46 results about "Active motion" patented technology

According to the mechanical arm control method and system based on the self-adaptive force field, the motion state of a patient is monitored, the motion state is compared with a demonstration space trajectory, and training performance information of the patient is obtained. Based on the training performance information and the constructed adaptive force field model, auxiliary force applied to the patient is obtained through calculation, wherein the auxiliary force comprises normal force, tangential force and viscous force. And the applied auxiliary torque is calculated based on the tail end posture of the mechanical arm and the target posture, the joint control torque is obtained according to the auxiliary force and the auxiliary torque, and the dynamic torque and the null space control torque of the robot dynamic model are obtained. And the joint control torque, the dynamic torque and the null space control torque are combined to obtain the comprehensive control torque for controlling the mechanical arm. Therefore, the self-adaptive adjustment of the auxiliary force is realized based on the position, speed and direction of the patient, and the time degree of freedom can be obtained in the motion of the self-adaptive force field, so that the patient obtains more freedom of active motion under the assistance of the space force field.

The invention relates to the technical field of data processing, in particular to a rehabilitation training control method and system based on a flexible hand joint rehabilitation glove, and the method comprises the steps: obtaining an individualized physiological parameter baseline of a patient; real-time data of a patient in the rehabilitation training process are collected through a multi-modal sensor array on the flexible glove, the active participation degree, the joint movement smoothness and the muscle fatigue degree of the patient are calculated based on the real-time data, the active movement intention of the patient is recognized, and a real-time rehabilitation state evaluation result of the patient is obtained; generating a control instruction through an adaptive control engine according to a preset personalized rehabilitation scheme and the real-time rehabilitation state evaluation result; the generated control instruction is sent to a driving control circuit so as to control a driving unit to execute corresponding bending or stretching actions and assist the patient in completing target training actions; according to the invention, personalized, self-adaptive and quantitative evaluation of rehabilitation training can be realized, and the efficiency and effect of hand rehabilitation training are improved.

The application provides a mechanical arm control method and system based on an adaptive force field, wherein the motion state of a patient is monitored, the motion state is compared with a demonstration space trajectory, and training performance information of the patient is obtained. Based on the training performance information and an adaptive force field model constructed, an auxiliary force, including a normal force, a tangential force and a viscous force, applied to the patient is calculated. Based on the end posture of the mechanical arm and a target posture, an auxiliary torque applied is calculated. According to the auxiliary force and the auxiliary torque, a joint control torque is obtained, and a dynamic torque of a robot dynamics model and a null space control torque are obtained. In combination with the joint control torque, the dynamic torque and the null space control torque, a comprehensive control torque for controlling the mechanical arm is obtained. In this way, adaptive adjustment of the auxiliary force is realized based on the position, speed and direction of the patient, time freedom is obtained in the motion of the adaptive force field, and the patient can obtain more active motion freedom under the assistance of the space force field.

The utility model relates to the field of post-stroke rehabilitation treatment, and discloses an improved nursing bed for post-stroke rehabilitation treatment, which comprises a bed board and a positioning groove, a deck chair is arranged in the middle of the top end of the bed board, the left side of the deck chair is abutted against a fixed seat, the fixed seat is fixedly assembled at the top end of the bed board, and an auxiliary movement mechanism is arranged in the fixed seat; the auxiliary movement mechanism comprises a limiting groove formed in the right side of the fixing seat, a toothed bar is movably assembled in the limiting groove, a push-pull air cylinder is fixedly connected to the bottom end of the deck chair, a connecting rod is fixedly connected to the output end of the push-pull air cylinder, the connecting rod is fixedly connected with the right side of the toothed bar, and two sets of gears are meshed with the left side of the toothed bar. According to the improved nursing bed for post-stroke rehabilitation treatment, the swing frame is arranged, the nursing bed is provided with the auxiliary movement mechanism and the active movement device, a patient can actively participate in or conduct leg movement exercise through assistance, muscle strength and coordination are enhanced, and the problem that the nursing function is single is solved.

A quick-change mechanism and tool changing method for realizing variable diameter turning by machine tools. The quick-change mechanism enables a turning tool 10 of a CNC machine tool to move along a U-axis direction and rotate around the axis of a spindle. Therefore, a workpiece to be machined is subjected to variable diameter turning by active motion of the turning tool 10 without rotational motion of the workpiece, thus realizing machining of a conical surface. The tool changing method is implemented by the motion coordination among variable diameter turning tool head units, the power seat unit, the spindle mounting unit, a variable diameter turning tool head grasping mechanism, a variable diameter turning tool head unit storing bank and a power seat unit storing plate is realized.

The invention relates to a micron-order precision double-mechanical-arm measuring device with scene perception and a method thereof, the tail end of a power arm is connected with a multi-degree-of-freedom movement device, the multi-degree-of-freedom movement device is connected with a non-contact measuring device of a measuring unit, and the tail end of a driven measuring arm is connected with a contact measuring head of the measuring unit. The rope penetrates through the fixed pulley, one end of the rope is connected with the connecting piece, and the other end of the rope is connected with the counterweight; a plurality of 3D perception cameras are arranged in the measurement scene to cover the measurement environment; the power arm and the multi-degree-of-freedom motion device are active motion mechanisms, the motion of the power arm and the multi-degree-of-freedom motion device drives the measurement unit to move and drives the driven measurement arm connected with the measurement unit to move, a measurement result is obtained through the driven measurement arm, the counterweight is used for stabilizing the driven measurement arm, the plurality of 3D perception cameras are used for measuring environment perception, and the global calibration object is used for calibrating parameters.

The utility model discloses a postoperative lower limb fixing and ankle pump counting device which comprises a sponge cushion body, a cardiac pacemaker and an ankle pump device, a U-shaped groove is formed in the top of the sponge cushion body, the lower limb of the human body is placed in the groove in a matched mode, inserting grooves are formed in the left side and the right side of the rear side of the sponge cushion body, a fixing frame is inserted in the inserting grooves, the cardiac pacemaker is fixedly arranged on the fixing frame, and the ankle pump device is arranged on the ankle pump device. A fixing cavity is formed in the front side of the sponge cushion body, and the ankle pump device is arranged on the side, close to the ankle, of the fixing cavity. The U-shaped groove is formed in the top of the sponge cushion body, so that the lower limbs of the human body are suitable for being placed and fastened, and the lower limbs of a patient are prevented from being bent autonomously; the cardiac pacemaker is placed in the transparent box on the fixing frame, so that the cardiac pacemaker can be prevented from falling off and falling off, and a nurse can conveniently check the cardiac pacemaker in real time; the ankle pump device is arranged on the fixed cavity, postoperative rehabilitation training of a patient is facilitated, medical staff can check the ankle pump movement condition of the patient conveniently, the active movement compliance of the patient is improved, and the ankle pump device is novel in structure, high in practicability and suitable for popularization.

The invention relates to the technical field of spraying assembly lines, and discloses a to-be-sprayed part automatic hanging device of a spraying assembly line, which comprises two fixed plates, a conveyor belt is arranged between the two fixed plates, and a first push plate with a special triangular pointed conical positioning block is driven by an electric push rod to actively move; accurate forced positioning and posture correction of the workpieces on the conveying belt are achieved. When a workpiece is conveyed to the vicinity of a grabbing area, the first positioning block and the second positioning block form physical blocking and guiding in front of the advancing direction of the first positioning block and the second positioning block, and through cooperation of a fixing rod and an inclined hole in an inclined plate, in the advancing process of a push plate, the second positioning block can generate transverse displacement while horizontally moving, so that the workpiece is straightened from the side face; and the mechanical arm is accurately guided and fixed below the grabbing center of the mechanical arm. According to the mechanism, grabbing failure caused by random stopping of the workpiece is fundamentally avoided, it is ensured that the reference position of each hanging action is uniform, and the grabbing success rate and precision of the mechanical arm are greatly improved.

The invention discloses a safety constraint optimization gait planning method and device for a lower limb exoskeleton rehabilitation robot, and the method comprises the steps: designing an ACPG (adaptive central pattern generator) network topology for sagittal plane activity space limitation, and achieving the generation of a personalized gait track with a biological rhythm under human-computer interaction; on the basis of interaction torque and joint speed fed back by sensing, energy of human body active movement injected into the exoskeleton is calculated; constructing an intermediate variable according to the energy weighting, designing a gait adjustment model in combination with an admittance model, and outputting a self-adaptive smooth gait frequency and an amplitude modulation factor; based on the gait adjustment model, by using a control barrier function optimization theory, gait frequency and amplitude change are constrained within a safety range, so that the ACPG outputs rhythm gaits and meets safety requirements at the same time. According to the method, the energy change under the human-computer interaction effect is considered, and the personalized gait track with safety protection is generated.

A bionic multi-armed underwater unmanned vehicle for underwater operations of an unmanned surface vessel is provided. During the process of being towed by the unmanned surface vessel, the underwater unmanned vehicle relies on a crab-like shape design to maintain its own passive stability and balance, seldom relying on active control, and achieves active motion balance based on the balance control of the underwater unmanned vehicle's robotic arms and the propulsion system. This underwater unmanned vehicle can replace underwater operators for underwater operations, is powered and communicates with the unmanned surface vessel through a tow rope, and can also achieve remote control by the operators. It is an underwater unmanned vehicle with the advantages of long-endurance and remote control capabilities, as well as extremely strong underwater operation capabilities.

The invention provides an upper limb rehabilitation dynamic control method based on three-dimensional visual intention recognition, which comprises the following steps: synchronously acquiring three-dimensional visual observation data of upper limbs of a patient and pose data of an execution mechanism of a rehabilitation mechanical arm, constructing an upper limb pose vector containing an upper limb kinematics state, and associating the upper limb pose vector with an external traction displacement increment; based on the upper limb attitude vector and the external drafting displacement increment, generating a passive attitude reference vector representing the theoretical upper limb attitude under the pure passive drafting condition; calculating a residual error between the actually observed upper limb attitude vector and the passive attitude reference vector, and separating an active movement contribution amount of the patient from the residual error; generating a patient motion intention vector containing direction and intensity information based on the active motion contribution; according to the motion intention vector of the patient, an instruction used for controlling the auxiliary torque of the rehabilitation mechanical arm is generated, the real active intention of the patient can be accurately separated and extracted, and stable and accurate dynamic auxiliary control is achieved accordingly.

The invention provides a magnetically-driven active movement capsule robot which comprises a capsule shell, a center crankshaft, a left side connecting rod, a right side connecting rod, a left side rake, a right side rake, a fixed magnet and a movable magnet, the fixed magnet and the movable magnet are radial magnetizing magnets, the fixed magnet is fixed in the capsule shell, and the movable magnet is fixed in the capsule shell. The movable magnet is installed in the capsule shell, the movable magnet can rotate and axially move, the movable magnet is fixedly connected with the center crankshaft, and the center crankshaft is installed in the capsule shell. The magnetically-driven capsule robot capable of actively moving has the beneficial effects that the magnetically-driven capsule robot capable of actively moving has an active shifting-in movement function, and a narrow part can be actively shifted aside when an intestinal tract deforms, so that a cavity channel with a more sufficient space is formed.

This invention discloses a combined active and passive lower limb exoskeleton robot mechanism, employing a combination of active and passive methods to provide passive gravity compensation and active motion assistance for the wearer's lower limb movements. First, a gravity balancing mechanism based on tension springs, single linkages, and ropes is designed. Adjustable tension springs and ropes fixed to the frame provide corresponding torques to the hip and knee joints of the lower limb exoskeleton, balancing the torques generated by the weight of the lower limbs and the exoskeleton, thus achieving passive gravity balance. Next, an active assistance mechanism based on a motor is designed. A motor-driven platform located at the back of the waist drives a reel, which in turn drives the ropes to transmit active auxiliary torques to the hip and knee joint exoskeleton. Finally, a lightweight and compact modular hip and knee joint is designed to integrate the active and passive torques transmitted by the ropes and output them to the wearer's lower limbs, completing the gravity compensation and motion assistance for the wearer.

The application discloses an active motion training device for lower limb exercise, and relates to the technical field of lower limb training devices, which comprises a base, an adjustable seat installed on the base, two self-extending massage mechanisms slidingly arranged on the base, and connecting pieces connecting the two self-extending massage mechanisms. When the pedal moves, the steel cable is pulled to move synchronously with the connecting piece, and the movement of the connecting piece controls the movement of the two self-extending massage mechanisms. At this time, the self-extending massage mechanism massages the lower limbs of the user, and can be attached to the lower limbs of the user, thereby increasing the massage effect on the lower limbs of the user. When the connecting piece moves, the resistance element provides resistance to increase the resistance when the user pushes the pedal to move, so as to realize the training function. The resistance element is inserted and is convenient to replace, so that different resistance elements can be replaced according to different users.

The invention provides a limb dyskinesia recognition and active exercise auxiliary control method based on computer vision, and relates to the technical field of exercise rehabilitation engineering. According to the method, the motion image sequence of the upper limbs and / or the lower limbs of the patient is obtained, the multi-joint three-dimensional coordinates are extracted to form the spatial position data, and the joint angles and the angular speeds are calculated to obtain the joint motion state data. Combining with the torque support evidence, identifying joint angle deviation, angular velocity abnormity and compensation behaviors, generating a dyskinesia identification result containing intention intensity and compensation indexes, and determining target auxiliary joint and auxiliary torque output according to the dyskinesia identification result; and active motion auxiliary control is implemented in modes of joint driving assistance, torque compensation, track amplification or lateral force compensation and the like. According to the invention, fine recognition and self-adaptive assistance of dyskinesia can be realized without additional wearable equipment, and the accuracy and safety of rehabilitation training are improved.

The embodiment of the invention provides an experimental rabbit multi-mode motion function monitoring method and related equipment, and belongs to the technical field of motion function evaluation. The method comprises the following steps: acquiring a Tarlov clinical score table, passive motion video data and active motion video data of an experimental rabbit; analyzing according to the passive motion video data to obtain a first motion function evaluation result of the experimental rabbit; performing analysis according to the active motion video data to obtain a second motion function evaluation result of the experimental rabbit; and performing quantitative evaluation on the first motion function evaluation result, the second motion function evaluation result and the Tarlov clinical score table of the experimental rabbit based on a preset limb comprehensive motion evaluation scale, and determining a motion function evaluation result of the experimental rabbit. According to the embodiment of the invention, the motion function evaluation can be carried out in multiple dimensions by collecting and analyzing the active motion and passive motion videos of the experimental rabbit and combining the traditional Tarlov clinical score table, so that the evaluation sensitivity is effectively improved.

The invention provides an active motion compensation method and system for flexible brain electrode implantation. The method comprises the steps that S1, a flexible brain electrode image is collected; s2, estimating a three-dimensional coordinate of a flexible brain electrode implantation target spot; s3, predicting the three-dimensional motion of the moving target based on the prediction result of the three-dimensional coordinates and the estimated time delay, and obtaining a motion prediction track; s4, the sensor coordinate system is converted to the robot, and then the robot adjusts the angle and the position according to the motion prediction track. According to the method, active motion compensation is carried out on the flexible brain electrode implantation equipment under physiological motion, and more than 96% of relative motion between a target and an instrument can be reduced through active compensation.

The utility model provides a foot massage device with a repeated lifting function, which belongs to the technical field of foot massage devices and comprises a massage mechanism. Comprising a barrel body, a supporting plate fixedly installed in an inner cavity of the barrel body, a plurality of massage protruding blocks used for massaging the soles, a movable plate fixedly installed at the bottoms of the massage protruding blocks, two vibration motors fixedly installed at the bottom of the movable plate and a plurality of supporting assemblies used for supporting the movable plate. The reinforcing mechanism comprises a reinforcing assembly used for improving the vibration effect of the massage protruding blocks. The strengthening assembly is used for improving the vibration effect of the massage protruding blocks to a small extent, the degree of stimulation to the foot sole is strengthened, and the problem existing in traditional massage equipment is solved, that is, the traditional equipment needs a user to actively move to complete foot sole massage, the mode is passive, the massage effect can be affected, and the massage effect is affected. The aim of completing foot massage without active movement of a user is achieved, and the foot massage effect is effectively improved.

The present application relates to the technical field of wool combing machine, in particular to a driving mode of the pulling roller movement of wool combing machine, comprising: the driving mode of the pulling roller movement of wool combing machine is driven by the active movement input after two times of movement synthesis, the active movement includes the first swing, the unidirectional rotation and the second swing; the steps of two times of movement synthesis are: S1, the first swing and the unidirectional rotation are synthesized into a first synthesis movement; S2, the first synthesis movement and the second swing are synthesized, the active movement input is driven by the pulling roller movement after two times of movement synthesis in the present application, and the pulling roller movement is driven by the differential gear system, the dynamic shaft gear mechanism and the conjugate cam and connecting rod combination mechanism, so that the speed requirement of the wool combing machine movement can be met, the bottleneck that the existing "toothed belt and spring pressure" transmission mode is difficult to adapt to the high-speed combing of the wool combing machine is broken through, and thus the productivity and efficiency of the wool combing machine can be improved.

A robot comprising at least one motor to drive the robot to perform a predetermined motion; a memory to store a motion graph database and a program comprising one or more instructions; and at least one processor electrically connected to the at least one motor and the memory, the at least one processor configured to: obtain an input motion identifier based on a user input, identify a motion state indicating whether the robot is performing a motion, store the input motion identifier in the memory based on the motion state being in an active state, and based on the motion state being in an idle state: determine an active motion identifier from at least one motion identifier stored in the memory based on a predetermined criterion; and control the at least one motor to drive a motion corresponding to the active motion identifier based on the motion graph database.

The invention provides a man-machine compatible elbow joint rehabilitation robot, and relates to the technical field of medical instruments. The human-machine compatible elbow joint rehabilitation robot comprises an elbow joint flexion / extension active movement unit, an elbow joint inward rotation / outward rotation active movement unit, an elbow joint passive movement unit and a hand passive movement unit. Some passive motion pairs are additionally arranged at the man-machine connecting position, and the man-machine compatibility requirement can be met without strict alignment of machine joints and human body joints through motion of the passive free pairs. The series elastic driver is added between the driving motor and the load, the elastic characteristic of the tendon is simulated through the series elastic driver to improve the energy efficiency, in addition, part of energy is stored and then released slowly when the motor is started and stopped and is accidentally impacted, the time of the whole process that force generated by the motor acts on a patient is prolonged, and the energy efficiency is improved. The effect of reducing impact on the body of the patient is achieved, secondary injury to the patient when the machine is started and stopped is effectively avoided, and discomfort of the patient is reduced.

The invention relates to the technical field of medical auxiliary instruments, and discloses orthopedic knee joint rehabilitation auxiliary equipment which comprises rehabilitation chair supporting legs, a chair frame is mounted at the tops of the rehabilitation chair supporting legs, a sponge cushion is mounted at the top of the chair frame, a transverse rod is mounted at the bottom of the chair frame, and a rehabilitation training mechanism is mounted on the outer edge of the transverse rod. Through the arrangement of the passive telescopic cylinder and the active telescopic cylinder, the telescopic lead screw can drive the passive telescopic cylinder to stretch out and draw back in the active telescopic cylinder, so that the crus placing frame connected to the passive telescopic cylinder can be passively moved, and the patient lifts the crus to drive the crus placing frame and the active telescopic cylinder to move; the active telescopic cylinder moves to drive the first one-way valve and the second one-way valve to move, so that the patient can do active movement, and the problems that knee joint rehabilitation equipment is single in function, only a passive movement mode can be adopted from the initial stage to the final stage of rehabilitation of the patient, and an active training mode cannot be switched according to the rehabilitation stage of the patient are solved.

The invention discloses a power-assisted exoskeleton device. The device comprises a waist assembly, symmetrically arranged hip assemblies and symmetrically arranged leg assemblies. The leg component comprises a thigh rod piece, a knee joint part and a shank rod piece; the hip component comprises a driving motor and a mounting part; the mounting part is used for fixedly mounting the driving motor and the waist component; the thigh rod piece is fixedly connected with the driving motor and is used for actively moving on a sagittal plane under the driving of the driving motor; the passive movement device is used for passively moving on a coronal plane; the knee joint part is connected with the thigh rod piece and the shank rod piece; the shank rod piece is used for passively moving on the sagittal plane when moving on the sagittal plane of the thigh rod piece; the passive movement mechanism is used for passively moving on the coronal plane when the passive movement mechanism passively moves on the coronal plane of the shank rod piece. According to the scheme, active assistance is achieved for old people and people with insufficient lower limb muscle force to walk conveniently, and meanwhile passive movement of hips and knees of the old people and people with insufficient lower limb muscle force on the coronal plane is achieved.

This invention provides a rehabilitation training system based on multimodal perception and adaptive assistance, relating to the field of rehabilitation medicine technology. The rehabilitation training system includes: a wearable sensing module, a main control module, and an auxiliary execution device. When a user performs preset rehabilitation movements, the wearable sensing module collects active motion signals from the target area. These active motion signals include physiological electrical signals and motion state signals. Based on the active motion signals, the main control module assesses the degree of completion of the preset rehabilitation movements performed by the user and generates auxiliary motion signals based on this information. The auxiliary execution device applies auxiliary movements to the target area based on the auxiliary motion signals to assist the target area in completing the preset rehabilitation movements. This invention combines multimodal signal perception of the user's target area to obtain the user's movement intention and execution state, and adaptively assists the user in completing rehabilitation movements as accurately as possible.

The invention relates to the technical field of rehabilitation robots, in particular to an on-demand auxiliary control method of a rehabilitation robot, and the method comprises the steps: enabling a patient to wear lower limb exoskeleton equipment to move, collecting basic physiological interaction data in real time, carrying out the comprehensive evaluation of the movement performance and muscle physiological state of the patient, and obtaining an initial impedance parameter and a track zooming coefficient; the method comprises the following steps: establishing a personalized training track, transmitting personalized training track data to a lower limb exoskeleton actuator, controlling the lower limb exoskeleton actuator to carry out personalized training on a patient, and dynamically adjusting an auxiliary control force of impedance according to an error in track execution. And judging whether the next personalized training stage can be entered or not through a patient training effect evaluation mechanism. The ability change of the patient can be recognized in real time, the auxiliary control force and control parameters of the rehabilitation robot can be adaptively adjusted, the auxiliary control force provides better assistance for the patient, and the active movement ability of the patient is stimulated.

This invention relates to the field of ankle joint rehabilitation training equipment technology, and more particularly to a retractable ankle joint rehabilitation training shoe, comprising a rehabilitation training shoe-shaped support frame. The support frame includes an upper leg support sleeve, the bottom of which is movably connected to a lower leg support sleeve via a lifting component. The bottom of the lower leg support sleeve is movably connected to a footrest plate, the surface of which is provided with several anti-slip rubber rings. This invention, through a built-in variable frequency micro-motor, control module, and battery module, can drive the reciprocating linear extension and contraction movement of the extension and contraction parts. Users or therapists can preset or adjust the amplitude, speed, frequency, and training mode of the extension and contraction through the control module, achieving continuous passive exercise and assisted active exercise. It enables precise and standardized control of ankle dorsiflexion and plantar flexion angles, training intensity, and cycle, solving the problems of uncontrollable and poor repeatability of parameters in manual training or simple equipment training.

The invention provides a magnetically-driven pneumatic internal-circulation active-motion capsule robot which comprises a pneumatic folding and unfolding mechanism, a magnetic-driven pneumatic internal-circulation active-motion capsule robot body and a magnetic-driven pneumatic internal-circulation active-motion capsule robot body. The magnetically-driven air pump simulation device comprises a magnetically-driven magnetic torsion spring and a pump body, the magnetic torsion spring comprises a first radial magnet and a second radial magnet, the first radial magnet is a movable magnet and is installed in the pump body to serve as a piston, and the second radial magnet is a fixed magnet and is installed in the pump body to serve as a piston. The first radial magnet is controlled to perform piston motion by controlling on-off of an external magnetic field, and inflation and deflation of an air bag of the pneumatic folding and unfolding mechanism are achieved. The magnetically-driven pneumatic internal circulation active movement capsule robot has the beneficial effects that the pneumatic system adopts an internal circulation mode, an external air source does not need to be introduced, discomfort of a patient and inconvenience of active movement caused by the fact that an air pipe enters a digestive tract are avoided, and active movement of bionic crawling can be well carried out.

The application discloses a multi-mode active motion switching sensitive omnidirectional mobile wheel-leg robot, which comprises a machine body and a plurality of wheel-leg motion units connected with the machine body; the wheel-leg motion unit comprises a first movable frame, a second movable frame, a first adjusting component, a second adjusting component and a driving wheel; the first movable frame is rotatably arranged on the machine body, and the rotation plane of the first movable frame is a first plane; the second movable frame is rotatably arranged on the end of the first movable frame away from the machine body, and the rotation plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, the angle value of the included angle is greater than 0° and less than 180°; the first adjusting component is arranged on the machine body, one end of the second adjusting component is connected with the first adjusting component, and the other end of the second adjusting component is connected with the second movable frame. The robot disclosed by the application can quickly change the action direction and the whole machine occupied space, improves the moving ability and the obstacle crossing ability, and increases the flexibility of use.

This invention discloses a closed-loop control method for hand rehabilitation based on sEMG signals and pneumatic feedback, belonging to the field of rehabilitation medical devices and intelligent control technology. The method is applied to a system including a wearable flexible soft glove, a surface electromyography (sEMG) sensor, a curvature sensor, a pneumatic drive and control unit, and a host computer control unit. The method includes: acquiring and identifying the patient's active movement intention through the sEMG sensor to generate movement intention commands; planning a target movement trajectory based on the intention commands and driving a pneumatic soft actuator to perform auxiliary movements in the fingers; acquiring the actual movement state in real time as a feedback signal through the curvature sensor; comparing the feedback signal with the target trajectory, and adjusting the air pressure output in real time according to the movement deviation to form a closed-loop control. This method achieves a combination of active and passive, precise, safe, and personalized adaptive rehabilitation training, and can be combined with game interaction to improve patient compliance.

A lower limb exoskeleton intelligent compliance control system and method, the system includes active connection's mobile protection frame, exoskeleton robot, myoelectric information acquisition equipment, electroencephalogram information acquisition equipment and industrial computer;The exoskeleton robot includes leg bionics support structure, leg bionics support structure is located in waist mechanism's left and right symmetry installation;The leg bionics support structure includes the hip joint integrated motor, the thigh adjusting rod, the knee joint integrated motor, the lower leg adjusting rod and foot intelligent sensing boots that are connected in turn, the bottom of the intelligent sensing boots is equipped with foot pressure sensor;The control method includes passive control mode and active control mode.The present application introduces the active movement intention of patient, through electroencephalogram, myoelectric information real-time feedback patient's physiological state, real-time display and record rehabilitation training's step speed, time, joint trajectory, driving force and man-machine acting force etc.Information, good adaptation different patients, improve the enthusiasm of patient participation rehabilitation training.