163 results about "Active movement" patented technology

The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.

In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force / torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force / torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force / torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force / torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.

The invention discloses an intelligent wheelchair based on a multimode brain-machine interface, comprising a visual stimulus interface, a brain-electrical acquisition platform, the multimode brain-machine interface, a control module and an electric wheelchair which are connected in sequence, wherein a subject expresses control intention by watching the visual stimulus interface and active movement imagery; after finishing acquisition, amplification, filtering and digitalization of brain-electrical signals, the brain-electrical acquisition platform transmits the brain-electrical signals to the multimode brain-machine interface, then preprocessing, characteristic extraction and classification are carried out on real-time brain-electrical signals, the control intention of the subject is converted into an instruction which is sent to a communication unit of the control module, and the wheelchair is controlled by a controller, so that the seven types of movement such as starting, stopping, backward movement, leftward rotation, rightward rotation, acceleration and speed reduction of the wheelchair are realized. The intelligent wheelchair can help the patients with severe paralysis to expand new information output channels for the brain, provides a new idea for the study and the practice on multiple degree of freedom of the brain-machine interface, and has various values in the aspects such as medical rehabilitation, experiment on medical physiology and the like.

A mouse's auditognosis and vision memory model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

The present invention is directed to a power meter or overload relay including a housing and a plurality of sensors configured to monitor operation of a motor. A processor disposed within the housing and configured to receive operational feedback from the plurality of sensor and proactively determine an operational wellness of the motor from the operational feedback.

A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.

The invention discloses a patient movement demand-based assistance lower limb rehabilitation robot self-adaptation control method. By collecting the joint angle and joint angle speed signal of the lower limb of a patient in real time, the expected track self-adaptation tracking control is realized by a robustness variable-structure control method; then, by using a man-machine dynamics system model, the rehabilitation degree and the active movement ability of the patient are studied in real time by using a RBF (Radial Basis Function) neural network; the forward feed assistance of a lower limb rehabilitation robot is further estimated; next, the real-time assistance of the robot is subjected to self-adaptation attenuation according to the track tracking errors; the continuous self-adaptation patient rehabilitation demand-based assistance control is realized; finally, the tracks subjected to the patient rehabilitation demand-based assistance self-adaptation control correction are input into a lower limb rehabilitation robot joint movement controller; the on-line movement is performed; and the continuous and seamless patient rehabilitation demand-based assistance lower limb rehabilitation robot self-adaptation control is realized.

This invention relates to an activity monitoring system adapted to eliminate passive movement components caused by external forces from readout data produced by a first and a second motion sensor when attached to a subject during movement. The readout data include gravitational components, movement components caused by active movement of the subject or subject parts, and the passive movement components. A processor estimates first and second gravitational components produced by the at least first and a second motion sensors. It determines a rotation matrix based on the estimated gravitational components, the rotation matrix denoting rotation required for the first sensor to get aligned with the second sensor in orientation. It then multiplies the readout data produced by the first motion sensor with the rotation matrix when rotating the first sensor towards the second sensor. Finally, it subtracts the result of the multiplying from the readout data produced by the second motion sensor when rotating the first motion sensor towards the second motion sensor.

A parallel kinematic machine (PKM) with three active kinematic chains and a leg has improved precision and stiffness maps by: providing drive and actuation of each active kinematic chain by devices secured rigidly to a support structure so that only a fixed length leg of the chain is suspended; driving the fixed length leg of the active kinematic chain to move in a direction oblique to a direction of the fixed length leg; and providing a prismatically jointed leg that is rigidly secured to the base structure and coupled by an effectively universal joint to the motion platform.

The invention discloses a real-time video stabilization method based on a homography matrix and is used for stabilizing video sequences obtained by devices such as a handheld DV and an unmanned aerial vehicle. The method comprises the steps of A, extracting angular points uniformly distributed in images; B, calculating an interframe optical flow vector and tracking an interframe motion angular point through utilization of the interframe optical flow vector; C, calibrating the tracked angular point through utilization of a layered affine calibration algorithm; D, solving an interframe homography matrix through utilization of a random sampling unification algorithm; E, separating interframe active motion compensation quantity and distortion calibration quantity by employing a kalman filter; and F, carrying out stabilization conversion on one video image by employing the homography matrix, the motion compensation quantity and the distortion calibration quantity to obtain stabilized current frame output. According to the method, shake existing in the video sequences can be effectively removed, the algorithm complexity is relatively low, the operation speed is fast, and the high application value is provided for the real-time video processing system.

The invention discloses a lower limbs rehabilitation robot movement control system which comprises a passive training mode and an active training mode these two working modes according to different rehabilitation effects at different restoration stages of a patient, wherein in the passive training mode, the patient is driven by mechanical legs to move according to a predetermined physiological gait trajectory, the generated abnormal movement is completely inhibited; in the active training mode, limited abnormal movement of the patient is inhibited by the mechanical legs, the joint driving force generated by the action of the patient on the mechanical legs is extracted by a man-machine inverse dynamics model through real-time detection of man-machine interaction, the active movement intent of the patient is acquired, so that the patient can initiatively adjust the gait trajectory in real time, and the enthusiasm of the patients initiatively participating in the rehabilitation training is improved. The lower limbs rehabilitation robot movement control system is suitable for the lower limbs rehabilitation training movement at different restoration stages, enhances the initiative of patients participating in the rehabilitation training, and establishes the rehabilitation confidence and the movement enthusiasm of the patients, so as to enhance the effect of rehabilitation training.

A mouse's space memory holding model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

The present invention is directed to system and method for determining motor wellness based on potential faults including cavitation faults. Specifically, a controller configured to detect indicia of motor faults. The controller includes a processor configured to determine motor parameters of a given motor, generate a set of baseline data for the given motor, and acquire current data from the given motor during operation. The processor is also caused to isolate sidebands within the current data and map the current data within the sidebands to one of a plurality of bins. The processor is caused to compare the current data within the sidebands to baseline data from the set of baseline data associated with the bin and determine a predictive fault index of the given motor prior to an actual fault occurrence.

The invention provides an automatic shoulder joint rehabilitation training device which comprises a base, a seat, a fork-shaped or U-shaped cantilever, a square stand column and a shoulder joint rehabilitation exercise mechanism. The height of the fork-shaped or U-shaped cantilever is adjustable, when the rehabilitation exercise mechanism actively moves from one side of an upper arm of a patient to the other side, gear and belt transmission is adopted for passive movement, when the upper arm on one side of the patient swings up and down, the upper arms on the two sides of the patient can oppositely swing up and down through gear and belt transmission, when the upper arm on one side of the patient swings leftwards and rightwards, the upper arms on the two sides of the patient can oppositely swing leftwards and rightwards through gear and belt transmission, an external power source is not needed to provide power, and rehabilitation exercise of the upper arm on one side of the patient can be safer and more reliable.

The invention relates to the field of engines and provides an intelligent high-pressure rotor assembly device with an elastic structure for an aeroengine. The intelligent high-pressure rotor assembly device comprises a three-DOF (Degrees of Freedom) gantry-type active movement mechanism which is used for realizing spatial X-axis, Y-axis and Z-axis translation, a five-DOF parallel-type passive movement mechanism which is used for realizing spatial X-axis and Y-axis translation and rotation around the X axis, the Y axis and the Z axis, and a rotor fixture, wherein the five-DOF parallel-type passive movement mechanism is slidably arranged on the three-DOF gantry-type active movement mechanism; the rotor fixture is fixedly arranged on a movable platform of the five-DOF parallel-type passive movement mechanism; the spatial posture of a to-be-assembled rotor is regulated by virtue of the three-DOF gantry-type active movement mechanism and the five-DOF parallel-type passive movement mechanism, so that assembly is realized. By virtue of the vertical intelligent high-pressure rotor assembly device, the engine production efficiency and the engine assembly quality can be improved.

The invention provides a grabbing-locking self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first transmission mechanism, a near-joint shaft, a middle finger section, a driving pulley, a synchronous belt, a driven pulley, a far-joint shaft, a tail end finger section and a first spring piece. The device further comprises a second transmission mechanism, a pawl, a pawl shaft, a ratchet, a second spring piece, a third spring piece and a fourth spring piece. The device can be installed on a mechanical arm, matched with the active movement of the mechanical arm to conduct object grabbing in a reaction surface-evacuated mode, and has the self-adaptive capacity for the shape and size of the grabbed object. Shape-enclosure and force-enclosure stable grabbing is achieved in the object grabbing, and the lost stability phenomenon that joint reset is caused by vibration interference in the grabbing process is avoided. The device is simple in structure, small in size, less in quality and low in production cost and maintenance cost, and the fingers are similar to fingers of the human.

A coordination location device for automatic butt joint assembly of large thin-wall cylindrical members comprises at least two groups of location mechanisms arranged on ground rails in a sliding mode and a member to be aligned with the location mechanisms. Each location mechanism comprises a rail car under-frame and a swinging platform mechanism, a transverse drive mechanism, a pitching platform mechanism and a member rotation mechanism which are arranged on the rail car under-frame successively. The swinging platform mechanisms, the transverse drive mechanisms, the pitching platform mechanism and the member rotation mechanisms of the location mechanisms are all in structures of drive moving pairs. At least one of the two member rotation mechanisms is a driving rotation pair, the others are driven rotation pairs, and at least one of the two rail car under-frames is a driving moving pair. By means of the device, arbitrary adjustment of to-be-assembled large thin-wall cylindrical member space postures is achieved, and accordingly, the accurate butt joint assembly of large thin-wall members is achieved.

The invention discloses a user identity authentication method for an intelligent mobile terminal, by designing a special movement operation manner of the mobile terminal, active movement of the mobile terminal and screen touching operation are organically combined; by using various sensor behavior data and screen touching behavior data generated during authentication operation of a user, a characteristic vector sequence of a mapping relation between a finger screen touching track and a space pose position of the mobile terminal is established based on a screen touching geodesic distance of the user, so as to judge legality of user identity. The user identity authentication method has the advantages: the operation is simple, and no additional extra equipment need to be increased; behavior characteristics with space translation and rotation invariance are put forward, and influence of change of poses such as rotation and translation of the mobile terminal on an authentication result is effectively avoided.

This invention relates to an activity monitoring system adapted to eliminate passive movement components caused by external forces from readout data produced by a first and a second motion sensor when attached to a subject during movement. The readout data include gravitational components, movement components caused by active movement of the subject or subject parts, and the passive movement components. A processor estimates first and second gravitational components produced by the at least first and a second motion sensors. It determines a rotation matrix based on the estimated gravitational components, the rotation matrix denoting rotation required for the first sensor to get aligned with the second sensor in orientation. It then multiplies the readout data produced by the first motion sensor with the rotation matrix when rotating the first sensor towards the second sensor. Finally, it subtracts the result of the multiplying from the readout data produced by the second motion sensor when rotating the first motion sensor towards the second motion sensor.

The invention relates to a soil strength test board for a wheel. The soil strength test board for the wheel comprises a test board bracket, a wheel and a soil groove body which interacts with the wheel, the soil groove body is arranged at the lower part of the inside of the test board bracket, and the wheel is located at the upper surface of the soil groove body in a rolling press mode; the wheel is connected below a variable load mechanism through a steering mechanism, and the variable load mechanism is connected with a driven wheel drive mechanism through vertical and horizontal moving mechanisms so as to be movably hanged on two upper beams of the test board bracket; the rotating shaft of the wheel is directly connected with an active wheel drive mechanism. The soil strength test board for the wheel can use a counterweight block to change the weight of the soil strength test board for the wheel under an offline state so as to simulate the acting force between the wheel and the ground under different vehicle weights; a slider-crank mechanism changes the distance between two isotropic magnets so as to change the repulsive force there-between to simulate the online real-time vertical load change of the wheel of an air cushion vehicle; the active wheel drive mechanism and the driven wheel drive mechanism simulate the active movement form and driven movement form of the wheel.

The invention discloses a self-throwing-separating cowling. The self-throwing-separating cowling is connected with the head of a rocket body through a butt-joint support, and comprises a cowling shelland a cowling throwing separating system, wherein the cowling shell comprises at least two cowling sheets, and the cowling sheets are spliced and connected at least through a radial-direction connecting mechanism; the cowling throwing separating system receives a control instruction of the rocket body for movement, and comprises a separating output mechanism and an axial-direction connecting mechanism which are arranged in the cowling shell, the axial-direction connecting mechanism is used for being connected with the butt-joint support and the cowling shell, and the separating output mechanism is used for pushing the cowling shell to be separated according to the preset separation velocity and posture after connection between the radial-direction connecting mechanism and the axial-direction connecting mechanism is relieved. As the cowling throwing separating system is arranged in the cowling shell, active movement of the separating output mechanism of the cowling throwing separatingsystem is used for acting, the resistance in the hypersonic speed state and the high-temperature-environment influence are overcome, the separating speed is high, the output performance is stable andreliable, and the self-throwing-separating cowling can be used for cowling separation under the harsh environmental condition.

The invention provides a rack check self-adaptive under-actuated robot finger device, which belongs to the technical field of a robot hand. The rack check self-adaptive under-actuated robot finger device comprises a base, a motor, a first transmission mechanism, a near joint shaft, a middle finger section, a driving gear, a rack, a driven gear, a far joint shaft, a tail-end finger section, a first spring element, a second transmission mechanism, a pawl, a pawl shaft, a racket wheel, a second spring element, a third spring element and a fourth spring element. The rack check self-adaptive under-actuated robot finger device can be installed on a mechanical arm, the counteractive surface removing object grabbing is implemented through being matched with the active movement of the mechanical arm, the self-adaptive capability on the shape and the size of the grabbed objects can be realized, the stable grabbing on the shape sealing and force sealing can be reached during the object grabbing, and the joint recovery stability losing phenomenon caused by vibration interface in the grabbing process can be prevented. The rack check self-adaptive under-actuated robot finger device has the advantages that the structure is simple, the size is small, the weight is light, the manufacturing and maintenance cost is low, and the robot finger device is similar to the fingers of human hands.

A linkage crawling spine rehabilitation training device comprises an underframe, a movement angle adjusting mechanism, a linkage crawling movement mechanism, an abdomen supporting mechanism and a tailswinging movement mechanism. Through the linkage crawling movement mechanism, the left and right sequential movement side and upper and lower limb reverse movement linkage training can be realized. The leftward and rightward waist twisting movement of a patient can be driven by the tail swinging movement mechanism. The abdomen supporting mechanism can improve the movement comfort of the patient.The angle of a movement panel can be adjusted through the movement angle adjusting mechanism. The switch between active movement and passive movement is realized, and movement resistance can be adjusted during active movement. By adjusting the angle of the movement panel, kneel-crawling, climb-crawling and prone crawling can be realized, so as to ensure effective rehabilitation training of the patient.

A mouse's path training model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

The invention provides a rehabilitation system which comprises: a rehabilitation robot which executes corresponding movement according to movement instructions; a brain wave detector which is used for detecting brain wave signals of patients; a control device which generates movement instructions according to the brain wave signals to control the rehabilitation robot to execute corresponding movement. Brain wave signals can be generated according to movement imagination of patients to realize movement rehabilitation control, so that active movement consciousness of patients can be aroused, a rehabilitation effect is improved, and manpower and time consumption can be greatly reduced. The invention also provides a rehabilitation method.

The invention provides an intelligent rehabilitation method and system, and belongs to the medical technical field. The intelligent rehabilitation method comprises the steps that a patient executes one or more of following motion modes for training: a constant-speed mode, wherein torque of a motor is adjusted in real time based on torque applied by the patient, so as to guarantee that the motor rotates constantly at a preset rotation speed; an equal-length mode, wherein, the torque applied by the patient is adjusted based on preset resistance torque applied by the motor; an isotonic mode, wherein, the rotation speed of the motor is adjusted in real time based on the torque applied by the patient, so as to guarantee that the torque of the motor is not changed; a passive mode, wherein, the voltage for being supplied to the motor is adjusted based on the rotation speed of the motor after the patient applies the torque, so as to guarantee that the rotation speed of the motor is consistent with the preset rotation speed. Thus, the patient can set by himself corresponding treatment intensity, treatment time, and the like based on his own conditions; besides, active movements of the patient and passive stretching are combined, so that the rehabilitation training time is greatly shortened for the patient.

The invention discloses a wheel-type amphibious vehicle retractable type oil gas suspension system and a control method of the system. Except for achieving of buffer vibration damping function, the double-direction driving motion is achieved, and wheel retractable functions and vehicle body height adjusting functions are achieved. According to the system, a hydraulic power module is connected to suspension oil gas spring modules through an oil supply channel and an oil returning channel; the hydraulic power module provides hydraulic energy for the suspension oil gas spring modules; each suspension oil gas spring module comprises a working oil cylinder, an energy accumulator, a first damping valve assembly, a second damping valve assembly and an electromagnetic valve set; an upper lug ring of each working oil cylinder is connected with the vehicle body; a lower lug ring of each working oil cylinder is connected to a suspension lower cross arm lug ring support; the first damping valve assemblies are arranged between rodless cavities of the working oil cylinders and the energy accumulators; the second damping valve assemblies are arranged between rod cavities and the rodless cavities of the working oil cylinders; and the electromagnetic valve sets are used for controlling oil liquid for enabling the hydraulic power module to enter and go out of the rod cavities and the rodless cavities of the working oil cylinders and whether the rod cavities and the rodless cavities of the working oil cylinders are communicated or not.

An Elastic Arc Anatomical Shoulder Pulley System for use in rehabilitation of various shoulder conditions. The device provides a means that a user can employ to produce passive shoulder motion that approximates the normal arc the shoulder describes during active movement. A door unit is included that allows for a convenient attachment site of a pulley. An arc that has elastic properties is routed through a pulley that is located above the user's head. Handles are attached to the elastic arc. The user pulls down on one handle to accomplish upward movement of an injured arm. The arc shape of the elastic arc insures that the movement produced corresponds to the normal arc shaped movement of the shoulder that is produced during active movement.