19 results about "Coordinated movement" patented technology

The invention provides a patient rehabilitation tracking system, a rehabilitation training regulation and control method based on active perception and environment self-adaption, equipment and a medium, and the method comprises the steps: determining a cooperative motion state of a nerve-muscle-bone system according to a multi-modal physiological data flow of rehabilitation training tracking of a target patient; performing intention-muscle force cooperative identification based on the cooperative motion state to obtain motion intention and muscle force contribution distribution of the target patient; determining a dynamic risk map of the target patient during rehabilitation training; variable universe fuzzy reasoning is carried out on the motion intention, the muscle force contribution distribution and the dynamic risk map, and then a rehabilitation adjustment instruction matched with the rehabilitation state of the target patient is obtained; the rehabilitation progress of the target patient is continuously tracked, and the rehabilitation training robot is controlled to execute self-adaptive power-assisted compensation according to the rehabilitation adjustment instruction. By means of the scheme, motion intention decoding and muscle force contribution analysis can be conducted on rehabilitation training of the patient, and rehabilitation training regulation and control are conducted in combination with the dynamic environment risk.

The invention discloses a cooperative control method for a high-precision cooperative motion system, and the method comprises the steps: obtaining an expected trajectory of a main execution unit, and converting the expected trajectory into prediction sub-trajectories corresponding to a plurality of auxiliary execution units; calculating a local tracking error and a synchronization error according to the predicted sub-trajectory and the actual trajectory of the auxiliary execution unit; calculating a corresponding estimation error through a predictive disturbance observer; local tracking control corresponding to each auxiliary execution unit is obtained through calculation; constructing a self-adaptive cross coupler and performing coupling compensation calculation based on the synchronization error to obtain self-adaptive cross coupling control; and based on adaptive cross-coupling control and local tracking control, generating a total control input, and verifying the generated total control input by using a Lyapunov function. The invention further provides a cooperative control device. The method provided by the invention has the advantages of fast dynamic response, low buffeting, high-precision synchronization and time delay robustness, occupies less computing resources, and is suitable for various edge devices.

The invention particularly discloses an original-state stable grabbing method and system for special-shaped parts based on body intelligence, and relates to the technical field of robots. The method comprises the steps that firstly, initial state sensing information of a to-be-grabbed part is obtained through a multi-mode sensing system; then inputting initial state sensing information to dynamically generate an optimal equidistant contact grabbing configuration based on a pre-trained deep reinforcement learning model; then, an under-actuated parallel self-adaptive clamping jaw with the coordinated movement capacity and the clamping force self-closing characteristic is driven, based on the generated optimal equal-distance contact grabbing configuration, the part is approached and grabbed at the preset speed and the preset force control strategy, and real-time regulation and control are conducted through a force control closed loop in the grabbing process; and finally, after grabbing is completed, if the difference between the pose of the part and the initial pose is controlled within the preset threshold value range, secondary pose calibration does not need to be carried out, and subsequent assembling, placing or butt joint operation is directly carried out. According to the method, the assembly efficiency and the system robustness are improved, and the method is suitable for unstructured scenes such as industrial assembly and logistics sorting.

The utility model belongs to the technical field of rehabilitation auxiliary equipment, and particularly relates to an orthopedic rehabilitation training device. The thigh sheath and the shank sheath in the orthopedic rehabilitation training device can be worn on the thigh and the shank of a patient respectively, the thigh sheath and the shank sheath are restrained by the orthopedic rehabilitation training device, in the initial state, the shank of the patient bends towards the rear portion of the thigh to form a V shape, in the training process, the patient does not need assistance of other people, and the training efficiency is improved. When in use, a good exercise effect can be achieved only by means of cooperative movement of muscles of the shank and the thigh, overcoming of tension of the elastic part for stretching, driving of the shank to act by means of restoring force of the elastic part after relaxation, recovery to the initial state and repeating of the steps.

1. The name of the design product: upper and lower limb passive rehabilitation training equipment (LoopGO-Air). 2. The use of the design product: for the rehabilitation of patients with upper and lower limb dysfunction and coordination movement disorder. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

This invention provides a training device for limb rehabilitation, belonging to the field of rehabilitation therapy equipment technology. It includes a base plate, with a limb training component at one top end. The limb training component includes an L-shaped plate, an electric push rod on the side wall of the L-shaped plate, and a mounting plate fixedly connected to the telescopic end of the electric push rod. A foot pedal is elastically connected to the outer wall of the mounting plate. T-shaped blocks are symmetrically slidably connected to both sides of the top of the L-shaped plate. Locking bolts for locking the T-shaped blocks are provided on the L-shaped plate. A ties are located at the top of the T-blocks, with an elastic rope attached to the ties, and a hand loop attached to the other end of the elastic rope. In this invention, the patient sits on the cushion, steps on the elastic foot pedal with both feet, and pulls the hand loop with both hands. Through alternating flexion and extension movements of the upper and lower limbs, the central nervous system pathways are reconstructed. The upper and lower limbs are linked with the foot pedals via the elastic rope, simulating the coordinated movements of the limbs during daily walking. The limb linkage training enhances trunk stability and limb coordination through synchronized stepping and stretching movements.

The invention discloses a body-building stool for exercising hip joint and perianal muscles, and belongs to the technical field of body-building stools. The fitness stool comprises a hard seat disc (1), a metal rotating disc (2), a metal spring assembly (3) and a semispherical hard supporting base disc (4), all the assemblies are sequentially and fixedly connected from top to bottom through stainless steel reinforcing screws (6), the surface of the hard seat disc (1) is subjected to anti-skid treatment, and the bottom of the semispherical hard supporting base disc (4) is a smooth arc-shaped contact surface (5). The fitness stool enables a user to rotate hip joints in a kneeling posture through cooperative movement of multi-directional swinging of the hemispherical supporting chassis (4), horizontal plane 360-degree rotation of the metal turntable (2) and vertical plane elastic expansion and contraction of the spring assembly (3), so that precise exercise of hip joint peripheral muscle groups and perianal muscles is realized. The fitness stool is simple in structure and safe and convenient to use, materials and sizes of all parts can be flexibly adjusted, and the fitness stool can adapt to people with different body types and different exercise requirements and is suitable for various scenes such as families and gymnasiums.

The wearable robot mainly comprises a movable bottom frame and a waist protection support, the bottom of the waist protection support is rotationally connected with two symmetrically-arranged leg exoskeletons through bearings, and the top of the waist protection support is fixedly connected with a mounting frame through a flexible belt. The robot has the advantages that when a patient wears the robot, the body is fixed through the hook-and-loop fastener bandages of the waist protection support and the chest protection support, and the upper limbs are placed in the upper limb locking frame; during training, a patient drives the upper limb locking frame to rotate, the rotating shaft synchronously drives the cam to rotate, the cam extrudes the pressure sensor in the extension frame, the pressure sensor transmits a signal to the controller, and the controller controls the leg exoskeleton to move cooperatively according to the pressure signal. The whole control process does not need to depend on brain signals, pressure sensing is triggered through active movement of the upper limbs of the patient, control signal disorder caused by emotion, fatigue and other factors is avoided, the robot is more accurate in response and more coordinated in action, and the safety and reliability of rehabilitation training are improved.

The invention relates to the field of humanoid robots, in particular to a human leg simulating mechanical lower limb based on parallel and serial mechanisms. The invention aims to provide the human leg-imitating mechanical lower limb based on parallel and serial mechanisms, and the leg-imitating mechanical lower limb can simulate the collaborative movement of the lower limb of the human body at hip, knee and ankle joints, and has the characteristics of large working space and high rigidity. According to the technical scheme, the invention discloses a human leg simulating mechanical lower limb based on parallel and serial mechanisms. The hip joint is characterized by comprising a lower driving shell, a driving assembly arranged on the double-leg connecting shell and used for driving the lower driving shell, a thigh body with the top end hinged to the lower driving shell and a first linear driver installed on the lower driving shell and used for driving the thigh body; the two mechanical single legs are connected with the double-leg connecting shell through the driving assemblies respectively.

The golf training device (100) features a housing (110), a first elongated handle (120), and a second elongated handle (122). Each handle has a geometrical center, defining a longitudinal axis along its length. Both handles are rotatably mounted to allow free rotation around their longitudinal axes and a second rotation about their respective centers. The second elongated handle (122), identical to the first, is spaced apart therefrom, with its center and axis similarly defined. The rotations of both handles (120) and (122) are coplanar, allowing coordinated movement. The elongated handles (120) and (122) are designed to be individually held by each human hand, facilitating proper wrist and arm motion during golf training.

The auxiliary device comprises a base, a lifting assembly, a rotating assembly, a transverse moving assembly and a grabbing assembly, the base is located below the lifting assembly, one side of the rotating assembly is connected to the side face of the lifting assembly, the other side of the rotating assembly is connected with the transverse moving assembly, and the grabbing assembly is hung below the transverse moving assembly. According to the utility model, the lifting assembly replaces the manual lifting action, and the stable grabbing of the grabbing assembly avoids the non-uniform force during the cooperation of multiple persons. The rotating assembly and the transverse moving assembly cooperate to achieve the operation of first rotating obstacle avoidance and then fine adjustment alignment in a narrow space, and component deviation caused by space congestion during double-person operation is avoided. Through multi-degree-of-freedom cooperative movement of lifting, rotating and transverse moving, the device can plan an optimal dismounting path, the number of manual repeated adjustment times is reduced, the collision probability is reduced, and the technical problems that the load of a single person is large in manual mounting and dismounting, and the precision cannot be controlled in the dismounting process are solved.

The invention provides a knee joint exercise recovery device and a using method thereof.The knee joint exercise recovery device solves the problem of cooperative movement of the waist, the hip and the knees.The knee joint exercise recovery device comprises a supporting frame body and a leg fixing assembly movably installed on the supporting frame body, and a swing assembly and a moving assembly are arranged between the leg fixing assembly and the supporting frame body; the swinging assembly is used for driving the leg fixing assembly to swing around three mutually perpendicular shafts, and the moving assembly is used for driving the leg fixing assembly to translate along the three mutually perpendicular shafts. The method has the advantages of good adaptability, high flexibility and the like.

The invention belongs to the field of upper limb coordination exercise training, and provides a training device and method for coordination exercise of two upper limbs, the training device comprises a bottom protection pad, a counterweight training mechanism is arranged on the upper surface of the bottom protection pad, the counterweight training mechanism comprises a support frame, a seat mechanism is arranged below the support frame, and a seat is arranged below the seat mechanism. A coordination training mechanism is arranged on the surface of the bottom protection pad on one side of the supporting frame, and a counterweight assembly and a stretching assembly are arranged at the two ends of the steel wire rope correspondingly. According to the device, noise generated when the balancing weight falls can be reduced, impact force generated when the balancing weight falls is reduced through a plurality of shock absorbers arranged at the bottom of the moving plate and a buffer pad, then the service life of the whole device is prolonged, and the coordination ability of the two upper limbs of a user can be trained.

This application relates to the field of neurorehabilitation engineering and discloses a rehabilitation system based on central-peripheral fusion decoding and trajectory closed-loop correction. The system's training subsystem collects EEG signals from the affected side, peripheral electromyography (EMG) signals from the healthy side, and peripheral kinematic signals, constructing a "fusion-type teacher signal" of peripheral EMG and peripheral kinematic signals. A deep learning model is then trained to learn the mapping from EEG signals to this fusion signal. The system's application subsystem, based on real-time EEG signals, simultaneously predicts coordinated EMG patterns and coordinated movement trajectories using the model. The coordinated EMG patterns are used to generate feedforward instructions for functional electrical stimulation to reproduce physiological coordination patterns; the coordinated movement trajectory serves as a dynamic target trajectory, compared with the actual kinematic signals from the affected side, and the trajectory error is calculated to generate feedback correction instructions for functional electrical stimulation. This application achieves natural, precise, and personalized motor assistance.

The invention discloses a three-degree-of-freedom linear drive humanoid robot ankle joint system, and belongs to the technical field of humanoid robot precision joint driving. The system comprises three torque output units fixed to a shank frame in a concentrated mode, four sets of independent transmission cables, an actively-driven toe joint structure and a dynamic tensioning structure. Through deployment of an overhead driving unit, design of a precision line transmission path and integration of a toe driving framework, three-degree-of-freedom cooperative movement of ankle introversion / extroversion, heel dorsiflexion / plantar flexion and toe dorsiflexion / plantar flexion is realized; according to the invention, the defects of lack of active toe joints, heavy structure and large tail end inertia in the prior art are overcome, the active toe joint has the characteristics of compact structure, light weight and low inertia, the dynamic response performance, the energy efficiency and the terrain adaptability of the robot can be obviously improved, and the active toe joint is suitable for high-dynamic motion scenes.

The application discloses a human body coordination movement quality evaluation training device and method, and relates to the technical field of sports training and evaluation devices. The device comprises an intelligent terminal, a plurality of variable color grooves and a plurality of variable color balls. The intelligent terminal is used for controlling each variable color ball to change color and controlling each variable color groove to change color. When a user throws a variable color ball, it is determined whether the current color of the variable color ball thrown by the user is consistent with the current color of the variable color groove to be thrown. A judgment result is obtained, and the time length between the starting time when the user is allowed to throw and the time when the variable color ball thrown by the user is thrown into the variable color groove to be thrown is obtained. Until a plurality of judgment results and the time length corresponding to each judgment result are obtained, the evaluation result of the human body coordination movement quality of the user is obtained. The application is suitable for human body coordination movement quality evaluation training of people of all ages, especially for adult and elderly people who need rehabilitation training.

The invention relates to a robot arrangement (1) with at least one movable gripper arm (10), which has at least one joint (12) and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, at least one end effector (16), which is arranged at the distal end of the at least one movable gripper arm (10) and has at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, and at least one evaluation and control unit (20), which is communicatively coupled and designed to the at least one movable gripper arm (10) and the at least one end effector (16), in a learning mode to individually switch the at least one movable gripper arm (10) and / or the at least one end effector (16),so that the at least one end effector (16) can be manually moved to at least one specific position in the soft-switched state, and thereby at least one coordinated movement sequence can be learned.

This invention discloses a swing-type inverted traction rehabilitation device with integrated AI monitoring, belonging to the field of medical device technology. It includes a support frame with height-adjustable lifting plates symmetrically inserted at its top; a pivot fixedly connected between the two lifting plates; a back support plate with one end rotatably connected to the pivot; an inverted adjustment assembly symmetrically mounted on the pivot and located outside the back support plate, used to adjust the angle of the back support plate relative to the pivot; a lumbar support plate located above and spaced apart from the back support plate; and a swing assembly installed between the back support plate and the lumbar support plate, used to drive the lumbar support plate to swing back and forth in the left-right direction relative to the back support plate. This invention achieves coordinated movement of inverted traction and lumbar swing, providing users with multi-dimensional and safe spinal rehabilitation training and improving training flexibility.

The invention relates to the field of neural rehabilitation engineering, and discloses a rehabilitation system based on central-peripheral fusion decoding and track closed-loop correction. A training subsystem of the system collects an affected side electroencephalogram signal, an uninjured side peripheral electromyographic signal and a peripheral kinematics signal, a fusion type teacher signal of the peripheral electromyographic signal and the peripheral kinematics signal is constructed, and a deep learning model is trained to learn mapping from the electroencephalogram signal to the fusion signal. An application subsystem of the system predicts a coordinating myoelectricity mode and a coordinating movement track at the same time through the model according to real-time electroencephalogram signals. The coordinating myoelectricity mode is used for generating a feedforward instruction of functional electrical stimulation to reproduce the physiological coordinating mode; the coordinated motion trajectory is used as a dynamic target trajectory and compared with an actual kinematics signal of the affected side, and a trajectory error is calculated to generate a feedback correction instruction of functional electrical stimulation. According to the method and the device, natural, accurate and personalized exercise assistance is realized.