186 results about "Assistive technology" patented technology

A neural end-to-end system is provided for the face and voice preserving translation of videos. The system is a pipeline of multiple models that produces a video of the original speaker speaking in the target language with modified lip movement to match the target speech, while preserving emphases and prosody of the original speech, and voice characteristics of the original speaker. The pipeline starts with automatic speech recognition including emphasis detection, followed by the translation model. The translated text is then synthesized by a Text-to-Speech model that recreates the original emphases in the target sentence. The resulting synthetic speech is then converted back to the original speakers' voice using a voice conversion model. Finally, to synchronize the lips of the speaker with the translated audio, a generative model generates frames of adapted lip movements which are combined with the audio to produce the final output. The disclosure further describes several use-cases and configurations that apply these techniques to video conferencing, dubbing, low-bandwidth transmission, speech enhancement and assistive technology for the hearing impaired.

The invention relates to the technical field of intelligent medical treatment and personalized nursing assistance, and particularly discloses a method and a system for generating a nursing assistance scheme for orthopedic patients. The method comprises the following steps: acquiring multi-modal data such as an electronic medical record, a medical image and rehabilitation monitoring, and constructing a semantic structure body; extracting a key rehabilitation state by using a graph neural network and time sequence modeling and generating a label graph; semantic matching and limiting condition extraction are carried out in combination with a nursing target library, and a target-constraint pair set is constructed; reasoning a nursing path based on a path generation model, and performing scoring modeling and weight updating in combination with execution feedback; and finally, cross-patient optimization and closed-loop semantic updating of the path model are realized. According to the method, the individuation and dynamic adaptive capacity of nursing path generation can be improved, and the intelligent level of nursing aid decision making is improved.

The invention discloses an ultrasonic anesthesia positioning method and system based on AI preoperative evaluation and a storage medium, and relates to the technical field of medical assistance. The method comprises the following steps: comprehensively collecting body health data of a patient, including a physical examination result, a laboratory examination result and a medical history, reasoning the body health data of the patient based on an operation risk knowledge graph model, and determining an operation risk level; if the operation risk level is higher than a preset risk level value, the operation risk is evaluated again in combination with past operation case information, and if the operation condition is met, the crowd is judged to be the high-risk crowd of the operation; an ultrasonic image of an in-vivo structure of an operation high-risk crowd is collected by utilizing an ultrasonic technology, the ultrasonic image is recognized by utilizing an image recognition AI algorithm, the relationship between an anatomical position and an adjacent part is determined, and then an anesthesia position is determined. The medical quality and the service level can be improved, and safer and more efficient surgical treatment experience can be brought to patients.

The invention relates to the technical field of intelligent assistance, and discloses an auxiliary system based on an intelligent wearable device used in daily life, and the system comprises a health signal monitoring and analysis module which is used for monitoring the heart rate, blood oxygen, sleep and body temperature of a user, generating a health report, and according to the health data of the user; the safety and emergency calling module is used for calling for help, positioning and safety monitoring in emergency; the smart home control module is used for controlling smart home appliances through Bluetooth and Wi-Fi, adjusting indoor temperature and humidity and being linked with a safety system; and the education and learning module is used for providing online learning and knowledge acquisition functions. Real-time monitoring of key health indexes such as heart rate, blood oxygen, body temperature and sleep of a user is achieved, and early warning is given out in time when abnormal conditions are detected. Besides, the system provides multi-level safety guarantee for the user through the functions of emergency call, position sharing, home monitoring and the like, and is suitable for daily health management of the old and chronic disease patients.

The invention relates to the technical field of medical assistance, in particular to a venipuncture assisting device based on a visualization technology, which comprises a base, fixing pieces are arranged on both sides of the base, adjusting assemblies are arranged at the joints of the two fixing pieces and the base, a binding assembly is arranged in the middle between the two fixing pieces, and an air bag assembly is arranged on the binding assembly. The fixing piece on one side is fixedly connected with an infrared blood vessel imager, the infrared blood vessel imager is in signal connection with a control system, the fixing piece on the other side is provided with a projector, the air bag assembly comprises symmetrical first air bags, the inner sides of the two fixing pieces are fixedly connected with a plurality of second air bags, and the second air bags on the same side are located at the two ends respectively. By means of the design of the air bag system and the utilization of the characteristic of air flow, the dynamic constraint adjustment in the puncture process is achieved while the puncture constraint comfort of a patient is improved, and the puncture accuracy is improved.

The invention discloses an AI-based intelligent accompanying treatment and nursing system, and particularly relates to the technical field of medical assistance, and the system comprises the following modules: a virtual AR interaction module, an AI dialogue module, a relative and friend-medical care communication module, a treatment synchronization engine, a dynamic state analysis module, a virtual image generation module, and a multi-modal intervention module. According to the AI-based intelligent accompanying treatment nursing system, the treatment scene AR interface is generated through the virtual AR interaction module, information such as the focus position and the medicine use condition is displayed in a visual three-dimensional model mode, and compared with traditional complex examination lists and reports, relatives can more easily understand the current physical condition of a patient, and the treatment nursing efficiency is improved. And non-medical relatives can better participate in the treatment process of the patient, the attention and support strength of the relatives to the illness state of the patient are enhanced, a good treatment atmosphere can be created, the positive influence on the psychological state of the patient is generated, and the improvement of the treatment effect is indirectly promoted.

The invention relates to the technical field of physical fitness assistance, in particular to a physical fitness assistance application based on combination of AR glasses analysis and Transform, comprising a camera module, a sensor module, AR glasses, a wireless communication module and a processing module; wherein the camera module collects a user motion video stream, the sensor module synchronously records acceleration, angular velocity and direction data, the processing module operates a Transform model in real time through a parallel computing architecture, and the AR glasses superposes three-dimensional visual guidance information to a real scene by adopting a waveguide optical technology; the camera module carries out image noise cleaning, then image features are extracted through a convolutional network, and feature normalization processing is carried out; after the sensor module removes noise through the low-pass filter, a sliding window extracts time sequence features, and feature normalization processing is carried out; the two features are fused and spliced, time sequence modeling is carried out based on Transform, action behaviors are output, calculation with a standard action template is carried out, suggestions are proposed and displayed in AR glasses, and exercise data are recorded and reversely input to a Transform model for recording.

The invention provides a navigation auxiliary device for a surgical operation, and relates to the technical field of medical assistance. The navigation auxiliary device comprises a consumable large round base, a consumable nose clip base, at least one consumable small round base, a consumable clamping guide needle assembly and consumable zero point sensor assemblies, wherein the consumable zero point sensor assemblies are installed on the consumable large round base and the consumable nose clip base respectively. The consumable large round base, the consumable nose clip base and the consumable small round base are all provided with gum and positioning steel balls, the gum is used for pasting the consumable large round base, the consumable nose clip base and the consumable small round base to different positions of a patient, and the consumable clamping guide needle assembly is provided with a first sensor. The consumable zero point sensor assembly is used for acquiring space calibration data of the consumable large round base, the consumable nose clip base and the at least one consumable small round base after the marking end of the consumable clamping guide needle assembly touches the positioning steel balls, and the consumable zero point sensor assembly is used for verifying the space calibration data. The navigation auxiliary device is simple and convenient to install.

The present invention relates to the field of respiratory rehabilitation assistance technology, and particularly relates to a respiratory device for elderly rehabilitation assistance treatment, which includes an oxygen supply component, an atomization component, and a respiratory measurement component. It also includes a mounting block, and a respiratory exercise mechanism for patients to perform respiratory exercises is provided at the center of the mounting block; the respiratory exercise mechanism includes a first rotating block slidably engaged with the mounting block, second rotating blocks are provided on both sides of the first rotating block, atomization holes are provided between the first rotating block and the second rotating blocks, and oxygen supply holes are provided on the second rotating blocks; a driving member is provided at the center of the mounting block, and the output shaft of the driving member is coaxially connected to the first rotating block; a bite piece is fixedly connected to the first rotating block, the bite piece is communicated with a detection tube, and a strength measurement mechanism for detecting changes in the patient's respiratory intensity is provided in the detection tube; it also includes a control panel for controlling the operation of the oxygen supply component based on changes in the respiratory frequency; to meet the respiratory rehabilitation exercise needs of different elderly patients and ensure the safety of respiratory exercises.

The invention provides an exoskeleton robot control method and system, electronic equipment and a storage medium, and relates to the technical field of robot assistion.The method comprises the steps that based on the walking process when a target user wears an exoskeleton robot, actual hip joint angle data generated by the target user at the current moment is obtained; determining hip joint reference angle data corresponding to the current moment, and generating auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data; and driving an auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force based on the auxiliary force adjustment data. According to the invention, personalized gait rehabilitation training can be provided, and meanwhile, the efficiency and safety of gait rehabilitation training are ensured.

This invention discloses an auxiliary device for the maintenance of an electrically heated crossarm, relating to the field of safe operation assistance technology. It includes a first platform, a second platform, and a fixing device. The first platform has a lower surface adapted to the upper part of the electrically heated crossarm, allowing it to rest on the upper surface of the crossarm. The first platform includes a front, middle, and rear section extending sequentially. The fixing device is installed at the rear of the first platform to secure it to the electrically heated crossarm. The second platform is connected to the front of the first platform via a connecting assembly, ensuring that the second platform is at a lower horizontal height than the first platform and located at the end of the electrically heated crossarm. This invention solves the technical problems of high safety risks and low work efficiency during online maintenance and cable removal / installation of electrically heated water-cooled crossarms, reduces labor intensity, improves the inherent safety level of equipment maintenance, protects the lives and property of employees, and provides reliable equipment operation support for the stable production of high-end steel grades.

This utility model relates to the field of building auxiliary technology, and in particular to a temporary pedestrian walkway, comprising six uprights arranged in pairs facing each other. Three support rods at a 30° angle are installed on the inner side of the three uprights on the same side. Three support fixing components, sleeved on the corresponding uprights, are fixedly installed at the bottom of each of the two support rods. Multiple sets of stair steel pipe treads arranged in a stepped pattern from bottom to top are installed above the two support rods. Handrail components are installed above the two support rods. This utility model achieves the connection and fixation between the stair section and the uprights through the support fixing components at the bottom of the support rods. When adjusting the floor height of the stair section, it is only necessary to disassemble the support fixing components and lift the stair section by hoisting. This saves the cost of repeatedly erecting and dismantling edge protection at the stair entrance on each working surface and the cost of custom-made temporary steel stairs.

This invention discloses a walking assistance chair for painless childbirth, belonging to the field of walking assistance technology. It addresses the problems of existing assistive devices, such as the lack of a folding seat with a commode opening, poor adjustability, lack of integrated IV function, and insufficient stability. The chair includes a front frame and a rear frame, connected at their bottom ends by a connector. A folding seat is rotatably mounted inside the connector. An armpit support is connected to the top of the rear frame via an external locking connector. An upper handrail is installed inside the armpit support, and a lower handrail is installed inside the rear frame. A commode opening is provided in the center of the seat of the folding seat, integrating a folding seat with a commode opening to simultaneously meet the needs of the mother for rest and toileting, eliminating the need for frequent standing and significantly reducing physical exertion. The seat can be quickly folded up, occupying only 1 / 3 of its unfolded space, facilitating storage and transport. It employs a four-point support structure with a U-shaped bottom tube in the front frame and an inclined support tube in the rear frame, combined with an anti-slip bushing on the outside of the U-shaped bottom tube, significantly improving anti-tipping ability and ground friction.

The utility model relates to the technical field of medical care assistance, and discloses a nutrition nursing auxiliary feeding device which comprises a dinner plate, a soft cushion is arranged on one side of the dinner plate, a leaking hole is formed in one end of the dinner plate, and a hose is fixedly connected to one end of the bottom of the dinner plate. According to the auxiliary feeding equipment for nutrition nursing, when a patient needs to lie on a bed and cannot turn over, the soft cushion is cushioned at the chest of the patient, then the dinner plate is flatly placed on the bed surface, and the soft cushion supports the chest of the patient, so that the patient can lie on the bed for feeding, and the auxiliary feeding equipment is more beneficial for the patient who cannot sit; when liquid such as soup in food is accidentally spilled in the dinner plate, the liquid can flow into the hose through the leakage hole and is discharged through the collecting box to be collected, so that the liquid such as the soup is effectively prevented from being spilled on a bed surface to soak articles such as a bed sheet when a patient uses the food, and a user can conveniently clean the soup spilled by the patient.

The invention provides a gait reference angle generation method and device, a robot, equipment and a medium, and relates to the technical field of robot assistion.The method comprises the steps that target gait auxiliary physiological parameters and target walking speed of a target user are obtained; inputting the target gait auxiliary physiological parameters and the target walking speed into a hip joint gait reference trajectory generation model to obtain a hip joint gait reference trajectory output by the hip joint gait reference trajectory generation model; acquiring a real-time gait phase generated when the target user wears the exoskeleton robot, and according to the real-time gait phase and a hip joint angle fitting polynomial, generating corresponding hip joint gait reference angles of the target user at different moments; wherein the hip joint angle fitting polynomial is constructed according to the hip joint angle value corresponding to each moment in the hip joint gait reference trajectory. According to the invention, the precision and individuation degree of rehabilitation training are improved.

The utility model relates to the technical field of medical assistance, in particular to a child venous indwelling needle fixing sleeve which comprises a glove body, a bandage is arranged on the wrist portion of the lower end of the glove body, a first hook-and-loop fastener hook face is fixedly connected to the left side of the rear end face of the bandage, and a first hook-and-loop fastener loop face is fixedly connected to the right side of the front end face of the bandage. An opening is formed in the front end face of the glove body, the left side and the right side of the opening are each fixedly connected with a second hook-and-loop fastener loop face, after the remaining needle is implanted into the hand of a child patient, the transparent film dressing is attached to the back of the hand to fix the remaining needle, and then the glove body is worn on the hand. The second Velcro hook surface on the transparent film dressing is fixedly adhered to the second Velcro loop surface on the glove body, and then the first Velcro hook surface and the first Velcro loop surface at the two ends of the bandage are fixedly adhered, so that the glove body is fixed to the hand, and compared with an elastic bandage, a child patient feels more comfortable; and moreover, the observation of puncture points and film pasting conditions is not influenced.

The invention discloses a meditation immersive visual anchoring closed-loop method and system based on multi-device cooperation, and aims to solve the problems of single feedback, poor immersion and inaccurate concentration evaluation of the existing meditation assistance technology. According to the method, electroencephalogram and head movement data of a user are collected in real time through wearable equipment, and a quantitative'multi-mode concentration stability index 'is calculated through fusion of a mobile terminal so as to comprehensively evaluate the concentration state of the user. And according to an evaluation result, the mobile terminal sends an instruction to the large-screen display device, and presents or switches a basic anchor point, a dynamic anchor point or an interactive anchor point corresponding to the states of'deep concentration ', 'fluctuation concentration' and'distraction '. When the user is distracted, the system starts a'television-mobile phone 'double-end closed-loop intervention mechanism, and the user is effectively guided to concentrate again through multi-sensory and graded intervention means such as visual anchor point switching, edge blue light flickering, neural feedback visualization, mobile phone vibration and posture correction suggestions and the like.

The utility model discloses a portable movement auxiliary device for furniture, which belongs to the technical field of furniture movement assistance, aims at solving the problems of poor folding and storage effect and poor adaptability of a moving device, and comprises a bearing plate a and two universal wheels a which are symmetrically distributed and fixed on the side wall of the bottom end of the bearing plate a, the side wall of the bottom end of the bearing plate a is slidably connected with two symmetrically-distributed movable plates, and a universal wheel b is fixed to the side wall of one side of each movable plate. Through the arrangement of the positioning assembly, the two movable plates can be limited, so that the normal use state of the universal wheel a and the universal wheel b is ensured when the bearing plate a and the bearing plate b are in the folded state, and the movable plates can be limited and unlimited according to the demand condition; the situation that the use is affected due to displacement caused by lack of limiting of the movable plate is prevented, and good stability and guarantee are achieved when the device moves.

The utility model discloses a prone position sickbed for a breathing patient, and relates to the technical field of medical assistance. The nursing bed comprises a bed body, the bed body is in a U shape, and supporting legs are fixedly arranged on the two sides of the bottom of the bed body; the auxiliary rod is arranged on the bed body, the conveying belt is arranged between the inner side walls of the bed body, a breathing patient lies above the conveying belt, and the driving part is used for driving the conveying belt to move. Through the combined design of the auxiliary rod, the driving part and the conveying belt, the breathing patient can be easily switched from the supine position to the prone position; during use, a patient can put hands and feet on one side on the auxiliary rod, only one side of the body makes contact with the conveying belt, then the driving part drives the conveying belt to move, the body on the side making contact with the conveying belt moves along with movement of the conveying belt, then the supine position is naturally switched to the prone position, operation is easy, and the patient can be conveniently and rapidly controlled. A patient can easily complete the operation by one person.

The utility model relates to the technical field of sports equipment assistance, in particular to a sports assisting device which comprises a backrest chair, linear rails, arm plates and handles, the linear rails are fixedly installed on the two sides of the top face of the backrest chair, the linear rails are movably connected with movable sliding blocks, and the movable sliding blocks are movably connected with the arm plates. An arm plate is fixedly installed on the top face of the movable sliding block, the handle is fixedly installed on the top face of the arm plate, and the handle is in control connection with the linear rail. A linear rail is fixedly installed on the top face of the backrest chair, a movable sliding block is connected to the linear rail in a sliding mode, an arm plate is fixedly installed on the top face of the movable sliding block, and a control handle is fixedly installed through the top face of the arm plate. The driving button arranged on the control handle is used for controlling the driving motor of the linear track, so that the linear track drives the movable sliding block to move in the horizontal direction, the forward movement exercise and the backward movement exercise of the arm are achieved, and the forward bending exercise quality of the sitting body is improved.

This invention belongs to the field of assistive technology for hemiplegic patients, and specifically relates to a gait correction device for hemiplegic patients. The device includes a vertically arranged base plate, a support plate vertically fixed to the left side of the base plate, a housing vertically fixed to the front side wall of the base plate, a fixing plate fixed in the middle of the housing, and horizontally sliding slide plates arranged inside the housing on both sides of the fixing plate. A linkage component is located in the middle of the fixing plate, which causes one slide plate to move in the opposite direction when the other slide plate moves. Two pulleys are installed on the left side wall of the support plate. An elastic band is provided on the front side of each slide plate, and the two elastic bands are connected by a pull rope, which wraps around the two pulleys. In this invention, when the patient's healthy limb moves, the linkage component causes the affected limb to move in the opposite direction. Simultaneously, the healthy limb moves the elastic bands, and the pull rope moves the elastic bands on the affected limb, pulling the knee of the affected limb to flex, thus providing gait correction training for the patient.

Provided is a device or system that is configured to detect one or more sound events and / or scenarios associated with a predetermined situation and provide an auxiliary output when the situation is met.

A system for remediating accessible files includes a computing device for receiving from an entity a plurality of files associated with a particular document type for a particular company, identifying and selecting a set of XML-based files within the plurality of files, wherein said set of XML-based files includes inaccessible code or content that is not accessible to persons with disabilities that use assistive technologies, reading metadata of the set of XML-based files and identifying a document type in said metadata, selecting a matching XML template from a plurality of XML templates, wherein said matching XML template corresponds to the document type, generating and storing a plurality of accessible files constructed from a combination of the set of XML-based files and the particular XML template, and transmitting the plurality of accessible files over the communications network to another computing device for publication.

The utility model discloses a general surgery department patient turning-over assisting device, and particularly relates to the technical field of patient turning-over assisting nursing, the general surgery department patient turning-over assisting device comprises a nursing bed, a flat lying plate is provided with a pushing hand assembly, the pushing hand assembly comprises a pushing hand rod capable of rotating on the flat lying plate, and the pushing hand assembly comprises a pushing hand rod capable of rotating on the flat lying plate. And the two groups of push rods are symmetrically arranged. Through the arrangement of the push handle assembly, the push handle rod capable of sliding on the flat lying plate in the push handle assembly can push and pull arms of a patient lying flat, and the side turning plates rotationally arranged on the two sides of the flat lying plate can turn the body position of the patient on one side; the problem that bedsores appear on the back of a patient due to the fact that the patient keeps in a lying posture for a long time can be effectively solved, meanwhile, the arm on the side turning side of the patient can be pushed and shifted outwards through a push handle rod, the arm on the side can be effectively prevented from being squeezed when the body position of the patient is converted into lying on the side, and the nursing effect on the patient can be further improved; and the use is more convenient.

The utility model belongs to the rehabilitation assisting technology, and particularly relates to a lower limb rehabilitation training walking assisting device which comprises a walking assisting frame and an exoskeleton part, and the exoskeleton part comprises a leg skeleton composed of a thigh part, a shank part and a foot part. The exoskeleton part further comprises a driving module arranged behind the leg skeleton and a rocking handle driven by the driving module, and the rocking handle is hinged to a driving arm arranged on the upper portion of the shank part. The exoskeleton part further comprises a moving part, the moving part can control the hip joint or the driving module to move on a connecting line of the hip joint and the driving module, when the distance between the hip joint and the driving module is closest, the leg skeleton is in a sitting posture state, and when the distance between the hip joint and the driving module is farthest, the leg skeleton is in a standing state. Movement of the leg skeleton adopted by the device is driven by a rear module, cost is reduced by reducing use of the modules, in addition, the leg skeleton can freely change postures, rehabilitation actions are increased, a user can wear the device conveniently, and the device can also be used as a wheelchair or a shifting machine through deformation.

The utility model relates to the technical field of nursing assistance, and discloses an orthopedic walking aid device which comprises a front frame body and connecting assemblies fixedly installed on the two sides of the lower end of the front frame body, a supporting assembly is arranged on the other side of the upper end of each connecting assembly, and an auxiliary assembly is fixedly installed in the middle of the upper end of the inner wall of each supporting assembly. In order to relieve the weight of the hand, the set height of the arc-shaped cushion rod can be adjusted according to the height of the user, so that the arc-shaped cushion rod is in contact with and supported on the two sides of the armpit of the user, the hand supporting force of the user is shared, and when an operator adjusts the height of the arc-shaped cushion rod, the user can conveniently adjust the height of the arc-shaped cushion rod by moving the position of the insertion rod in the inner cavity of the circular groove. Threaded rods on the two sides of the lower end of an inserting rod are slidably installed in an inner cavity of a penetrating groove, after the arrangement position of the threaded rods is determined, a user directly presses the threaded rods on one side of a groove opening of the penetrating groove in a threaded mode through fixing nuts to fix the threaded rods, and therefore the supporting height of the arc-shaped lining bar is adjusted.

This invention discloses a guide device and system that converts image signals into vibration signals, relating to the field of assistive technology for the blind. Its key technical points are: the device and system of this invention convert environmental semantic information into perceptible tactile signals, assisting blind people to more comprehensively understand the location of obstacles, road surface properties, and traffic conditions, while simultaneously avoiding dangers on the road. This invention solves the technical problems of low safety and low user acceptance of existing invasive guide devices, as well as poor real-time information transmission in existing guide devices. Furthermore, the printed circuit board assembly of this invention can be flexibly embedded in portable miniature devices, providing blind users with a more natural and convenient guide device.

The invention discloses a self-adaptive snore counteracting method and device based on personalized voiceprint training and a sleep earplug special for a patient, belongs to the technical field of intelligent noise reduction and sleep assistance, and aims to solve the problem that sleep of the patient is disturbed by snoring in a ward. The method comprises a personalized training stage and a real-time recognition and counteracting stage, in the training stage, snore audios of snore patients in a ward are collected, acoustic features are extracted, and a personalized voiceprint model is established after principal component analysis and dimensionality reduction; in the real-time stage, target snore is accurately recognized after dimensionality reduction is conducted through the same method, self-adaptive filtering is started to generate anti-phase sound waves to achieve physical counteracting, and meanwhile key sound of a ward is reserved. The earplugs are made of medical-grade materials, are comfortable to wear, easy to clean and stable in endurance, accurately counteract snore without excessive noise reduction hidden dangers, improve the sleep quality of the patients, and are suitable for hospital wards, rehabilitation centers and other scenes.

The utility model discloses an orthopaedic rehabilitation training device, which belongs to the technical field of medical assistance and comprises a bottom plate and a top plate, the surface of the bottom plate is slidably connected with a moving block, the surface of the top plate is slidably connected with symmetrical hemp ropes, one end of each hemp rope is fixedly connected with the surface of the moving block, and the other end of each hemp rope is fixedly provided with a pull ring. The pull ring is located between the bottom plate and the top plate, a fixing block is fixedly installed on the surface of the bottom plate, symmetrical rotating grooves are formed in the surfaces of the top plate and the fixing block, roll shafts are rotationally connected into the rotating grooves, and hemp ropes are slidably connected to the surfaces of the roll shafts; the pull ring is pulled downwards, the hemp rope slides on the surface of the roller shaft in the top plate and the fixed block, so that the movable block is driven to move rightwards, the two legs are changed into a linear shape from a bent shape, the arms are changed into a bent shape from a vertical shape, and rehabilitation training is conducted on the multiple arms and the legs at the same time after circulation is conducted.

The application belongs to the technical field of rehabilitation medical auxiliary, discloses a mobile walking aid robot for patients with lower limb muscle weakness and a control method thereof, and is used for solving the problems of pedestrian following and obstacle avoidance control of the mobile walking aid robot in an unstructured obstacle environment, and enabling the mobile walking aid robot to keep the visibility of the followed target while ensuring a certain following accuracy and avoiding collision with obstacles. A new pedestrian trajectory prediction control method is designed to solve the problem of the detour behavior of the predicted pedestrian in the unstructured obstacle environment, and a new obstacle avoidance and visibility maintenance constraint form is designed, which can keep good theoretical properties while having a relatively simple mathematical form. Then, a cost constraint system related to pedestrian following and obstacle avoidance is established, and the control target of pedestrian following and obstacle avoidance is realized based on the rolling optimization strategy of the model predictive control framework.