33 results about "Active force" patented technology

The invention discloses a rehabilitation training anti-loosening method and device based on AAN challenge degree adjustment. The method comprises the steps that the challenge degree is determined according to the main power of a person and the driving force of a front man-machine hybrid system; a virtual force field is constructed, so that the virtual auxiliary force is stably controlled within a certain range, and the virtual auxiliary force is determined; determining the non-model robust auxiliary force of the robot through a time delay estimation method; determining a current man-machine hybrid system driven force according to the human active force, the challenge degree, the virtual auxiliary force and the robot non-model robust auxiliary force; and based on the kinetic model of the rope-driven rehabilitation robot, determining the action of the rehabilitation robot according to the current driving force applied to the man-machine hybrid system. Machine assistance is reasonably provided according to the motion control ability of the patient, training looseness is prevented, active participation is encouraged, and the rehabilitation training effect is improved.

A vehicle may include a chassis, four wheels, and an active suspension system operably coupled to the four wheels and the chassis, where the active suspension system includes at least one actuator configured to apply an active force to at least one of the four wheels. The processor may be configured to control the active suspension system by: receiving a first force request for a force for changing a first kinematic characteristic of the chassis; assigning a first force assignment to the first force request based on the force capacity; receiving a second force request for a force for changing a second kinematic characteristic of the chassis; assigning a second force assignment to the second force request based on the first force assignment; and commanding at least one actuator to apply a force based on the first force distribution and the second force distribution.

Provided are a suspension system and an active force control method, relating to the technical field of suspensions. The suspension system comprises a first constant flow source (401), a second constant flow source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) comprises a first liquid cavity (4051) and a second liquid cavity (4052) separated by a piston. The first constant flow source (401) and the second constant flow source (402) are used for outputting liquid at a constant flow rate. The liquid container (406) is used for storing or replenishing liquid flowing in the system. An outlet of the first constant flow source (401) is connected to a first end of the first damping valve (403) and the first liquid cavity (4051). A second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the first constant flow source (401). An outlet of the second constant flow source (402) is connected to a first end of the second damping valve (404) and the second liquid cavity (4052). A second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the second constant flow source (402). A suspension system having a high operating bandwidth without additionally significantly increasing unsprung mass can be implemented.

This invention relates to the field of mechanical parts casting technology, and more particularly to a mechanical parts casting and forming equipment. The technical solution includes: a frame, and a moving mold I, a fixed mold, and a moving mold II that can slide relative to the fixed mold mounted on it. The moving mold I is driven by a hydraulic rod. The equipment also includes a connecting assembly, a driving assembly, a linkage assembly, an ejection assembly, a transmission assembly, and a clamping and ejection assembly that are sequentially linked. In this invention, the moving mold I, as the sole active force source during mold opening and resetting, first pulls the driving assembly through the connecting assembly, forcing the moving mold II to retract and complete a secondary mold opening. The action of the driving assembly is then transmitted to the ejection assembly through the linkage assembly, ejecting the casting from the moving mold II. Simultaneously, the displacement of the moving mold I drives the transmission assembly, which in turn drives the clamping and ejection assembly to rotate to the ejection position, automatically clamping and receiving the ejected casting. Through pure mechanical linkage, multiple processes are integrated into a single continuous action, improving the efficiency and reliability of demolding and part removal.

A kind of rolling equipment for barrel additive inner rib, the equipment is used to roll the inner rib structure or bending plate structure, the equipment includes force applying mechanism and support mechanism, the force applying mechanism is bottom fixed slide rail structure or top fixed dynamic gantry structure or the combination of bottom fixed slide rail structure and top fixed dynamic gantry structure, the force applying mechanism includes active force applying mechanism and passive force applying mechanism, the active force applying mechanism, passive force applying mechanism is connected long rod respectively, the end of long rod is connected passive pressure roller, the active force applying mechanism is used to apply force, adopts lever principle, by passive force applying mechanism, passive pressure roller is forced to roll the inner rib structure or bending plate structure;The support mechanism includes multiple roller racks, and the roller rack is used to support the device containing inner rib structure or plate material.The equipment has large rolling force, simple structure, is easy to disassemble, and can realize the rolling of barrel internal longitudinal rib, cross rib and inclined rib.

The utility model relates to the technical field of polishing devices, in particular to an active force control floating unit which comprises an upper flange and a lower cover, a structural body is connected to the upper flange, a spline bearing is connected to one end, far away from the upper flange, of the structural body, the spline bearing partially extends into the structural body, and a spline stroke shaft is connected to the lower cover and connected with the upper flange. The spline stroke shaft is slidably connected into the spline bearing, an air cylinder is connected to the upper flange, a piston is movably connected into the air cylinder, the piston is connected with a floating rod extending out of the air cylinder, the floating rod is connected with the lower cover, and a pressure proportional valve, an electromagnetic valve and an acceleration sensor which are electrically connected with the control module assembly are connected to the structural body. The pressure proportional valve is communicated with the air cylinder through an electromagnetic valve, the upper flange is connected with a displacement sensor, the uniformity of the grinding process is ensured through constant grinding force and high-precision control, the quality of product surface treatment is remarkably improved, and the grinding device has wide application prospects in the technical field of grinding devices.

The invention discloses an active cross brace control and adjustment method for inclined bridge tower construction, and the method comprises the steps: S1, installing an active cross brace control device on an inclined bridge tower, and loading the active force of the active cross brace control device to a design value; s2, monitoring the active force of the active cross arm control device; s3, adjusting the active force of the active cross arm control device; wherein if it is judged that the resultant force of the main power of the two active cross arm control devices exceeds the limit or the main power of the two active cross arm control devices has the symmetry problem, dynamic adjustment is conducted through the monitoring system. The method has the advantages that real-time monitoring and dynamic adjustment of the active force of the cross arm are achieved by introducing the monitoring system, a traditional active cross arm is upgraded to be an adjustable active cross arm, the functionality of the active cross arm is greatly improved, the problem of active force attenuation or over-limit caused by external factors is effectively avoided, and the safety and stability of a bridge tower structure are ensured.

The utility model relates to the field of leg exercise and rehabilitation, and discloses a rehabilitation device with a child leg exercise function, which comprises a bottom plate, the bottom plate is fixedly connected with a movable plate, the movable plate is fixedly connected with a limiting strip I, the top of the limiting strip I is slidably connected with a support frame, the middle part of the inner side of the support frame is rotatably connected with a fixed column, and the fixed column is fixedly connected with the movable plate. First rotating shafts are fixedly connected to the two sides of the fixing column, first foot pads are fixedly connected to the outer sides of the first rotating shafts, a second limiting strip is fixedly connected to the first supporting plate, a sliding assembly used for adjustment is slidably connected to a groove in the outer side of the second limiting strip, and a pushing column is fixedly connected to the outer side of the sliding assembly. The pushing column is fixedly connected with a second foot pad. According to the utility model, a child treads on the foot pad I forcefully to rotate the foot pad I, so that the effect of active force exercise is realized, and the child puts both feet on the foot pad II to be driven to move back and forth, so that the effect of passive force exercise is realized, and therefore, the multifunctional effect is realized.

The utility model relates to the technical field of aluminum veneer machining, and solves the problem that the bending effect on the two sides of an existing device is poor in the aluminum veneer machining process. The bending device comprises a carrying box, the upper end of the carrying box is provided with an active force application bending piece used for bending the aluminum veneer, one end of the bending piece is connected with a conveying clamping piece used for conveying the aluminum veneer to the bending piece, and a bearing plate is installed on the path, conveying the aluminum veneer from one end of the carrying box to the conveying clamping piece, of the aluminum veneer. The pushing wheel is installed on the carrying box and used for applying force to the aluminum veneer, the jacking wheel is opposite to the pushing wheel and used for reversely applying force to the aluminum veneer, and an inclined piece is arranged between the pushing wheel and the jacking wheel and used for relieving movement obstacles generated after force is applied to the aluminum veneer. The inclined piece is installed at the lower end of the top wheel and used for driving the top wheel to generate angle rotation, and a plurality of propelling grooves are formed in the carrying box.

The invention provides a knee joint exercising device and method, belongs to the technical field of exercising equipment, and aims to solve the technical problem that during knee joint exercising, a user only passively cooperates and does not actively exert force. Comprising a chair seat body, a self-adaptive expansion piece and a knee protection frame fixedly connected to the self-adaptive expansion piece, the self-adaptive expansion piece comprises a piston cylinder, a piston rod and a force measuring rod; a piston head of the piston rod is slidably connected into the piston cylinder, a balance channel is arranged on the piston head, and the on-off state of the balance channel is switched by the position of the force measuring rod; the dynamometric rod is slidably connected in the piston rod, one side of the tail end of the piston rod is connected with a knee protection frame, and one side of the piston head is provided with an abutting body; an elastic column is arranged on the cavity wall penetrating through the balance channel and the abutting cavity, and when the abutting body slides in the abutting cavity, the position of the elastic column can be extruded and changed. And a recovery mechanism for automatically recovering the initial position of the abutting body is also arranged. The active leg lifting action of the user is tracked and supported, and the initiative of exercise is enhanced.

This application provides a control method, device, and vehicle for a fully active suspension. The fully active suspension includes multiple sub-suspensions. The control method includes: acquiring the internal pressure of the air springs of the sub-suspensions; calculating the sprung mass based on the internal pressure and a pre-stored effective cross-sectional area of ​​the air springs; acquiring the vertical vibration acceleration at the current moment at the sub-suspension; calculating the theoretical active force based on the sprung mass and the vibration acceleration; and sending a control command based on the theoretical active force to apply the theoretical active force to the sub-suspensions. The control method, device, and vehicle for the fully active suspension provided by this application are simple and convenient, and can quickly and effectively calculate the theoretical active force to ensure that the actual active force of the sub-suspensions reaches the theoretical active force, thereby reducing vehicle vibration, improving vehicle ride comfort, and providing a superior user experience.

The invention relates to an exoskeleton control method based on a man-machine dynamics model and a lower limb exoskeleton device. The method comprises the following steps: selecting a program mode of an exoskeleton; in the following mode, joint movement data and active torque of a wearer are collected to construct a database; in the power assisting mode, a human leg-trouser body-exoskeleton dynamic model is established based on the database, and online parameter identification is carried out; kinematics parameters of all links are calculated through forward kinematics; establishing a system state space equation by combining dynamics and kinematics parameters; judging the real-time motion state of the wearer by using a deep learning neural network, and generating a corresponding expected control rule; and the exoskeleton is driven and cyclically executed, so that self-adaptive control in continuous motion is realized. The exoskeleton device comprises a thigh supporting part, a shank supporting part and a flexible buffering belt which are combined with the pants body, and dynamic fitting and force transmission between a man and a machine are achieved. High precision of the exoskeleton is achieved, and the naturalness and efficiency of assistance are improved.

The present invention relates to an active system configured to apply an active force to a portion of a firearm designed to contact a body of the firearm's operator, to reduce the perceived recoil of the firearm. The active system includes an actuation element capable of generating an active force, and systems for powering and selectively operating the actuation element.

The present invention discloses an active force-controlled grinding compensation module and control method, comprising a five-axis grinding machine and a workpiece adjustment rotating shaft, as well as a mounting plane, an X-axis fine-tuning compensation mechanism, a Y-axis fine-tuning compensation mechanism, a Z-axis fine-tuning compensation mechanism, a force sensor, a fixture, and a control system. The mounting plane of the workpiece adjustment rotating shaft is vertically mounted with the X-axis fine-tuning compensation mechanism, the Y-axis fine-tuning compensation mechanism, and the Z-axis fine-tuning compensation mechanism. The top of the Z-axis fine-tuning compensation mechanism is fixedly connected to a fixture for mounting the grinding workpiece. The force sensor is mounted between the fixture and the Z-axis fine-tuning compensation mechanism. The control system controls the five-axis grinding machine, the X-axis fine-tuning compensation mechanism, the Y-axis fine-tuning compensation mechanism, the Z-axis fine-tuning compensation mechanism, and the force sensor and receives data information. Advantages: The control method enables the compensation module to adapt to machining surfaces with large curvature changes. The compensation structure is arranged above the workpiece adjustment rotating shaft, requires little mass to be driven, and therefore has a small volume.

The utility model relates to the field of main power control radial floating polishing devices, in particular to a main power control radial floating polishing device which comprises a fixed shell. The upper portion of the fixed shell is in transmission connection with a driving shaft, the end, located in the fixed shell, of the driving shaft is in transmission connection with a transmission assembly, the end, located in the fixed shell, of the grinding shaft is in transmission connection with the lower portion of the transmission assembly, and when the grinding tool deviates, the hollow shaft can be driven to move in the deviation direction; a guide strip perpendicular to the deviation direction can drive a sliding shaft at the end of the guide strip to move in the deviation direction, at the moment, when the sliding shaft slides, the sliding shaft extrudes the spring towards the side the same as the deviation direction, and then the extrusion force on the spring when the grinding shaft deviates is detected through a pressure sensor; and the mechanical arm is controlled to move in the same direction as the deviation direction of the grinding shaft according to the obtained data, so that the radial deviation generated by the grinding shaft is repaired, and the surface of the workpiece is prevented from being damaged by the grinding tool.

A kind of vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tightening force belongs to the technical field of mine equipment, in order to solve the vibration problem of existing roadway tunneling machine cutting mechanism;Including cutting head, piezoelectric actuator, displacement sensor and pre-tightening device etc., the vibration displacement amount of tunneling machine cutting working mechanism is obtained by displacement sensor, piezoelectric actuator is installed at the front end of cutting arm flexible shaft to assist vibration suppression, displacement sensor is fed back to active control system, fuzzy controller is designed by means of fuzzy control strategy, the input of controller is displacement response error and its rate of change, so as to change input voltage value, by means of the rapid response capability of piezoelectric actuator, the active force applied in the cutting feed direction is changed, and then the vibration generated by tunneling machine cutting working mechanism is controlled, the stability of tunneling machine work is greatly improved, which is beneficial to reduce equipment damage and improve roadway tunneling speed.

The invention relates to the technical field of ocean engineering equipment, in particular to a pile leg cooperative stress structure which comprises a platform, a pile leg and a force release type wave-resistant cooperative assembly, the force release type wave-resistant cooperative assembly comprises a center fixing frame, a traction frame, a force dispersing column, a wave-resistant frame and a pile shoe, the pile leg is fixedly connected with the platform and located on one side of the lower portion of the platform, and the traction frame is fixedly connected with the pile leg. The center fixing frame is fixedly connected with the platform and located below the center of the platform, the center fixing frame is arranged on one side of the pile leg, the traction frame is fixedly connected with the pile leg and located on one side of the pile leg, the force dispersing column is fixedly connected with the pile leg and located below the side, away from the traction frame, of the pile leg, and the wave resisting frame is fixedly connected with the pile leg. The pile legs are fixedly connected with the traction frame and located above the sides, away from the traction frame, of the pile legs, the pile shoes are fixedly connected with the pile legs and located below the pile legs, and by additionally arranging the force release type wave-resistant collaborative assembly, active stress collaboration among the pile legs is achieved, load distribution is optimized, and the anti-overturning capacity and operation safety of the self-elevating ocean platform are improved.

The invention relates to a hinged shield attitude prediction method and device, electronic equipment, a medium and a product. The method comprises the following steps: acquiring hinged shield structure parameters and soil body characteristic parameters; based on the obtained parameters, obtaining a shield machine-soil body stiffness matrix and a main power system load, and based on a preset vector expression of a hinged shield pose state variable, establishing a hinged shield machine tunneling mechanical equation according to the shield machine-soil body stiffness matrix, the main power system load, the hinged shield structure parameters and the soil body characteristic parameters; and solving the vector expression of the hinged shield pose state variable based on the equation to obtain a hinged shield pose state vector at the target moment, and obtaining a prediction result according to the hinged shield pose state vector at the target moment. According to the invention, the problem that large deviation exists in hinged shield attitude prediction due to the fact that the motion mode difference between the front structure and the rear structure of the shield machine in the shield hinged mechanism is not considered in the prior art is solved, and the accuracy of hinged shield attitude prediction is improved.

The invention relates to a self-adaptive edge rolling method based on an EHA closed-loop main power control robot, which is completed by using floating edge rolling equipment with EHA control, and comprises the following steps: S1, selecting a proper rolling assembly according to the shape of a plate and process requirements, and mounting the rolling assembly on the floating edge rolling equipment; s2, according to the forming angle of the plate, the rolling flanging angle and the edge rolling pass of each time are determined, a rolling assembly is driven by floating edge rolling equipment to conduct multi-pass bending with the determined angle, and the plate is bent and formed; and S3, the binding pressure output by the floating binding equipment is set, a rolling assembly is driven by the floating binding equipment to conduct constant-force rolling on the bent and formed plate, and the formed part is pressed and fixed. According to the self-adaptive edge rolling method based on the EHA closed-loop main power control robot, pre-edge rolling treatment for determining the edge turning angle and final edge rolling treatment for determining the edge rolling force are conducted respectively, and the edge rolling quality is improved.

This invention discloses a method and device for preventing lapse in rehabilitation training based on AAN challenge level adjustment. The method includes: determining the challenge level based on the patient's active force and the driving force of the preceding human-machine hybrid system; constructing a virtual force field to stably control the virtual assistive force within a certain range, and determining the virtual assistive force; determining the robot's non-model robust assistive force through a time delay estimation method; determining the current driving force of the human-machine hybrid system based on the patient's active force, challenge level, virtual assistive force, and robot's non-model robust assistive force; and determining the rehabilitation robot's actions based on the dynamic model of the rope-driven rehabilitation robot and the current driving force of the human-machine hybrid system. This invention prevents training lapse and encourages active participation by providing machine assistance reasonably according to the patient's motor control ability, thereby improving the effectiveness of rehabilitation training.

The wheelchair self-locking structure comprises a seat frame assembly and a self-locking piece, the seat frame assembly is used for supporting a cushion and comprises at least one first supporting piece, and the self-locking piece is provided with a first connecting part, a second connecting part and a third connecting part which are connected with a backrest, the first supporting piece and a rear frame respectively; and the clamping part is arranged between the second connecting part and the third connecting part, and when the wheelchair cushion bears load, the seat frame assembly moves downwards under the action of gravity, so that the first supporting piece is driven to be automatically clamped with the clamping part of the self-locking piece. The self-locking piece is introduced into a traditional structure, locking is triggered through the gravity of a user, forward leaning of the backrest can be effectively prevented when the main locking mechanism accidentally loses efficacy without depending on the active force of the user, the using safety and reliability of the folding wheelchair are greatly improved, and the folding wheelchair is particularly suitable for weak or disabled users.

The invention provides a bolt fastening method based on main power interaction, and relates to the technical field of intelligent assembly production.The method comprises the steps that a task template corresponding to a bolt model is selected from a knowledge base, and the task template comprises control parameters during bolt fastening; a depth camera and a six-dimensional force sensor are used for collecting position information and stress information in the bolt fastening process, a task template is matched through the collected information, a control strategy is generated, and based on the control strategy, bolt fastening is completed through a mechanical arm tail end executor. By the adoption of the scheme, rapid deployment and precision guarantee can be achieved in multiple types of bolt fastening tasks, and the stability and the intelligent level of the assembly method in complex scenes are effectively improved.

The present invention discloses an axial support system for an astronomical telescope mirror, comprising a force sensor, a flexible member, a connecting rod assembly, a fixed structural member, a counterweight, and may further comprise a force actuator. When the present invention realizes passive support of the mirror, the passive support of the mirror is not limited by the number of supports and the position of supports, and no additional lateral force will act on the mirror. A large-scale force scaling can be achieved, and the shape and center of gravity position of the counterweight do not affect the amplification factor of the output force. When the present invention realizes active and passive integrated support of the mirror, the passive force part does not need to be controlled by a control system, and the force actuator for correcting the mirror surface shape only needs to provide the stroke range required by the correction force, without the need to superimpose the support force of the gravity part of the mirror body. The passive force generated by the counterweight, the active force of the force actuator, and the final output force of the mirror axial support system are coaxial, which can prevent the axial support system from accidentally generating a radial force on the mirror body, thereby ensuring the accuracy of the correction force required for correcting the mirror surface shape.

The active force control grinding compensation module comprises a five-axis grinding machine and a workpiece adjusting rotating shaft, and further comprises a mounting plane, an X-axis fine adjustment compensation mechanism, a Y-axis fine adjustment compensation mechanism, a Z-axis fine adjustment compensation mechanism, a force sensor, a jig and a control system. The X-axis fine-adjustment compensation mechanism, the Y-axis fine-adjustment compensation mechanism and the Z-axis fine-adjustment compensation mechanism are vertically and sequentially installed on the installation plane of the workpiece adjustment rotating shaft, the top end of the Z-axis fine-adjustment compensation mechanism is fixedly connected with the jig, the jig is used for installing a polishing workpiece, and the force sensor is installed between the jig and the Z-axis fine-adjustment compensation mechanism. The control system controls the five-axis grinding machine, the X-axis fine adjustment compensation mechanism, the Y-axis fine adjustment compensation mechanism, the Z-axis fine adjustment compensation mechanism and the force sensor and receives data information. The control method has the advantages that the compensation module adapts to the machining surface with large curvature change due to the control mode, the compensation structure is arranged above the workpiece adjusting rotating shaft, the needed driving mass is small, and therefore the size is small.

A method for real-time adaptation of gait training parameters (10) applicable to a gait training device (100), wherein the gait training device (100) comprises a detection unit, a training unit and a control unit, wherein the control unit is electrically connected to the detection unit and the training unit and controls the operation of the training unit, the method for real-time adaptation of gait training parameters (10) comprising the steps of: (a) Collecting, by the acquisition unit, the muscle relaxation gait data of at least one first user measured during gait training in a muscle relaxation state and the active power output gait data of the at least one first user measured during gait training in the active power output state of the first user; and then, creating, by the control unit, a standard motion model based on the ratio of the active power output gait data of the first user to the muscle relaxation gait data of the first user; (b) Obtaining a movement model of a second user comprising the muscle relaxation gait data of the second user measured during gait training under the muscle relaxation state of the second user, and then estimating a plurality of personalized training models of different difficulty levels by combining the muscle relaxation gait data of the second user with the standard movement model with 10%, 15%, 20%, 25%, 30%, 40%, 50%, 60%, 70%, 80%, 90% and 100% difficulty curves, so that personalized training models with different difficulty levels are created and the difficulty curves can be adjusted according to requirements by the control unit; and (c) determining whether the actual training status of the second user matches the standard of the one of the personalized training models, and then adjusting the one of the personalized training models and providing a replacement training model by the control unit, wherein the gait training comprises at least one gait cycle and the gait cycle is divided into a center of gravity shift interval (F1), a hip flexion interval (F2) and a knee extension interval (F3), wherein, in step (b), the calculation method of the control unit for estimating the personalized training model from the muscle relaxation gait data of the second user comprises, when the muscle relaxation state of the second user is obtained, obtaining a maximum value of the force in a muscle relaxation state and a minimum value of the force in a muscle relaxation state in the gait cycle, whereupon, when the second user is actively outputting force, estimating a predicted maximum value of the active force output and a predicted minimum value of the active force output in the gait cycle of the second user by the standard motion model, whereupon, when the second user is in the active force output state, using the value obtained by the detection unit to obtain an actual maximum value of the active force output and an actual minimum value of the active force output in the gait cycle,When the second user actively exerts force, the actual maximum value of the active force output, the predicted maximum value of the active force output, and the maximum value of the force in the muscle relaxation state are input into a calculation formula for the center of gravity shift interval; and the actual minimum value of the active force output, the predicted minimum value of the active force output, and the minimum value of the force in the muscle relaxation state are input into a calculation formula for the hip flexion interval to obtain the force output level of the center of gravity shift interval (F1) and the force output level of the hip flexion interval (F2), after which the lower force output level is used as these personalized training models of different difficulty levels for the second user.

This invention relates to a rehabilitation training method, apparatus, equipment, medium, and program product. The method includes acquiring initial state data of a target subject, obtaining impedance configuration parameters from a rehabilitation training institution based on the initial state data, and controlling the rehabilitation training institution to perform passive limb training on the target subject based on the impedance configuration parameters. During the passive training phase, real-time state data and real-time torque data of the target subject are collected, and an active force characterization value is calculated based on the real-time torque data. A bilateral movement deviation value is also calculated based on the real-time state data. The real-time state data collected during the passive training phase is used to assess the degree of motor completion. When the assessment result reaches the stage transition standard, the rehabilitation training institution is switched to an active assisted training mode to continue training until a training end command is received. This invention enables the matching of training resistance and movement trajectory with the patient's real-time force exertion ability and motor coordination.

The application provides a gravity-adjustable lower limb exerciser and a control method thereof, and belongs to the field of rehabilitation equipment. The control method comprises the following steps: S1, a preparation stage, establishing a static torque-gait phase reference curve obtained by a user under the driving of the lower limb exerciser; S2, a training stage, comprising S21, the user walks under the assistance of the gravity compensation torque of the lower limb exerciser, and the real-time driving torque of the lower limb exerciser on the user is obtained; S22, the real-time static torque corresponding to the real-time gait is obtained based on the static torque-gait phase reference curve; S23, the active force torque of the user is obtained based on the real-time driving torque and the real-time torque to be compensated, the lower limb exerciser provides a gain assist torque based on the active force torque, and the real-time torque to be compensated at least comprises the real-time static torque. The control method of the lower limb exerciser can accurately separate the active force of the user, accurately stimulate the active force of the user, and help the user restore the movement ability.

The invention discloses a bracket-free invisible appliance functional yin-yang functional body accessory system which comprises a mechanical functional body entity with a smooth and continuous three-dimensional free-form surface, and a continuous and smooth wave-shaped curved surface structure protruding outwards is integrally formed on the side wall of a single mechanical functional body. Functional decoupling is achieved through the spatial geometry of the convex part. The convex part forms an active force application face used for active force application, and an undercut retention structure used for passive retention is formed below the convex part. The functional bodies can be used in pairs, a yin-yang functional body layout is formed to form a couple, the organic form and layout of the functional bodies are based on a patient personalized three-dimensional finite element model, the functional bodies are formed through automatic growth by taking a preset force system as a target through a topological optimization algorithm, and the wavy structure of the accessory is subjected to optimization design. According to the invention, accurate, efficient and completely personalized six-degree-of-freedom control can be provided for complex tooth movement, and the predictability and clinical effect of treatment are remarkably improved.

A suspension system and active force control method are provided, relating to the field of suspension technology. The suspension system includes a first constant current source (401), a second constant current source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) includes a first liquid chamber (4051) and a second liquid chamber (4052) separated by a piston. The first constant current source (401) and the second constant current source (402) are used to output a constant flow rate of liquid. The liquid container (406) is used to store or replenish the liquid flowing in the system. The outlet of the first constant current source (401) is connected to the first end of the first damping valve (403) and the first liquid chamber (4051). The second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to the inlet of the first constant current source (401). The outlet of the second constant current source (402) is connected to the first end of the second damping valve (404) and the second liquid cavity (4052). The second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to the inlet of the second constant current source (402). This enables a suspension system with a high operating bandwidth without significantly increasing the unsprung mass.

The invention relates to a force-controlled universal floating polishing device for a robot and a control method of the force-controlled universal floating polishing device, and belongs to the technical field of force-controlled polishing devices and robot intelligent control. A sleeve and a polishing motor of the polishing device are connected with a shell, a protecting cover, an adjusting wheel and a supporting wheel which are installed together through rubber springs, and six degrees of freedom of a datum point of a polishing head are limited through the rubber springs. The multi-dimensional movement of the polishing head is regulated and controlled by adjusting the rotating angle of the control motor, and force-controlled universal floating polishing is achieved. According to the control method, an operation model is established, a rubber spring is preferably selected through a machining experiment, the rotating angles of a control motor when a datum point of a grinding head reaches different positions are optimized, the control precision is improved, the grinding effect is enhanced, the machining efficiency is improved, the control method adapts to workpiece blanks of different models, and the grinding effect of different structural features is met. During polishing, the stored rotation angle of the control motor is called only according to the position of the polishing head, and combination of active force control and passive force control can be achieved.