78 results about "Active motion" patented technology

The invention belongs to the technical field of rehabilitation training, and particularly relates to an active stroke rehabilitation auxiliary training system which generates a personalized training base line through clinical evaluation data of a patient and guides the patient to cooperatively execute training actions through rehabilitation equipment according to the training base line. Training execution efficiency scores, patient active motion features and equipment auxiliary performance features are analyzed in real time, and rehabilitation equipment auxiliary strength and training task difficulty are dynamically adjusted in the training duration according to the double-feature real-time interaction state and the synchronous training execution efficiency scores; finally, the rehabilitation ability state of the patient is updated according to the multi-dimensional time sequence characteristics of the whole single training process, and a baseline correction instruction of the next training period is output based on the updated rehabilitation ability state, so that the limitation of singly paying attention to patient actions in the past is broken, and the boundary of patient independent effort and equipment assistance in the rehabilitation process is clearly distinguished; and the dynamic adaptability and accuracy of stroke rehabilitation training are effectively improved.

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 sensors, and particularly discloses an active omnidirectional dynamic feedback self-calibration visual tactile sensor, which comprises a flexible tactile sensing module, an imaging module, a driving mechanism and a supporting module, the driving mechanism comprises a lifting motion module, a yawing motion module and a pitching motion module; the pitching motion module is arranged on the yawing motion module, and the yawing motion module is used for driving the pitching motion module to do yawing motion; the imaging module is arranged on the pitching motion module, and the pitching motion module is used for driving the imaging module to do pitching motion; the lifting motion module is used for driving the yawing motion module to do lifting motion; the active omni-directional dynamic feedback self-calibration visual tactile sensor has three-degree-of-freedom active motion capabilities of lifting, pitching and turnover, and the active motion mechanism can dynamically adjust the imaging visual angle of the camera and effectively cover a tactile sensing blind area formed by mechanical constraint solidification of the camera in a traditional scheme.

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.

A feeder vessel for the onshore-to-offshore transport of elongate wind turbine objects with a motion compensating carrier assembly having a motion compensated platform for receiving and retaining the elongate object, and a motion compensation mechanism. The motion compensation mechanism includes extendable actuators which passively compensate motions of the platform out of a neutral position, and winches driving carrier cables such that traction by the respective carrier winch counteracts an extension of at least one of the carrier actuators. The winches are embodied as active motion compensation winches to compensate movements of the platform.

The present invention provides a capsule robot magnetic levitation system and method based on magnetic sensing and visual feedback, as well as a readable storage medium. The system includes a magnetic levitation platform, an orthogonal guide rail module, a control processor, and a capsule robot. The magnetic levitation platform is mounted on the orthogonal guide rail module, and the control processor is connected to the magnetic levitation platform and the orthogonal guide rail module, respectively. The control processor can drive the magnetic levitation platform to generate a control electromagnetic field, and the control processor can drive the orthogonal guide rail module to move. The present invention has the following beneficial effects: it can further realize the active motion control and sensor positioning functions of the capsule robot; expand the capsule robot's range of motion; is expected to improve the impact of external interference on the capsule robot's positioning problems; and achieve stable suspension and active control of the capsule robot.

The invention relates to the technical field of cervical vertebra adjuvant therapy, in particular to a pain department cervical vertebra adjuvant therapy device which comprises a base, a connecting seat mounted on the base and a seat mounted on the connecting seat, a plurality of sliding ventilation grooves are symmetrically formed in the seat, and a headrest is mounted on the seat. A neck massage head is arranged at the position, below the headrest, of the seat, a neck elastic assembly is connected to the rear portion of the neck massage head, a transmission mechanism is arranged at the bottom of the seat, through the linkage design of the pedal driving mechanism and the transmission mechanism, when a patient actively steps on the pedal plates, precise massage is conducted on related acupuncture points, and meanwhile, the massage effect is good. The body posture can be adjusted through the leg lifting action, the neck can be better attached to the neck massage head, the composite curative effect of active movement and passive massage is formed, the design breaks through the limitation of traditional equipment and passive massage of a single part, and the comprehensiveness and durability of treatment are remarkably 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 invention provides a lower limb rehabilitation evaluation method, system and device based on a brain-computer interface and a medium, and relates to the technical field of rehabilitation medicine and medical electronics. According to a lower limb rehabilitation evaluation technology based on a brain-computer interface, a two-way evaluation system of peripheral muscle form-central nervous activity is constructed through synchronous acquisition of wearable A-type ultrasound and electroencephalogram signals; a-type ultrasound monitors the change of the thickness of the rectus femoris in real time, and electroencephalogram signals analyze the coherence of Alpha / Beta frequency bands, so that functional difference evaluation of a stroke patient in a resting state, a passive motion state and an active motion state with different resistances is realized, the limitation of single subjective scoring of a traditional scale is avoided, and a multi-dimensional quantitative index is provided for rehabilitation evaluation.

The present invention provides an active motion capsule robot with a hybrid drive mode, comprising a head unit and a tail unit movably connected to the head unit, wherein the outer surface of the head unit is provided with a first thread groove, the outer surface of the tail unit is provided with a second thread groove, the head unit is provided with a moving magnet, the tail unit is provided with a rotating magnet, the rotating magnet can rotate relative to the tail unit, the moving magnet and the rotating magnet constitute a magnetic spring mechanism, and an external magnetic field is applied to the magnetic spring mechanism. The active motion capsule robot can realize spiral drive forward or peristaltic drive forward according to the strength of the applied external magnetic field. The beneficial effects of the present invention are as follows: the active motion capsule robot of the present invention has the characteristics of a hybrid drive mode, can realize spiral drive forward and peristaltic drive forward, and when in different parts of the gastrointestinal tract, adopts different drive modes to realize active motion of the hybrid drive mode, thereby improving the forward efficiency of the capsule robot in the gastrointestinal tract.

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.

The invention relates to a method and an arrangement for actively damping a vehicle (1) in motion, the vehicle comprising a dump box (10), which may be actuated around a pivot point (PP) between a flat transport position and a tilted dumping position by mean of at least one hydraulic cylinder (11). A sensor (15) is arranged to monitor the condition of the road on which the vehicle (1) is being driven and a control unit (CU) is configured to receive information from the sensor (15) and to control the at least one hydraulic cylinder (11) of the dump box (10) in response thereto, wherein in response to a road irregularity (20) being detected by the sensor (15), the control unit (CU) being configured to predict whether the road irregularity (20) would cause the vehicle to oscillate when passing over the road irregularity (20) and to control the at least one hydraulic cylinder (11) of the dump box (10) to tilt the dump box (10) to dampen the effect of the road irregularity (20) and attenuate the oscillation. The invention also relates to a vehicle comprising such an arrangement.

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 utility model belongs to the field of rehabilitation instruments, and particularly relates to a knee joint training device which comprises a supporting part, a plurality of roll shafts rotationally arranged on the supporting part, a transmission belt arranged on the roll shafts in a transmission mode and a foot fixing part arranged on the transmission belt. When a patient is in a supine position or a sitting position, during use, the bottoms of feet are placed on the transmission belts or the feet penetrate through the foot fixing parts to fix the feet, the patient bends and stretches the knees to enable the transmission belts to do annular movement, the muscle force and the joint movement range of the patient are increased, the patient can do active movement training, and the knee joint training device is simple in structure, convenient to use and high in practicability. The device is easy to carry, small in occupied area and convenient to use, and joints can move in a full range.

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.

The present invention discloses a hand rehabilitation device and method based on hybrid drive and multi-mode, which includes a pair of interphalangeal drivers respectively fixed between two fingers of a training glove. The pair of interphalangeal drivers is connected to a pneumatic control system and a shape memory alloy control system through a driver base. Under the combined drive of the pneumatic control system and the shape memory alloy control system controlled by a control terminal, the active bending force of the palm and the passive stretching force are achieved. By placing the driver between two fingers, the present invention achieves a one-to-many driving effect. The hybrid drive strategy can realize the passive assistance and active movement of the fingers, thus completing two training modes. The device has a simple structure, a compact shape and complete functions, can be used for the rehabilitation training of patients with different muscle strength levels, and has the advantages of strong practicability, simple and convenient operation. The use of the mobile phone APP greatly liberates the medical staff's pressure and increases the convenience and enthusiasm of patients' training.

The invention provides a rehabilitation training method, a rehabilitation training system, electronic equipment and a storage medium, and relates to the technical field of brain-computer interfaces. According to the scheme, the electroencephalogram signals of the target object are collected in the brain-computer interface device, the motion intention of the target object is analyzed from the electroencephalogram signals, and when it is detected and recognized that the electroencephalogram signals of the target object are the motion intention, the control signals are generated; the control signal is sent to the rehabilitation robot through the control interface in the rehabilitation robot, and the rehabilitation robot drives the affected side lower limb assembly to drive the affected limb of the target object to perform active rehabilitation training according to the received control signal, that is, in the rehabilitation training process of the target object, the active movement intention of the target object is fully utilized, and the rehabilitation training effect is improved. Therefore, the rehabilitation training effect is improved, and the problem that the rehabilitation effect and the patient experience are poor due to the fact that the active movement intention of the patient is not fully utilized in the prior art is effectively solved.

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 utility model provides a children's thumb internal buckling correction device, which belongs to the technical field of medical instruments, and comprises an elastic flickering ball, a first bandage, a sucker and an arc-shaped elastic plate, the elastic flickering ball flickers after being stressed, the first bandage is detachably connected with the elastic flickering ball, the sucker is fixedly arranged with the elastic flickering ball, the sucker is used for being adsorbed on the palm of a child, and the arc-shaped elastic plate is fixed on the elastic flickering ball. The arc-shaped elastic plate is arranged on the elastic flickering ball, a mutual jacking piece is arranged on the arc-shaped elastic plate, the arc-shaped elastic plate pushes the mutual jacking piece to make contact with the elastic flickering ball after being bent, a second binding band is further arranged on the arc-shaped elastic plate, and the second binding band is bound with the thumb of a child. Through the arrangement of the elastic flickering ball and the arc-shaped elastic plate, the arc-shaped elastic plate is bent to excite the elastic flickering ball to attract the sight and the attention of the child to be distracted, the child can bend the arc-shaped elastic plate with the thumb for many times, the active movement ability of the internally-buckled thumb is improved, and internally-buckled thumb of the child is corrected.

A rope-driven test system for variable stiffness manipulator and variable stiffness gripper includes a two-degree-of-freedom passive motion part, a three-degree-of-freedom active motion part, a pure rigid manipulator, a flexible joint, a variable stiffness manipulator and a variable stiffness gripper, and a frame. The two-degree-of-freedom passive motion part allows manual adjustment of the posture, and the three-degree-of-freedom active motion part realizes accurate operation through motor driving. The pure rigid manipulator provides high stiffness operation, and the flexible joint and the variable stiffness manipulator allow dynamic adjustment of the stiffness to adapt to different tasks. The variable stiffness gripper serves as an end effector and directly contacts objects. The entire system is installed on the frame, realizing structural stability and modular design, and can comprehensively evaluate the performance of the manipulator and the gripper. The invention provides a rope-driven test system that is comprehensive in function, flexible in operation and convenient to maintain, and can effectively test and verify the performance of the variable stiffness manipulator and the gripper, providing important technical support for practical applications.

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 limb support for orthopedic nursing comprises two rotating frames, the two rotating frames are connected through a binding belt, an adjusting piece used for adjusting the bending angle of the leg of a patient is arranged in each rotating frame, and the limb support for orthopedic nursing further comprises a sensing part used for sensing muscle movement and posture change, a control part used for controlling the rotating frames to rotate, and a control part used for controlling the control part to rotate. The sensing component comprises a flexible cantilever beam and a strain gauge sensor; and one end of the flexible cantilever beam is a fixed end and is connected with the rotating frame. According to the limb support for orthopedic nursing provided by the invention, the flexible cantilever beam can generate accurate deformation along with micro-motion and posture change of leg muscles, so that the sensor is prevented from being separated from the skin or signal interruption caused by rigid constraint is avoided; the strain gauge sensor is fixed to the middle section of the cantilever beam and can capture resistance changes corresponding to deformation in real time, and it is ensured that data collection is free of faults under the active movement and passive posture change scenes.

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 belongs to the technical field of upper limb auxiliary training, and discloses an upper limb auxiliary training device based on the early stage of hemiplegia, which comprises an analysis module, a design module, a training module and an optimization module, according to the training device, through the integrated circuit and the pressure sensor, feelings are input and transmitted to a patient in real time, and stimulation intensity and auxiliary strength are adjusted according to feedback of the patient. The design objective is to provide upper limb extensor active movement induction training for early hemiplegic patients, and operation repeatability and safety are both considered. Clinical practice verifies that the active motion induction training of the upper limb extensor in the early stage of hemiplegia has remarkable effects in promoting motion recovery and improving the functions of the upper limbs. A new technical solution is provided for early hemiplegia rehabilitation treatment, the workload of primary therapists is relieved, and the development of early rehabilitation is promoted. The method is of great significance in promoting functional recovery of hemiplegic patients, improving the life quality of the patients and relieving family and social burdens.

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.