the mounting space, the lock hook is provided with a pipe through groove penetrating left and right, and the pipe through groove is provided with an opening in the right end. The folding pipe penetrates through the pipe through groove and is hinged to the lock hook, the folding pipe is further hinged to the right end of the folding connecting piece, the unlocking pull rope is arranged at the right end of the top of the lock hook, a clamping rod is arranged in the left end of the installation space, when the wheel type walking aid is unfolded, the lock hook hooks the clamping rod, when the wheel type walking aid is folded, the unlocking pull rope is pulled, and the wheel type walking aid is folded. And the lock hook is separated from the clamping rod. According to the wheel type walking aid, the wheel type walking aid can be prevented from being folded due to misoperation during unfolding, and the use safety of the wheel type walking aid is further improved.

The invention belongs to the field of medical rehabilitation equipment and robot control, and particularly relates to a self-adaptive control system and method applied to a walking assisting robot, and the system comprises a sensor information collection module which is used for collecting sensor information at each position of the walking assisting robot in real time, the intention identification and environment identification module and the self-adaptive control module are used for identifying the environment; the intention recognition and environment recognition module is used for recognizing and analyzing a user walking intention including the walking direction and speed, selecting different walking modes according to feedback signals and sending the different walking modes to the self-adaptive control module; meanwhile, ground gradient changes when the user assists in walking are recognized, different assistance or resistance modes are selected according to feedback signals, and the modes are sent to the self-adaptive control module; and the adaptive control module dynamically adjusts the magnitude and the direction of the speed command of the motion control module, and dynamically adjusts according to modes for providing different assistance or resistance.

The gait assistance mechanism according to one example of the present invention may comprise one or more tendons connecting an upper limb, a trunk, and a lower limb of a wearer and a fixing part fixing the one or more tendons to the body of the wearer, and the one or more tendons may comprise a driving tendon connecting the lower limb and the upper limb on the same side of the wearer.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

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 invention discloses a rope-driven ankle-foot exoskeleton robot and a control method, the ankle-foot exoskeleton robot comprises a two-way driving module, a rope-driven driving module, a rope-driven driving module, a rope-driven driving module, a rope-driven driving module, a rope-driven driving module and a rope-driven driving module, the lower leg binding module is arranged on the lower leg, and the ankle-foot fixing module is worn on the foot. The two-way driving module transmits power to the shank binding module and the ankle and foot fixing module in sequence through a rope transmission device, and therefore ankle joints are driven to do dorsal flexion or plantar flexion motion. The ankle-foot exoskeleton robot is driven by a rope and has the advantages of being light in weight, easy to deploy, good in flexibility and the like, modular design is adopted for the assemblies, the relative positions of all the modules are easy to adjust, and the ankle-foot exoskeleton robot can adapt to the difference between individuals in the wearing process; the position of the rope transmission device on the shank binding structure is easy to adjust, and rapid conversion between plantar flexion and dorsal flexion can be achieved on the basis that the freedom degree of movement of the lower limbs of the patient is not interfered.

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.

This is a mobility aid for disabled persons, including a front frame, a rear frame, and a handle frame. The front frame comprises two front legs having front wheels at the bottom ends thereof. The rear frame is attached to the front frame and includes a saddle seat and a rear leg having a rear wheel attached thereto. The handle frame includes a handle horizontal tube and a vertical handle member depending therefrom. The vertical handle member is attached to the front frame. The handle horizontal tube includes an elbow support at each end and a hand rest support plate having a pair of hand rest spheres. A patient can sit on the saddle seat with their elbow resting on the elbow support so that some or most of their body weight is supported by the saddle and elbow support, while the feet can walk freely.

A wearable exercise device may obtain a left hip joint angle and a right hip joint angle of a user using at least one angle sensor, process the left hip joint angle and the right hip joint angle to correct a direct current (DC) component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control a driving module such that a torque based on the determined target torque value is output by the driving module.