169results 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.

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.

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.

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 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 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.