170results about How to "Improve walking ability" patented technology

The invention relates to an external skeleton assisting robot, in particular to a portable energy-storage type external skeleton assisting robot. The problems that an existing lower limb external skeleton assisting robot worn on the human body is poor in assisting effect so that the loading capacity of the human body can be reduced, the wearing comfort for the human body is poor, the universality is poor, and the field environmental suitability is poor are solved. The portable energy-storage type external skeleton assisting robot comprises the upper body back, the left leg and the right leg, and the left leg and the right leg respectively comprise a hip driving system, a thigh driving system and a shank wearing system. A hip joint energy-storage mechanism comprises a connecting base, a stretching rod, a second spring and a stopping sheet, and a first bevel gear is meshed with a second bevel gear. Each hip driving system comprises a second motor with a coder, a second reducer, a third bevel gear, a fourth bevel gear, a thigh connecting rod, a knee joint support, a knee joint connecting plate, an angle sensor, a series connection elastic combination body, a knee joint gearbox body, a knee joint shaft and an end cover. The portable energy-storage type external skeleton assisting robot is suitable for being worn outdoors for walking assisting.

During clinical trials on patients suffering from neurological disorders, it has been observed that some patients obtain dramatic improvements in motor control and / or higher mental functioning, when they receive a combination of dextromethorphan and quinidine, at suitable dosages. Improved motor control has been exemplified to date by improved ability to swallow and / or speak, among victims of stroke, head injury, or ALS. Improved higher mental functioning has been exemplified better job performance, increased ability to analyze and solve problems, and increased ability to have successful and satisfying interactions with other people. These types of effects can be seen in a relatively brief time period, such as within several days to a week.

The invention discloses a wearable power-assisted exoskeleton lower limb mechanism which comprises a waist part, a left leg, a right leg, a hydraulic servo driving system, a real-time controller and a power supply module, wherein the right leg and the left leg have same structures and are respectively hinged to the waist part and symmetrically arranged on two sides of the waist part; the hydraulic servo driving system is connected with the left leg and the right leg respectively and controls the left leg and the right leg; the hydraulic servo driving system is connected with the real-time controller; the power supply module supplies power to the hydraulic servo driving system. Motions of hip joints, knee joints and ankle joints are cooperated to complete walking, and 7 degrees of freedom are totally realized; the hip joints and the ankle joints respectively have 3 degrees of freedom, which are respectively bending / stretching, external expanding / internal contraction and medial rotation / lateral rotation; the knee joints have one degree of freedom of bending / stretching. The wearable power-assisted exoskeleton lower limb mechanism is simple, convenient to wear and adjustable in length, and is suitable for being worn by people of different heights and weights and making all the joints of the exoskeleton move freely.

The invention relates to anti-destabilization framework type walking assisting legs which comprise a detachable moving framework and two exoskeleton pedipulators; two connecting seats and a connecting long rod connected with the two connecting frame are arranged in the detachable moving framework; two connecting frames are connected with the two exoskeleton pedipulators respectively; the connecting long rod is hollowly sleeved and matched with mounting holes of universal joints on the framework; the two exoskeleton pedipulators are formed by hinging thigh skeletons with a hip joint through the connecting frames, the thigh skeletons are hinged with crus skeletons through knee joints, and the crus skeletons are hinged with feet through ankle joints, wherein all the joints are driven by an elastic linear driver; and a strengthening rod is connected with the two connecting seats. According to the invention, the exoskeleton pedipulators are organically combined with a walker and a walking stick, and the advantages of the exoskeleton pedipulators, the walker and the walking stick are fully utilized to help old persons with weak leg strength or poor equilibrium sense and persons having disabled lower limbs to have difficulty in walking to improving the walking capability, so that the capabilities of the persons can be expanded.

The invention discloses the design of an information collecting and controlling system of an external skeleton assist robot, and relates to the field of robots. The problem of multi-sensor information collecting is mainly solved. Motors for driving and controlling are mounted at joints of the robot respectively in the system. Four kinds of sensors are mounted in the system totally, and the sensors comprise accelerated speed sensors, pressure sensors, rotary encoders and gyroscopes. The pressure sensors are mounted on the main force bearing points of soles, and the accelerated speed sensors are mounted between the thighs and the calves and at hip joints for conducting accelerated speed measuring. The gyroscopes are mounted in the middle behind a waist for measuring the center of gravity and in addition collecting rotary encoder data for calibration. An independent single chip microcomputer is used for collecting data according to distribution of the sensors, a zigbee is used for wireless data transmission, the data are transmitted to an upper computer for being processed, VC++ software is used for displaying the data in real time, and control over the motors is achieved through a CAN bus. Experiments show that the information collecting and controlling system of the external skeleton assist robot can collect effective information in real time and control the information, and important reference value on follow-up study of external skeletons is achieved.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.

The invention discloses an exoskeleton robot system and a kinematics extremity detection-based control method, and relates to an exoskeleton robot system and a control method to solve the problems that an accurate control effect cannot be achieved by the traditional electromyographic signal detection method for assisting in improving the walk of a human body, and man-machine interaction performance is low and an effective control method is lacked in the aspect of resisting self weight in the process of assisting in doing walk of the human body. The exoskeleton robot system comprises an upper body back, a left leg and a right leg; the left leg and the right leg respectively comprise a hip driving system, a knee driving system, a foot wearing system and a binding device; the exoskeleton robot system also comprises insole plates, a back detection shell, a nine-axis flight attitude measurement module, an industrial control computer, two thin film pressure sensors, two first angle sensors, two second angle sensors, two three-axis inclination sensors and three sets of three-dimensional contact force detection device. The exoskeleton robot system and the method are used for assisting in walking and performing detection and control of a moving posture of the human body.

The invention discloses a walking robot having a landing buffer function. The walking robot comprises a landing platform (1), a plurality of buffering walking mechanisms (2) surrounding the landing platform (1), a landing parachute pack (3) and a controller (4). Each buffering walking mechanism (2) comprises a multifunctional strut (21), two single-function struts (22) and a foot pad (30). When a robot lands, the multifunctional strut (21) can have the landing buffer function; and after the robot lands, the multifunctional struts (21) and the two single-function struts (22) jointly achieve a walking function. The walking robot lands stably, is flexible in gait, walks stably and is high in bearing capacity, safe and reliable, the walking capacity on complex terrain conditions can be enhanced remarkably, and the throwing in the air can be achieved.

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

A roof tile support element that fits between roof tiles and a roofing surface to provide support for the roof tiles, which is compatible with a broad range of roof tiles, is adjustable during installation, and that allows individuals to walk confidently on a tile roof without breaking tiles.

The invention discloses a wearable type electric driving assisting exoskeleton lower limb mechanism. The mechanism comprises a left leg, a right leg, motor-decelerator driving systems, and a power supply module. The structure of the left leg is the same as the structure of the right leg. The left leg and the right leg are symmetrically arranged on two sides of a waist. The motor-decelerator driving systems are arranged on active driving joints of the left leg and the right leg respectively and are used for controlling the active driving joints. Through the movement cooperation of the hip joints, the knee joints and the ankle joints, walking is finished. The mechanism has five freedom degrees. The hip joints have three freedom degrees including bending / stretching, externally extending / internally withdrawing and internal rotation / external rotation movement. Each knee joint has one freedom degree of bending / stretching movement. Each ankle joint has one freedom degree of bending / stretchingmovement. In addition, by considering the condition that when a person walks, the back part swings since the back is not perpendicular to the ground sometimes, so one freedom degree of bending / stretching movement is arranged on the back part. The mechanism is characterized in that the mechanism is simple in structure, convenient to wear, adjustable in length and suitable for wearing of persons with different heights and weights and flexible movement of all joints of the exoskeletons.

The invention relates to a biped robot lower limb mechanism, in particular to a biped robot lower limb mechanism driven hydraulically. The problems that an existing electrically-driven robot is small in loading capacity, low in specific power and poor in anti-interference performance are solved. The biped robot lower limb mechanism comprises a body, an oil distributor, a left leg and a right leg, the oil distributor is arranged on the upper surface of the body, the left leg and the right leg are arranged on the lower surface of the body side by side, and are of the same structure, and the left leg comprises a foot, a shank, a thigh, a hip joint forward swing hydraulic cylinder servo unit, a hip joint twisting hydraulic cylinder servo unit, a hip joint, a knee joint forward swing hydraulic cylinder servo unit, an ankle joint, two ankle joint hydraulic cylinder servo units, a hip joint side swing hydraulic cylinder servo unit and a body upper end swing connecting piece. The biped robot lower limb mechanism belongs to the field of robots.

The invention discloses a cable pre-buried pipeline tour-inspecting and obstacle removing robot. The cable pre-buried pipeline tour-inspecting and obstacle removing robot comprises a cable pre-buriedpipeline walking device, a pan and tilt head, a clamping manipulator and a central processing unit; the cable pre-buried pipeline walking device comprises a walking driving motor and a plurality of walking wheel assemblies uniformly arranged in the circumferential direction of a main shaft, the walking wheel assemblies comprise wheel legs and supporting arms, the two ends of the supporting arms are hinged to the wheel legs and hinged to the main shaft correspondingly, and the driving motor drives the wheel legs; a variable-diameter mechanism comprises a variable-diameter driving motor, variable-diameter connecting rods and lead screw transmission mechanisms, the two ends of the variable-diameter connecting rods are hinged to sliding blocks and the supporting arms correspondingly, the variable-diameter driving motor pushes the inclination of the supporting arms to be changed through the lead screw transmission mechanisms and the variable-diameter connecting rods so as to achieve the extension state, clamping blocks and a clamping block driving motor are involved; and the central processing unit controls the walking driving motor, the variable-diameter driving motor and the clampingblock driving motor, so that the robot walks to a pipeline obstacle, and the clamping manipulator clamps the obstacle so as to clear the obstacle in a pipeline.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.

A sensor unit installed in a premises for detecting a user's walking behavior. Connected to the server through a communication network are a server, an information reporting unit, and an exercise machine. The server includes a diagnosis section for analyzing time series data of walking signal from the sensor unit to determine walking ability and generate walking ability data indicative thereof, and an information providing section which provides the walking ability date to the information reporting unit and the exercise machine. The information reporting unit includes reporting means for reporting the determined walking ability to the user. The exercise machine includes a control section which gives an exercise to the user depending upon the walking ability.

The invention discloses a swimming and walking combined underwater operation robot and a control method thereof. The robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a moving component, a sensing and probing component, a vision localization device and an operation extension module, wherein the floating body module, the hanging bracket, the control sealed cabin, the moving component, the sensing and probing component, the vision localization device and the operation extension module are mounted on the frame; and the gravity center of the robot is positioned below a buoyant center. The swimming and walking combined underwater operation robot can be adapted to the operation demands of different types and different postures of working faces and can also adapted to the demands of omnibearing maneuvering and obstacle crossing ability on different working faces, thus the walking capacity, on the working faces, of the underwater operation robot is improved, and the underwater operation robot can be adapted to the demands of more application sites.

The invention discloses an agile quadruped robot based on a coaxial parallel mechanism. The agile quadruped robot comprises a body, four parallel legs, double-motor coaxial asynchronous transmission modules arranged in the body and used for driving the parallel legs to move, a control and communication module and a power module. The parallel legs are installed on the two sides of the body and comprise thighs and shanks. Each thigh comprises two thigh rods of the same structure. Each shank comprises two shank rods of the same structure. Every two thigh rods and the corresponding two shank rodsare sequentially hinged to form a four-rod parallel link mechanism. Every two thigh rods are controlled by two motors on the corresponding double-motor coaxial asynchronous transmission module. A novel parallel leg structure is adopted, the cost of a leg robot is effectively reduced, meanwhile, the overall weight of the leg robot can be reduced, and the movement performance is better; and each parallel leg adopts a coaxial asynchronous torque transmission mode of the two corresponding motors, the leg transmission principle of the quadruped robot is innovated, a whole leg transmission mechanismis more compact, and movement is quicker.

The invention provides a method for controlling the pressure of a walking mechanism of an excavator. The method is characterized by comprising the following steps of: connecting a walking pressure switch to a pipeline between a walking cutoff valve and a convergence valve; detecting by using a pilot pressure sensor to obtain a specific value of a pilot pressure; judging whether the walking mechanism is in an idle speed state or walking state according to the pressure value; when the walking mechanism is in the walking state and if the pilot pressure is greater than a third set threshold value, opening a secondary pressure increasing valve by using an electric control system; making pressure increasing pilot oil flow to a main overflow valve through the secondary pressure increasing valve;increasing the set pressure of the main overflow valve by 10-15 percent; and simultaneously, judging the on and off state of the walking pressure switch by using the electric control system. In the invention, only one walking pressure switch is added in the conventional hydraulic system, and the control way is changed simultaneously, so that the walking capability and the practical operation capability of the excavator can be increased, the oil consumption and the noise are effectively lowered, the service life of the hydraulic system is prolonged, and the requirement of a user is better met.

A generally horizontal platform has connected to a first end thereof a sloping ramp that extends into the water of a swimming pool. The ramp is provided with traction enhancing ribs to enable a pet to extricate itself from a pool should it accidentally fall in or tire from swimming. In a first embodiment, adjustable legs sit on the bottom of the pool and support a first end of the ramp while the horizontal platform is secured to decking to prevent its horizontal and vertical movement relative to the upper edge of the pool. In a second embodiment, a second ramp is connected to the opposite end of the horizontal platform and legs support the second ramp on a ground portion external to the pool. In a third embodiment, the ramp is cantilevered over the pool and buoyancy within the submersed sloping ramp provides support.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness. An embodiment of the device includes a framework, a first and second crank arm, a first and second handle bar, a first and second foot pedal, a motor and pulley assembly, a first and second coupler link, and a motor controller with speed knob.

The invention discloses a ball picking robot. The robot comprises a ball grabbing manipulator, a frame and a ball serving mechanism; a front driving wheel mechanism and a rear driving wheel mechanismare arranged on the frame; the ball grabbing manipulator is arranged on the frame; a football bracket is arranged on the launcher; a club sleeve is fixed on the launcher, the ball hitting rod is slidably mounted in the ball rod sleeve; a rear support plate is fixed at the rear end of the club sleeve; the football catapulting device comprises a left catapulting mechanism and a right catapulting mechanism. The right translation of the right ejection mechanism moves along the front-back direction; a right long hole is formed in the right translation rod; turning plate shafts with different heights are arranged on the left side and the right side of the turning plate; turning plate shafts on the left side and the right side of the turning plate are respectively arranged in the right long holeand the left long hole of the left translation rod; the hitting rod is provided with an impact plate and a vertical rod extending upwards, a hook head is arranged at the end of the vertical rod, an elastic energy storage device is arranged between the rear supporting plate and the impact plate, and the strength, the acting point and the serving angle of ball grabbing, serving and serving at the off-site football position can be adjusted.

The invention discloses a walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton, comprising a driving mechanism, a shank fixing mechanism, a three-degree of freedom ankle joint and a thenar support. For patients with foot drop, the invention can utilize previously programmed walking program to serve as a tool for assisting walking and correcting gait. When people is in walking training, the human ankle can rotate in the axial plane according to an ankle angle curve input into the controller; the input standard ankle angle curve can adaptively adjust according to a man-machine interaction force; the exoskeleton provides a driving force for normal motion of the axial plane of the human ankle, synchronously satisfies the motion ranges of other two degree of freedom, prevents the damage to foot and interference to normal life due to towing and impacting caused by the foot drop, and improves the dorsiflexion ability of the patients with foot drop.

The invention belongs to the technical field of medical rehabilitation, and discloses an ankle rehabilitation system capable of simulating walking based on VR. The system comprises a pressure detection module, a voice recognition module, a touch recognition module, a video monitoring module, a central control module, a network communication module, a server, a computer, a scene construction module, a human behavior recognition module, and a display module. The system provided by the invention is more advantageous for a user to actively carry out rehabilitation training of an ankle in a scene through a scene reconstruction module; can simulate the walking state of a patient through the visual feedback of the VR, feeds back and corrects a pathological walking mode, and forms a normal gait, thereby improving walking ability. Compared with the traditional walking rehabilitation training, the system has the effects of shortening the rehabilitation process, improving the rehabilitation efficiency and improving the rehabilitation effect. Through human behaviors, the system determines the moving significance area via the idea that a severe moving region provides more discriminating information in the behavior recognition, and assists the rehabilitation of the ankle.

The invention discloses lower limb rehabilitation training equipment and a biped end executor thereof. The biped end executor comprises two sets of execution devices which have the same structure andare arranged in parallel; each execution device comprises a linear motion mechanism used for achieving forward and backward motion of the corresponding foot, a lifting mechanism connected with the linear motion mechanism and used for achieving height lifting of the foot, and an ankle joint rotating mechanism connected with the lifting mechanism and used for achieving ankle joint rotation. The lower limb rehabilitation training equipment comprises a supporting frame, a weight reduction supporting mechanism used for carrying out weight reduction control on a human body during training, a biped end executor used for carrying out gait training, and a pelvis pose adjusting mechanism used for carrying out cooperative adjustment on a position and a pose of the pelvis of the human body during gaittraining of the lower limbs of the human body so as to achieve balance. The lower limb joint movement can be realized, and the pelvis cooperative movement can also be realized; and the walking capability and the balance capability of a patient can be effectively improved.

The invention discloses lower limb rehabilitation equipment for weight reduction walking training and balance evaluation. The equipment comprises a training platform, a walking training device which is arranged on the training platform and is used for assisting the patient to do lower limb joint movement; a weight reduction supporting device which is arranged on the training platform and is used for carrying out weight reduction control and pelvic heeling control on a patient who is carrying out lower limb joint movement, a posture conversion device which is arranged at the top of the weight reduction supporting device and used for assisting a patient in achieving conversion between a sitting posture and a standing posture, a power output part which is arranged on the weight reduction supporting device and used for cooperating with the patient to conduct pelvis cooperative movement when the patient does lower limb movement, and a pelvis cooperative motion feedback device which is usedfor feeding back pelvis motion data so as to carry out balance evaluation. Pelvis movement data are obtained while a patient is assisted in conducting lower limb joint movement under weight reductioncontrol, and subsequent balance evaluation and pelvis balance movement autonomous adjustment are facilitated; and synchronous improvement of walking ability and balance ability of a patient is facilitated.

The invention discloses an adaptive robustness cascading force controlling method for a single-joint powered exoskeleton. The cascading force controlling method is sued for aiming at problems of force increasing and force following in a hydraulic cylinder driven single-joint powered exoskeleton. An upper-layer controller and a lower-layer controller are arranged. A reference track of the single joint is generated through the upper-layer controller, and the lower-layer controller realizes tracking for the reference track. According to the adaptive robustness cascading force controlling method, when the powered exoskeleton bears a heavy object, a man-machine interaction force is minimized for realizing powering and movement along with a person. An adaptive robustness control algorithm (ARC) is used for designing the upper-layer controller and the lower-layer controller, thereby effectively an influence of uncertainty of a single-joint powered exoskeleton model, realizing a good following effect and a good powering effect of the powered exoskeleton to the motion of a person, and obtaining a relatively high application value.

The invention discloses a method for single-joint power-assisting exoskeleton inversion self-adaptive robust force control. Targeted at problems of reinforcing and following of driving of a power-assisting exoskeleton by a hydraulic cylinder, and based on an integral single-joint power-assisting exoskeleton dynamic model, with consideration given to coupling effects between different layers in terms of dynamics and adoption of an inversion controller design method, bandwidth restriction brought by power-assisting exoskeleton traditional cascade control is overcome and a larger closed loop bandwidth is gained. According to the invention, when a single-joint exoskeleton undertakes a weight, a man-machine active force is minimized to realize power assisting and motion following a man. An inversion self-adaptive robust force control algorithm (ARC) is employed to effectively overcome influences by model nondeterminacy of a single-joint power-assisting exoskeleton system, so that high robustness and faster closed loop response are provided; a good following and power-assisting effect on motions of human by the single-joint exoskeleton is realized; and a relatively high application value is realized.

An exoskeletal orthosis includes a proximal cuff comprising a hinge along an upper edge of the cuff; an ankle section / footplate; and at least one posterior strut connecting the proximal cuff to the ankle section and foot plate.

The invention discloses a cable embedded pipe expanding robot, which comprises a cable embedded pipe traveling device, a pan-tilt, an expansion mechanism and a central processing unit. The embedded pipe traveling device comprises a traveling drive motor and a plurality of traveling wheel components peripherally and uniformly distributed along a spindle. Each traveling wheel component comprises a wheel leg and supporting arms, wherein two ends of each supporting arm are hinged to the wheel leg and the spindle respectively. The drive motor drives the wheel legs. A diameter-variable mechanism comprises a diameter-variable drive motor, diameter-variable connecting rods and a lead screw transmission mechanism. Two ends of the each diameter-variable connecting rod are hinged to a slider and thecorresponding supporting arm respectively. The diameter-variable drive motor changes the expansion mechanism comprising expansion push rods and an expansion drive motor through inclination of the supporting arms pushed by the diameter-variable connecting rods and the lead screw transmission mechanism. The central processing unit controls the traveling drive motor, the diameter-variable drive motorand the expansion drive motor to enable the robot to travel to a pipe recess, and the expansion push rods push the recess outwards to repair a recessed pipe.

An improved rehabilitation and exercise machine is provided which allows a person with physical limitations, disabilities or chronic conditions to use the machine in order to rehabilitate their muscles, improve joint flexibility, and enhance cardiovascular fitness.