2410results 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 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.

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.

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.

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.

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.

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.

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 present invention provides a caring machine and an overhanging machine. A main unit module which included in the caring machine comprises a shifting module, a supporting frame module, and a coupling module. The shifting module, situated below the supporting frame module, allows for movement controlled by the opening and closing of wheel casters. The supporting frame module accommodates diverse caring modules, offering a range of care functions. The coupling module, positioned on the shifting module and the supporting frame module, comprises a plurality of coupling devices and a plurality of coupling interfaces. The caring machine integrating the main unit module is capable of addressing daily life activities and basic rehabilitation training for disabilities and elders. The overhanging machine, which using the caring machine, comprises support columns, overhanging arms, a receiving frame and a sling machine. This invention provides versatility and allows users to achieve plural functionalities within one machine.

The invention relates to a gait monitoring algorithm which is used for a traditional four-foot walking aid, a six-axis gyroscope is installed in the middle of four feet of the walking aid, pressure sensor data is installed at the bottom of a handle and the bottoms of the four feet, and the gait monitoring algorithm comprises a sensor data acquisition module used for acquiring original sensor data related to gaits of a user, acquiring three-axis acceleration information; acquiring triaxial angular velocity information according to gyroscope sensor data; acquiring handle pressure and ground contact pressure information according to data of a pressure sensor; the gait feature extraction system is used for extracting gait features from original sensor data and comprises a gait feature extraction module used for extracting gait feature values from the original sensor data, the gait feature values comprise stride frequency, and the number of steps per second is calculated by analyzing periodic fluctuation of pressure or acceleration; and calculating the distance between the two steps through acceleration integration or the ground contact interval between the left foot and the right foot.

The invention relates to the technical field of intelligent travel, in particular to a blind person positioning and yaw early warning device, system and method based on optical fiber vibration signals. Firstly, an optical fiber sensor network is laid in a hospital, vibration signals generated when the blind walk are obtained in real time, and step frequency, direction and vibration amplitude behavior data are obtained. Secondly, constructing a hospital space structure network, and determining an optimal path of the blind person from the current position to a target department through a path planning unit; and then positioning the position of the blind person in real time through a multi-sensor data fusion technology in combination with a blind person behavior data set and hospital space structure information. And finally, obtaining yaw information by calculating the yaw angle between the actual advancing path of the blind person and the standard path. And when the yaw angle exceeds a preset threshold value, the safety early warning unit sends out a correction prompt. Meanwhile, the device can dynamically adjust the path of the blind and give an early warning in advance according to temporary crowded areas or emergency situations occurring in hospitals, and walking safety is ensured.

The invention discloses a quasi-passive knee joint exoskeleton and a design method thereof, the knee joint exoskeleton comprises a transmission energy storage module, a power-assisted regulation and control module and a wearing module, and the power-assisted state is switched according to the gait stage of a human body. The transmission energy storage module transmits joint torque through an input gear, an intermediate gear and an output gear, and a pressing rod on an output shaft is used for driving a flexible hinge to deform, so that efficient energy storage and release in a small space are realized; the assistance regulation and control module controls a cam shaft to rotate, drives a swing shaft to push an intermediate gear to move and enables the gears to be meshed in the supporting phase, motion limiting is formed through contour matching of a cam shaft body and a swing shaft matching cambered surface, mechanical self-locking is achieved, locking force does not need to be additionally provided, and walking assistance is achieved. In the swing phase, the camshaft is controlled to rotate to enable the unlocking cambered surface to turn to the swing shaft, the swing shaft is unlocked, a driving pin of the camshaft drives the swing shaft to rotate, the gear is disengaged, and free swing is achieved. Compared with the prior art, the invention has the advantages of light weight and low power consumption.

The invention discloses a brain small vascular disease lower limb dysfunction self-adaptive electrical stimulation auxiliary rehabilitation system in the technical field of medical instruments, and the system comprises a data collection module which is used for obtaining the multi-modal data of a patient in real time; the decision regulation and control module is used for generating dynamically optimized electrical stimulation parameters and rehabilitation task instructions based on a deep reinforcement learning algorithm and patient individualized pathological characteristics according to the multi-modal data; the electrical stimulation execution module is used for synchronously regulating and stimulating nerve targets according to the optimized electrical stimulation parameters; and the interactive virtual reality module is used for combining immersive gait training and cognitive training. By detecting the multi-modal physiological data of the patient, combining the deep reinforcement learning model to dynamically optimize the electrical stimulation parameters, and coupling VR exercise training and cognitive training, the three-in-one collaborative rehabilitation mode of electrical stimulation-physical treatment-cognitive intervention is realized, the rehabilitation training efficiency is improved, the relapse risk of the patient is reduced, and the rehabilitation training experience of the patient is enhanced.

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.

The invention belongs to the technical field of lower limb rehabilitation, and discloses a man-machine coupling system intelligent cooperative control method and device based on deterministic learning. Establishing a state-space equation of the lower limb exoskeleton robot, defining a tracking error, and designing a self-adaptive neural network controller of the lower limb exoskeleton robot; defining an expected position state vector and a real position state vector of the walking robot, solving a position state vector error, and designing a self-adaptive neural network controller of the walking robot; the method comprises the following steps: constructing a time-varying linear matrix, verifying the exponential stable convergence characteristic of the time-varying linear matrix under a continuous excitation condition on the basis of an adaptive neural network controller, storing nonlinear dynamic knowledge of a man-machine coupling system, and constructing a learning controller by using the learned knowledge. According to the method, while the unknown dynamic state of the man-machine coupling system is accurately modeled, the continuous excitation condition is ensured, so that accurate and stable trajectory tracking control is realized.

A personal mobility system with multiple adjustments is presented. The personal mobility system may comprise one or more elastic stabilizer mechanisms. The adjustments may comprise a telescoping adjustment system for multiple handles, to adjust height and position of handles. The personal mobility system presents handles at a variety of positions, and of different types, to assist a user in moving from sitting to standing to walking, and to and from other positions, and presents a seat. The personal mobility system with elastic stabilizer mechanisms stabilizes the system against tipping over, improving user safety by reducing the occurrence of tips and falls. The elastic stabilizer mechanisms may be engaged by all handles and grip surfaces, or by a subset thereof, of the personal mobility system when a user begins to tip. The personal mobility system presents improvements in folding, convenience, and useability.

The invention discloses a large-model visual impairment assisting robot system based on edge cloud collaboration, and is applied to the technical field of intelligent robots. Comprising a walking assembly, a framework support, a sitting and lying structure and an electrical control system. The walking assembly is arranged below the framework support and used for achieving movement and steering of the auxiliary robot. The sitting-lying structure is arranged in the middle of the framework support and used for achieving a seat function. And the electrical control system is used for realizing sensing and control functions. According to the invention, a large language model, a visual identification model, a voice synthesis model and a mobile robot platform are fused, multiple auxiliary services such as autonomous navigation, environment description, voice interaction and the like can be provided for visually impaired people in public culture or living places, and the travel independence, the information acquisition capability and the culture participation degree of the visually impaired people are remarkably improved.

The invention discloses a walking power assisting device with a differential transmission mechanism, which comprises a power module, a waist module and a leg rod module, the power module is horizontally arranged near the lower abdomen in front of a human body, and the rotation axis of the power module is horizontally arranged and is parallel to the coronal plane of the human body; the device comprises a motor module, a speed reducing mechanism, a differential transmission mechanism, a first power output end and a second power output end, the motor module is in transmission connection with the input end of the reducing mechanism, one end of the differential transmission mechanism is in transmission connection with the output end of the reducing mechanism and the first power output end, and the other end is in transmission connection with the second power output end; based on the differential transmission mechanism, rotation of the output end of the speed reducing mechanism can drive the first power output end to rotate in the opposite direction relative to the second power output end. The walking power assisting device has the advantages of being light in weight, small in storage size, small in implementation space, low in complexity, close-fitting, compact and the like.