18 results about "Antagonist muscle" patented technology

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

The invention discloses a control method and device of a flexible pneumatic joint unit and a flexible exoskeleton system.The control method comprises the following steps that the difference value of electromyographic signals of an antagonistic muscle group is calculated, and a corresponding torque intention is obtained; calculating the sum of the electromyographic signals of the antagonistic muscle group to obtain a corresponding stiffness intention; generating a corresponding expected moment based on the moment intention; generating a target pressure difference corresponding to each antagonistic pneumatic muscle pair based on the expected moment; generating a corresponding expected stiffness based on the stiffness intention; generating a basic pressure corresponding to each antagonistic pneumatic muscle pair based on the expected stiffness; based on the target pressure difference and the basic pressure, generating target pressure of each pneumatic muscle in the antagonistic pneumatic muscle pair; and adjusting the internal air pressure of the corresponding pneumatic muscle based on the target pressure. According to the method, the user is not forced to follow a preset track to reach the target position, but the physical compliance of the user is dynamically adjusted according to the natural force generation and tightening conditions of muscles during the action of the user.

A neuromuscular assessment system and method of operation may include: attaching a first electrode array to an active muscle configured to detect a first electromyogram (EMG) signal; attaching a second electrode array to an antagonist muscle configured to detect a second EMG signal, the active muscle and the antagonist muscle forming an active / antagonist muscle pair; decomposing the first EMG signal into a first motion unit spike sequence; decomposing the second EMG signal into a second motion unit spike sequence; correlating the first motion unit spike sequence and the second motion unit spike sequence to generate a correlation signal; determining synchronism and periodicity within the correlated signals; and generating a tremor score, the tremor score being a percentage of the correlated signal determined to have both synchronism and periodicity.

1. Name of the product in this design: Electrical stimulation therapy device. 2. Purpose of this design: To use low-frequency electrical stimulation to trigger passive or tetanic contraction of spastic muscles and their antagonistic muscles, thereby reducing the occurrence of spasms; improving blood circulation in muscles, enhancing limb vitality, and relieving pain. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention relates to a knee joint early intelligent exerciser capable of exciting muscle energy, which comprises a knee joint exercise device, an intelligent sensor device and a voice reminder, and is characterized in that the knee joint exercise device comprises a thigh sleeve, a thigh stretching rod, a shank sleeve, a shank stretching rod and a resistance mechanism; the upper portion of the thigh drafting rod is installed in the thigh sleeve, the shank sleeve is fixed to the shank in a hooping mode, the lower portion of the shank drafting rod is installed in the shank sleeve, and the lower end of the thigh drafting rod is hinged to the upper end of the shank drafting rod through a rotating shaft. The resistance mechanism is installed on the thigh stretching rod and the shank stretching rod, the intelligent sensor device is connected with the knee joint exercise device, and the voice reminder is connected with the intelligent sensor device. According to the invention, a patient can be accurately helped to find a force application point of a target muscle, quadriceps femoris strength and popliteal muscle strength can be activated to the greatest extent, active flexion and extension movement of knee joints can be completed to the greatest extent, and meanwhile, tension and spasm of antagonistic muscles can be relieved, and pain can be relieved.

The invention discloses a method for quantifying muscle efficiency for early sarcopenia diagnosis and a multi-mode sensing system, and particularly relates to the field of electromyographic signal analysis and motor function evaluation. Synchronously acquiring corresponding joint angle, angular velocity and linear velocity signals to form joint movement signals; performing amplitude extraction and spectrum analysis on the electromyographic signals to obtain potential amplitude and spectrum distribution data; the method comprises the following steps: jointly analyzing electromyographic signals and joint movement signals of main muscles and antagonistic muscles under a unified time index, constructing an output force sequence, an energy ratio sequence and an energy efficiency difference curve, and extracting a phase offset and an amplitude variation to generate a collaborative energy efficiency index; the problem that in the prior art, collaborative mismatch between main muscles and antagonistic muscles cannot be recognized, and consequently early sarcopenia degeneration signals are covered is solved.

Mechanoneural Interfaces (MIs) and methods of forming MIs are provided, including cutaneous mechanoneural interfaces (CMIs) and proprioceptive mechanoneural interfaces (PMIs). A CMI includes a device in operative arrangement with a muscle actuator to stimulate muscle contraction, the muscle actuator disposed in a substantially circumferential configuration about a skin flap that includes a native or regenerative neurovascular structure of an amputated body segment. A PMI includes an actuator mechanically linked to a muscle end organ and configured to apply a force to the muscle end organ, the actuator including a synthetic actuator or a biological muscle actuator. The muscle end organ is of an agonist-antagonist muscle pair and can include at least one of a native or regenerative neurovascular structure. CMIs and PMIs can each further include a controller configured to provide a stimulation signal or operate an actuator based on a signal received from a sensor of a prosthetic device.

The present application provides an intelligent scoring method and system for joint movement. Among them, inertial motion data with six degrees of freedom and surface electromyogram signals are collected, and a motion sequence topological structure including spatio-temporal benchmarks is established based on a dynamic sampling strategy; then the inertial data is decomposed into rigid body and physiological tremor components to generate a three-dimensional biomechanical model containing joint rotation center drift, multi-plane coupling error and trajectory curvature; then a time-varying mapping relationship between surface electromyogram signals and motion load is constructed, the signals are segmented based on phase mutation points and the phase synchronism of agonist and antagonist muscle groups is analyzed to extract electromyogram co-contraction patterns; finally, through technologies such as spatio-temporal coupling and dynamic transfer functions, motion feature tensors are generated in a four-dimensional spatio-temporal coordinate system, and their evolution patterns are analyzed in real time to construct a cluster of scoring functions, and a composite score value is generated. The technical solution provided by the present application significantly improves the accuracy and reliability of joint movement quality assessment.

The invention provides a laparoscope real-time navigation method based on augmented reality, and relates to the technical field of myoelectricity sensing, the laparoscope real-time navigation method comprises the following steps: using an impedance mapping model to output a neurodynamics coupling index by fusing an antagonistic muscle synergy contraction index, a neural rhythm multi-scale entropy, a power spectrum gravity center shift rate and an action mapping manifold degree; based on the index, through hyperbolic tangent mapping and square attenuation logic, a dynamic drift compensation gain signal and a visual information rendering density factor are generated, and adaptive adjustment of pose locking rigidity, color saturation and transparency is realized. According to the method, a visual noise reduction and physiological feedforward compensation mechanism driven by cognitive resources is constructed, model drift is effectively inhibited, and cognitive loads are reduced; in combination with index change rate-based rendering frequency adjustment and physiological signal failure switching logic, the real-time precision and robustness of the navigation system in a complex operation scene are enhanced.

The present invention aims to provide an exercise assistance device that can effectively provide exercise assistance. [Solution] The exercise assist device of the present invention comprises at least an electrode group having a plurality of electrodes for detecting myoelectric potentials; an analysis means for analyzing and identifying the position of a neuromuscular junction in a muscle and the magnitude of the myoelectric potential at the neuromuscular junction based on a plurality of myoelectric potentials detected by the plurality of electrodes; a control means for generating a control signal corresponding to the magnitude of the myoelectric potential at the neuromuscular junction identified by the analysis means; an electrical stimulation generating means for generating an electrical stimulation controlled by the control means; and an electrical stimulation applying means for applying the electrical stimulation to the neuromuscular junction whose position has been identified by the analysis means. The electrode group is provided on the skin surface of at least two types of muscles, namely agonist muscles, antagonist muscles, and synergist muscles, and the electrical stimulation applying means is an electrode that has detected the myoelectric potential at the neuromuscular junction.

The invention discloses an actuator and configuration combined robot joint, which relates to the technical field of bionic robots and mainly comprises an electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system, a spring, a plate and a connecting piece. The electric positioning shaft directly drives the shoulder joint to move, the three sets of air cylinders drive the elbow joint to move, the air cylinder and rod piece combination drives the gripper to grab, the pneumatic tendon and the spring are connected in parallel to drive the waist joint to move, the pneumatic motor drives the hip joint to move, and the lead screw system, the pneumatic tendon combination, the pneumatic motor, the rod piece and the pneumatic tendon combination form antagonistic muscles. And knee joints and ankle joints are driven to move. An electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system and components are combined to drive the shoulder joint, the elbow joint, the paw, the waist joint, the hip joint, the knee joint and the ankle joint to move, and the function of completely simulating the joint movement of the human body is achieved.

A neuromuscular assessment system and method of operation can include: affixing a first electrode array to an agonist muscle configured to detect a first Electromyography (EMG) signal; affixing a second electrode array to an antagonist muscle configured to detect a second EMG signal, the agonist muscle and the antagonist muscle forming an agonist / antagonist muscle pair; decomposing the first EMG signal into a first motor unit spike train; decomposing the second EMG signal into a second motor unit spike train; correlating the first motor unit spike train and the second motor unit spike train to generate correlated signals; determining synchronicity and periodicity within the correlated signals; and generating a tremor fraction, the tremor fraction being a percentage of the correlated signals determined to have both the synchronicity and the periodicity.

The present invention belongs to the field of myoelectric signal segmentation, and specifically relates to a muscle state identification method based on posture segmentation, comprising: synchronously collecting motion data and myoelectric signals during exercise; segmenting the motion data according to the posture movements during exercise to obtain multiple time nodes; segmenting the myoelectric signals using the multiple time nodes and identifying and analyzing muscle states. The purpose of the present invention is to utilize the temporal changes of posture movements corresponding to different stages of motion data to obtain time nodes for segmenting myoelectric signals, thereby temporally dividing the tested muscle group into the agonist and antagonist muscle states, extracting the myoelectric signals in the agonist state, and identifying and analyzing the corresponding muscle states.

The electrical stimulation device includes: positive and negative electrodes to be attached to epidermis of agonist-antagonist muscles acting on a target joint; a display unit; an EMG rehabilitation unit that detects an electromyogram of the agonist-antagonist muscles via the electrodes and outputs variation information corresponding to the detected electromyogram to the display unit; a FES rehabilitation unit that instructs motion of the agonist-antagonist muscles via the display unit and outputs a stimulation current signal corresponding to the instructed motion of the agonist-antagonist muscles to the electrodes; a model (inverse model) storage unit that stores models obtained beforehand and relating to target muscle characteristics, the models including: a model for converting the detected electromyogram into the variation information; and a model for converting information on the motion of the agonist-antagonist muscles into the stimulation current signal; and a rehabilitation processing unit that selectively executes the EMG rehabilitation unit and the FES rehabilitation unit.

The application discloses a wearable electronic device for inhibiting static tremor based on antagonistic principle, which comprises an eagle-eye type three-electrode electromyographic signal detection device, an electromyographic signal amplification and processing unit, a functional electric stimulation signal generation unit, a pair of muscle functional electric stimulation electrodes and a wearable bandage, the eagle-eye type three-electrode electromyographic signal detection device and the pair of muscle functional electric stimulation electrodes are fixed on the opposite sides of the bandage, and the electromyographic signal amplification and processing unit and the functional electric stimulation signal generation unit are fixed on the same side of the bandage; the eagle-eye type three-electrode electromyographic signal detection device is used for detecting the motor action potential signal of the motor nerve of the agonist muscle causing the muscle tremor, the motor action potential signal is amplified, processed and mode-identified, and then is sent to the functional electric stimulation signal generation unit to generate the functional electric stimulation signal which is applied to the pair of muscle functional electric stimulation electrodes positioned on the surface of the antagonist muscle to stimulate the antagonist muscle to make the limb movement in the direction opposite to that of the agonist muscle, so that the effect of the agonist muscle is offset and the limb tremor is eliminated.

The application relates to the technical field of electrotherapy devices, in particular to an electrotherapy device adaptive control method based on real-time physiological feedback of a user, which comprises monitoring a pressure signal of an electrode edge part; when the pressure signal change rate reaches or exceeds a preset change rate threshold, a pain trigger event is determined, verification collection and analysis of electromyographic signals of preset antagonistic muscle groups are started to obtain verification information; instant operation is carried out through a preset cooperative determination rule on the equipment end to identify reflex contraction; when the reflex contraction is identified, a safety control instruction is directly generated by the cooperative determination rule; the safety control instruction is executed to implement hierarchical control on electrostimulation output parameters. Through the cooperative mechanism of electrode pressure pre-triggering and antagonistic muscle electromyographic verification, millisecond-level identification and interruption of reflex contraction caused by sudden pain can be realized on the equipment end to prevent secondary injury in rehabilitation training.

A motion analysis device (1) is provided with: measurement units (21, 31) for measuring, as myoelectric data and kinematic data, the movement of a joint and an end point that are moved by an antagonistic muscle group; an augmented synergy matrix calculation unit (14) for calculating a muscle synergy matrix described by a radial direction vector and a deflection-angle direction vector, the muscle synergy matrix associating a displacement vector of a muscle antagonistic ratio obtained from the myoelectric data with a displacement vector of an equilibrium point position of the end point obtained from the myoelectric data and the kinematic data; and an equilibrium point manipulability calculation unit (15) for calculating, as analysis information, an equilibrium point manipulability from the muscle synergy matrix. This device enables a muscle synergy for evaluating a motion state of a human body to be analyzed using the equilibrium point manipulability as an indicator.

This application discloses pieces equipped with elastics, whose function is to improve the motor condition of patients with some type of mobility impairment, whether acquired or not. It is composed of: helmet (1.1); traction elastics (1.2); Vest (1.3) ; Inner shirt (1.4); Connector shorts (1.5); Gloves (1.6); Shorts (1.7) ; Inner Pants (1.8); Knee Pads (1.9); Rotation Elastics (1.10) e Shoelaces (1.11). The garment has elastic rubber cords as traction elastics (1.2) aligned with the body at strategic points to provide a balance of agonist, antagonist, and synergist muscles, improving posture, movement, and proprioceptive information, among other recoveries foreseen by professionals. The purpose of the postural vest is to provide supplementary sensory stimuli to the muscles and joints of the body, assisting in functional movement with the use of traction elastics (1.2) and rotation elastics (1.10), reflecting on the body's muscles and the extremities attached to the components of the postural vest.