520 results about "Exoskeleton" patented technology

The invention relates to the technical field of rehabilitation robot control, and particularly discloses a gait prediction compensation admittance control method and system for lower limb rehabilitation exoskeleton, and the method comprises the steps: inputting a multi-dimensional motion vector into a time sequence prediction model, and outputting a prediction result of a gait phase at a future moment; if the maximum probability output by the time sequence prediction model is lower than a preset threshold value, automatically switching to a pre-constructed rule criterion to carry out gait phase recognition; an admittance control parameter matched with the gait phase prediction result is called from an admittance parameter mapping table, and a main control torque is calculated based on the called admittance control parameter; calculating a compensation torque based on the deviation between the actual human-computer interaction force and the expected interaction force; and the main control torque and the compensation torque are superposed to serve as a final torque driving instruction of the exoskeleton motor. Real-time gait prediction, admittance parameter self-adaptive adjustment and interaction force error dynamic compensation can be fused, and high-flexibility and high-safety man-machine collaborative rehabilitation training is achieved.

The present application relates to the field of medical devices, and provides a back plate adjustable exoskeleton, comprising: a column structure and a control module, the column structure is slidably connected with a back plate mechanism, and a lower limb exoskeleton connected with the back plate mechanism, and the back plate mechanism is provided with a back plate which can move up and down relative to the back plate mechanism; further comprising: a binding device arranged on the lower limb exoskeleton and a foot bottom exoskeleton, the foot bottom exoskeleton is provided with a pressure sensor. When the human body wears the exoskeleton and changes from a sitting posture to a standing posture, the back plate mechanism adjusts the back plate mechanism along the column structure to the height matched with the user according to different body shapes of the user; and when the user changes the posture in the walking process in the standing posture, the foot bottom exoskeleton detects the change of the foot bottom pressure, so that the control module can control the up and down movement of the back plate relative to the back plate mechanism according to the foot bottom pressure to adjust the human body posture.

The invention belongs to the technical field of wearable exoskeletons, and particularly relates to a forearm power assisting device, a forearm power assisting method and an upper limb power assisting system. The forearm power assisting device comprises an angle transmission mechanism, an angle amplification mechanism, an elastic energy storage mechanism and a tension output mechanism; wherein the buckling angle of the front arm is transmitted through the angle transmission mechanism, and after the buckling angle is amplified through the angle amplification mechanism, the elastic energy storage mechanism is driven, so that the flexible traction cable outputs pulling force linked with the buckling angle of the front arm. The forearm power assisting device is a system based on the pure mechanical transmission and energy storage principle, forearm flexion and extension angle changes can be directly converted into self-adaptive tension linked with the forearm flexion and extension angle changes, and therefore forearm muscle fatigue in long-time fine operation can be effectively relieved without an external power source.

The invention relates to the technical field of intelligent control, and discloses a power-assisted control method of a lower limb pneumatic flexible exoskeleton and a lower limb pneumatic flexible exoskeleton system.The method comprises the steps that healthy side plantar pressure data are obtained, healthy side key gait event nodes are recognized, and the power-assisted control method of the lower limb pneumatic flexible exoskeleton is obtained according to the healthy side key gait event nodes and ankle joint angle data; estimating an uninjured side continuous gait phase, and calculating an affected side target gait phase according to the uninjured side continuous gait phase; according to the target gait phase of the affected side, auxiliary torque and tension are determined; according to the auxiliary torque and the pulling force, target air pressure for supporting the airbag and shrinking the airbag is determined, an electromagnetic valve is controlled to execute deflation or inflation operation according to the target air pressure, and the internal pressure of the airbag is controlled within a target range. The invention aims to provide flexible assistance conforming to the biomechanical characteristics of the ankle joint of a human body for people with ankle joint dysfunction, improve the walking ability and improve the safety and comfort of rehabilitation training.

The invention provides a dynamic walking exoskeleton control method and system based on man-machine complementary optimization, and the method comprises the steps: defining the step height and normal contact force of a contact point, and constructing a nonlinear complementary problem constraint and model; defining quantitative targets of nine types of motion tasks including contact point centroid position tracking, centroid linear velocity tracking, foot yaw angle alignment, frame attitude tracking, base quaternion derivative regularization, contact force regularization, joint regularization, swing height control and contact control regularization, and establishing a multi-task target function; a static nonlinear complementary problem is coupled with exoskeleton continuous dynamics, and a coupling system is constructed; solving the optimization objective function by adopting a neurodynamics algorithm to obtain the optimal control input of the exoskeleton-human body system; and the control input mapping obtained through optimization is converted into a driving instruction of a robot actuator, and a motion control closed loop is completed. According to the method, the complex movement requirements under strong coupling constraint interaction of the humanoid and the robot can be more accurately met.

The invention relates to the crossing field of medical rehabilitation and brain-computer interface technology, and particularly discloses a lower limb exoskeleton rehabilitation training system and method based on AR glasses and brain-computer interface control. According to the system, motor imagery electroencephalogram decoding is used as core driving force, lightweight AR visual guidance, lower limb exoskeleton mechanical assistance and functional electrical stimulation feedback are fused, and real-time information interaction among multiple modules is achieved through wireless communication; therefore, a closed-loop rehabilitation system integrating sensing, decoding, execution, multi-mode feedback and self-adaptive adjustment is constructed. Under the framework, the subjective motion intention of the patient not only can directly participate in the exoskeleton control process, but also can continuously adjust training parameters and interaction modes through dynamic monitoring of physiological signals and emotional states, so that a patient-centered lower limb rehabilitation training mode which better conforms to the neuroplastic law is achieved.

The utility model relates to an exoskeleton using flexible joints for walking aiding, which comprises a waist supporting mechanism, a hip bone supporting mechanism is arranged below the waist supporting mechanism, thighbone supporting components capable of deforming are arranged on two sides of the hip bone supporting mechanism, and the top of each thighbone supporting component is connected with a wire driving mechanism. A shank supporting assembly is hinged to the bottom of the thighbone supporting assembly, a deformable flexible joint assembly is further arranged between the bottom of the thighbone supporting assembly and the linear driving mechanism, and a driving rope is connected to the surface of the flexible joint assembly. One end of the driving rope is connected to the wire driving mechanism and the other end is connected to the top of the thighbone supporting assembly of the shank supporting assembly; according to the utility model, the traction of the driving rope and the adaptability of the elastic bandage are combined to form a bimodal power-assisted mechanism. Compared with a gear / motor driving mode of a traditional rigid exoskeleton, power consumption is remarkably reduced, and motion fluency is improved.

The invention relates to the technical field of cervical vertebra rehabilitation systems, and discloses an intelligent self-adaptive cervical vertebra rehabilitation system. The system comprises a multi-mode sensing unit which synchronously collects form data and soft tissue data of the cervical vertebra of a user through an optical mark point array and an ultrasonic probe array to generate a multi-source sensing data set; the intelligent analysis unit constructs a cervical vertebra dynamic mechanical model by using a graph convolutional neural network based on the multi-source sensing data set, analyzes a cervical vertebra joint coupling relation and stress distribution, and generates an analysis parameter set; the strategy generation unit generates a personalized rehabilitation strategy according to the analysis parameter set, the personalized rehabilitation strategy comprises an action sequence and an impedance adjustment parameter, and a strategy instruction set is formed; the dynamic control unit responds to the strategy instruction set and combines muscle activity data fed back by the electromyographic signal sensor in real time to adjust an execution strategy and generate a control command set; and the flexible driving unit drives the soft robot outer skeleton to perform multi-axis linkage rehabilitation training based on the control command set.

The invention relates to a robot agent evaluation system for a lower limb exoskeleton and a gait strategy training method corresponding to an agent, and belongs to the technical field of rehabilitation medical auxiliary equipment. The device comprises a humanoid robot, an exoskeleton, an auxiliary device and a detection element, the exoskeleton is connected with the humanoid robot through the auxiliary device, a first auxiliary structure is provided with a groove, a second auxiliary structure is provided with a protrusion, the groove is connected with the humanoid robot in a clamped mode, and the protrusion is detachably connected with the humanoid robot; the detection elements are installed on the soles of the humanoid robot. The gait of the humanoid robot is adjusted by using a gait strategy training method, so that the humanoid robot can simulate the walking postures of different healthy people or patients with different hemiplegia levels. By wearing the exoskeleton on the device and deploying different walking aid strategies, related data such as angle, torque and power change of each joint, total energy consumption and gait symmetry of the humanoid robot under different walking conditions are obtained, and an exoskeleton developer is assisted to better test and optimize an exoskeleton product.

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

An apparatus for an active exoskeleton boot is provided. The apparatus can include a foot plate disposed within a boot of a user. The apparatus can include a first adapter extending from a side surface of the foot plate having a slot and an actuator module comprising a chassis and a post, and the post coupled to the chassis. The apparatus can include a second adapter extending from an end surface of the post. The slot of the first adapter can be configured to engage the second adapter when the actuator module is positioned at a first angle relative to the first adapter. The first adapter can be configured to lock with the second adapter when the actuator module rotates from the first angle to a second angle relative to the first adapter.

The invention discloses a method and system for driving and controlling a lower limb exoskeleton through brain-computer interface intention confidence, and relates to the technical field of medical rehabilitation. The method comprises the following steps: firstly, identifying an original electroencephalogram signal to obtain intention confidence, and mapping an impedance parameter group containing joint stiffness and a damping coefficient in combination with gait phase information; secondly, extracting a motion position and an interaction force error, comparing an intention confidence coefficient with an actual execution state by using a sliding time window to obtain a nerve matching error, and fusing the three into a total composite error; meanwhile, the human-machine coupling compliance is evaluated based on the human body joint angle and the exoskeleton torque variation, and a safety gain coefficient is discriminated and generated; and finally, performing gain operation on the total composite error based on the impedance parameter group, and performing safety gain coefficient correction to obtain a target control torque to be output to a driving actuator. In this way, a nerve-force-motion three-closed-loop framework is constructed, and compliant self-adaptive on-demand assistance and high-safety man-machine collaborative rehabilitation with defense protection are achieved.

The invention relates to the field of medical apparatus and instruments, and provides an exoskeleton with an adjustable backboard, the exoskeleton comprises a column structure and a control module, the column structure is slidably connected with a backboard mechanism and a lower limb exoskeleton connected with the backboard mechanism, and the backboard mechanism is provided with a backboard capable of moving up and down relative to the backboard mechanism; the binding device and the plantar exoskeleton are arranged on the lower limb exoskeleton, and the plantar exoskeleton is provided with a pressure sensor. When a human body wears the exoskeleton and is changed into a standing posture from a sitting posture, the back plate mechanism is adjusted upwards to the height matched with a user along the stand column structure according to different body types of the user; when the user walks in the standing posture state, the posture of the human body changes, at the moment, the plantar exoskeleton detects the change of plantar pressure, and the control module can control the back plate to move up and down relative to the back plate mechanism according to the plantar pressure so as to adjust the posture of the human body.

The invention discloses an electroencephalogram motion decoding method based on cross-modal semantic alignment, which comprises the following steps: fusing electroencephalogram (EEG) coding and video coding, mapping EEG signals and motion video features to a shared semantic space by utilizing comparative learning, and training a classifier which only depends on EEG input on the basis of the mapping, so as to obtain an electroencephalogram motion decoding result. Two innovative loss functions are adopted in the comparison learning stage and the training stage, the accuracy of the corresponding relation between the EEG and video action semantics and the EEG single-mode discrimination capability can be improved at the same time, and accurate discrimination of the corresponding action category of the EEG signal is achieved. According to the invention, high identification precision and robustness can be maintained under the cross-subject condition, and the demand for large-scale labeling and calibration of new subjects is reduced. The modular design facilitates expansion and integration, the system can be widely applied to rehabilitation training, virtual reality interaction, exoskeleton control and other scenes, and an efficient and reliable solution is provided for real-time electroencephalogram motion decoding and cross-modal retrieval.

This invention belongs to the field of exoskeleton technology, specifically a lower limb exoskeleton, including a drive system for controlling leg bone movement. This drive system comprises a composite drive component, a thigh linkage, and a lower leg linkage. The composite drive component is mounted on a waist assembly via a central axis, and a fifth hinge axis parallel to the central axis is positioned away from the central axis. The ends of both the thigh and lower leg linkages are movably connected to the fifth hinge axis, forming a parallelogram mechanism with the thigh and lower leg. Driven by a drive motor assembly, the composite drive component rotates, at which point the thigh and lower leg linkages respectively pull the thigh and lower leg to simulate human leg movement. By adding two additional connecting rods to construct the leg bone into a parallelogram mechanism, and driving the two additional connecting rods synchronously via a single drive motor assembly, the leg bone is controlled to simulate human leg movement.

The utility model discloses a hand rehabilitation training exoskeleton, and relates to the technical field of exoskeletons. According to the hand rehabilitation training exoskeleton, the ends of the palm shells are connected with the joints in a supporting mode through supporting sleeves, and the supporting sleeves are connected with an air conveying device in a communicating mode. The carpal joint is connected with the palm shell through a supporting sleeve, the other end of the carpal joint is connected with the metacarpal joint or the finger joint through the supporting sleeve, and the other end of the metacarpal joint is connected with the finger joint through the supporting sleeve. The problems that in the prior art, the size is large, flexibility is poor, operation is complex and the like are solved, and the requirements for precise assistance and natural training are difficult to meet. According to the hand rehabilitation training exoskeleton, the exoskeleton and the pneumatic technology design are combined, the lightweight design and the intelligent control technology are combined, the hand rehabilitation training exoskeleton aims at assisting a hand dysfunction patient in scientific rehabilitation training, and the hand rehabilitation training exoskeleton is suitable for stroke, brain injury, joint diseases or postoperative hand function recovery. Natural assistance and scientific rehabilitation of hand movement are achieved, and an efficient and safe hand function recovery means is provided for a patient.

This invention discloses a finger joint angle detection mechanism and a method for constructing a 3D model of an object; belonging to the field of exoskeletons for human finger joints, it consists of a fabric substrate, a data storage module, a displacement sensor, and a transmission mechanism, including five sets of three-segment skeletons. The thumb skeleton includes a fingertip joint rod, a root joint rod, a back-of-hand rod, and a wrist rod; the other finger skeletons include a fingertip joint rod, a middle joint rod, a root joint rod, and a back-of-hand rod. Each pair of skeleton segments is connected by a transmission mechanism and a cylindrical pin. The glove does not affect the natural movement of the human hand, and when collecting finger joint data through grasping or other methods, it ensures flexible hand movement, and the range of joint bending angles is unrestricted. When the human hand wears the glove to grasp an object, the bending angles of each finger joint are collected and converted into bending angle images. A convolutional neural network is used to fuse the bending angle images with multi-angle captured object images to achieve accurate 3D reconstruction of the object.

The invention relates to the technical field of exoskeletons, in particular to a multi-degree-of-freedom hip joint mechanism which comprises a motor outer ring and a motor inner ring, two sets of positioning pins are fixedly connected to the top of the motor outer ring, a limiting block is fixedly connected to one side of the motor inner ring, and a ball bearing is slidably connected to the outer side of a transmission shaft. A self-reset spring is installed at the bottom of the connecting piece, a coating is arranged on the inner side surface of the connecting piece, and a sensing element is fixedly connected into the second hinge. The connecting piece, the transmission shaft, the ball bearing and the joint shell are arranged, the motion trail of the mechanism is highly matched with the real biomechanical characteristics of the hip joint of the human body, the problems that a traditional mechanism is rigid in motion and poor in fitting degree are solved, the positioning pin, the limiting block, the self-reset spring, the bionic coating and the sensing element are arranged, motion range protection is provided, and the reliability is high. Buffering damping and automatic resetting are achieved, and durability and smoothness are improved.

This disclosure proposes a multimodal motion switching control method and device for a mining intelligent assistive exoskeleton, relating to the field of mining safety equipment technology. The method includes: collecting multimodal sensing data from the wearer, extracting temporal features and inputting them into a lightweight classifier to identify motion patterns and output confidence scores; when the confidence score continuously exceeds a threshold, a mode switching intention is determined; the control subroutine corresponding to the current motion mode is invoked to obtain impedance parameters and the desired trajectory; based on the impedance parameters, the desired trajectory, and the current trajectory, interpolation fusion is performed using a hybrid transition strategy to generate smooth transition joint control commands to control the exoskeleton. This disclosure enables real-time and accurate identification of motion intentions in confined underground environments, smooth and compliant switching between multiple modes, effectively reducing switching impact, ensuring motion continuity and human-machine collaboration safety, and improving the adaptability and overall operational safety of the exoskeleton in confined environments.

1. Name of the product in this design: Hip-assisted exoskeleton. 2. Purpose of this design: This design is used for a lower limb exoskeleton that assists the hip joint. 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.

This invention discloses a biomimetic starfish robot, relating to the field of simulation robots. The biomimetic starfish robot includes a biomimetic exoskeleton, which is obtained by folding a flat plate structure with creases; a shape memory alloy, which is disposed on the biomimetic exoskeleton and drives the biomimetic exoskeleton to deform through its own deformation; and a driving unit for driving the shape memory alloy to deform. The biomimetic starfish robot proposed in this invention uses an electric heating system attached around the shape memory alloy, which can transfer heat to the surrounding environment in a short time. Because the shape memory alloy at the arm-foot junction has a small volume and a low temperature of the austenite phase, the circuit system only needs a relatively weak electrical signal to generate enough heat to deform the shape memory alloy. Therefore, this invention will greatly reduce power consumption, reduce noise pollution, and simplify the design of the circuit system.

The application discloses an upper limb supporting exoskeleton based on a negative pressure occlusion variable stiffness driver, which comprises a shoulder joint supporting structure, an elbow joint supporting structure connected with the shoulder joint supporting structure, a waist belt and a back strap; the waist belt and the back strap form a backpack type structure, and the shoulder joint supporting structure is fixed on the shoulder and back of a human body; the shoulder joint supporting structure is connected with the elbow joint supporting supporting structure through a large arm guide rail sliding block and can slide relatively to meet the wearers with different large arm lengths; a fixing plate for fixing the elbow joint supporting structure with the large arm and the small arm of the wearer is arranged on the elbow joint supporting structure. The upper limb supporting exoskeleton based on the negative pressure occlusion variable stiffness driver adopts the variable stiffness driver as part of the joints of the robot, guarantees sufficient degrees of freedom and supporting effect, improves the adaptability of the whole system, allows the wearers to change the stiffness of part of the joints according to the self needs and environmental conditions, and makes the activities of the wearers in the non-working state more flexible and the movement resistance smaller.

The invention discloses a flexible shoulder rehabilitation exoskeleton based on a pneumatic folding driver, and the flexible shoulder rehabilitation exoskeleton comprises a trunk module, a shoulder module, a connecting assembly, a flexible folding pneumatic driving module, a multi-mode sensing module and a control terminal. By introducing the design of alternating internal folding and external folding, geometric dislocation between the driver and the joint axis is effectively compensated, and continuous high output torque is provided. The control system recognizes the motion intention of a user by collecting surface electromyogram signals and inertia measurement data through threshold judgment logic, and adjusts an electromagnetic proportional valve through a PID algorithm in combination with feedback of an air pressure sensor to achieve closed-loop accurate control over air pressure. The device has the advantages of light weight, high wearing comfort and excellent mechanical transparency, muscle load in rehabilitation training can be remarkably reduced, and the device is suitable for daily assistance and rehabilitation training of patients suffering from upper limb dyskinesia.

This invention provides a variable stiffness actuator, a knee exoskeleton, and a control method for the variable stiffness actuator, belonging to the field of rehabilitation robot technology. The variable stiffness actuator includes a variable stiffness component, which consists of a zero-length frame hinged four-bar linkage, an elastic link assembly, a stiffness adjustment mechanism, and a T-screw assembly. The input and output disks have coaxial rotation centers. The elastic link assembly includes a linear spring and a Bowden wire. The T-screw assembly is used to change the geometric configuration parameters of the four-bar linkage, achieving stepless adjustment of the stiffness range. The knee exoskeleton includes a rotation drive assembly, a thigh assembly, a lower leg assembly, and the variable stiffness actuator. The control method includes establishing a stiffness model, real-time estimation of human-machine interaction torque, compliant control based on gait phase, and adjustment of the stiffness mode. This invention achieves stepless stiffness reconfiguration over a wide range and structural lightweighting, enabling precise compliant control without the need for torque sensors.

The application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aid movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

The utility model relates to an exoskeleton, in particular to a rope-driven auxiliary power-assisted lower limb exoskeleton, which is provided with a joint module for controlling a shank part to simulate the walking of a human leg part, and further comprises a rope-driven energy storage mechanism. The rope-driven energy storage mechanism comprises a pull wire and a spring energy storage part, the spring energy storage part is arranged on the shank part, one end of the pull wire is restrained to the spring energy storage part, the other end of the pull wire is restrained to the thigh part, and in the walking process, when the shank part moves downwards, the pull wire pulls the spring energy storage part to compress and store energy, otherwise, the spring energy storage part releases energy; and the auxiliary joint module drives the shank part to move upwards. The lower limb exoskeleton with the energy storage mechanism provided by the embodiment of the utility model is provided with the driving module of the knee joint, and is additionally provided with the passive power assisting structure for assisting the knee joint by utilizing gravitational potential energy of the leg, so that compared with the lower limb exoskeleton driven by the existing module, the driving module and the passive power assisting structure are combined, and the driving module and the passive power assisting structure are combined; the power requirement for the driving module can be effectively lowered, and meanwhile the battery life can be prolonged.

Exoskeleton finger protection system consisting of at least two to three segments (tip, middle part, end piece) which are coupled to each other via mechanical connections, characterized in that targeted predetermined breaking points are provided at the connection points which give way under a defined load and thereby absorb the energy acting upon them.