39 results about "Gait simulation" patented technology

A powered gait orthosis is provided for exercising the legs of a patient, and includes a treadmill for acting on the feet of the patient and a pair of gait simulation assemblies disposed adjacent to the treadmill. Each gait simulation assembly includes a support arm including pivotally movable first and second depending arms, which further include drive means for movement thereof about first and second horizontal axis. The device further includes first and second attachment means on the first and second depending arms, for attachment to a patient's thigh and ankle, respectively. A lifting means including a drive means is supported in a vertically extending tower, which houses a gait simulation assembly. The lifting means lifts and holds a patient on the treadmill. Control means is provided to operate the depending arms in a controlled manner to cause the legs of the patient to move in a desired gait.

The invention relates to a parallel experimental device for six-degree-of-freedom gait simulation, which comprises a frame, a six-bar parallel mechanism and a series loading device, wherein the frame is provided with a force-plate-mounting-height adjusting device and a tendon driving device. The force-plate-mounting-height adjusting device is mounted on a lower platform surface of the frame and comprises four lead screws, four lower nuts, four upper nuts and two force plate mounting racks, the tendon driving device comprises a motor, a coupler, a reduction gear set, a sprocket and a chain, the six-bar parallel mechanism comprises a fixed platform, a movable platform, 12 groups of hooke hinges and six identical movement branching chains, and the series loading device comprises a hydraulic cylinder, a guide rail fixing shaft, a force sensor and a shin bone connecting shaft system with an indexing disc, wherein the hydraulic cylinder is fixed onto a movable platform, and the guide rail fixing shaft is capable of sliding along a sliding groove. The experimental device can not only simulate six-degree-of-freedom movement of shin bones fixed by a loading shaft system, but also axially load force (such as gravity, microgravity or the like) to the shin bones, and can be effectively used for researching ankle dynamics.

The invention discloses a weight losing type gait rehabilitation training robot. The weight losing type gait rehabilitation training robot comprises a rehabilitation platform, an intelligent weight losing device and a gait simulation generating device. The intelligent weight losing device is installed at the top of the rehabilitation platform, and the gait simulation generating device is installed at the bottom of the rehabilitation platform and located below the intelligent weight losing device. The weight losing type gait rehabilitation training robot can achieve active and passive rehabilitation training and is used for rehabilitation training of trainers having dysbasia due to cerebral palsy, stroke and the like. The weight losing type gait rehabilitation training robot is controlled by a computer, is provided with a corresponding sensor and a safety device, provides different walking training modes for patients, drives the lower limbs on two sides of each patient to perform gait rehabilitation training through the gait simulation generating device, and gradually recovers the walking capability of the lower limbs of each patient. Compared with traditional weight losing gait training, the working intensity of a therapist is greatly reduced, and the weight losing type gait rehabilitation training robot is more intelligentized and provides individualized treatment.

The invention discloses a gait rehabilitation training robot. The robot is characterized by comprising a weight reduction device, a gait simulative generator, a given motion trail and a personal computer. The weight reduction device and the gait simulative generator are installed on a pedal lever through a pair of protective boots worn by a trainer, and the pedal lever operates according to the given motion trail at a set speed in a set training pattern; the center line of the given motion trail is a closed curved trail fitting the walking of lower limbs of people, which is obtained by projecting the motion trail of an ankle joint in a three-dimensional space during normal walking into a two-dimensional space plane; and the personal computer is used for controlling the real-time speed of the gait simulative generator and selecting different training modes. By the adoption of the gait rehabilitation training robot disclosed by the invention, the problem of the consistency between the rehabilitation training gait trail and naturally walking gait trail of people can be solved.

The invention provides a lower limb rehabilitation robot. The robot comprises a rack, a lifting weight reduction mechanism, a mechanical leg moving mechanism, a mechanical leg movement mechanism, a treadmill and a treadmill lifting mechanism; the rack comprises a rack bottom frame, supporting columns arranged at one end of the rack, supporting crossbars disposed between the supporting columns, anda supporting vertical rod disposed in the middle of the supporting crossbars, wherein the bottom of the supporting vertical rod is fixed to a horizontal frame of the rack bottom frame; the treadmillis disposed in the rack bottom frame; the treadmill lifting mechanism is arranged on a bottom plate of the treadmill; the lifting weight reduction mechanism is arranged on the sides of the supportingcolumns; the mechanical leg moving mechanism is arranged on the side of the middle supporting crossbar, and the two ends of the lifting weight reduction mechanism are fixed to the supporting columns;the mechanical leg movement mechanism is arranged on a mechanical leg mounting plate of the mechanical leg moving mechanism. The robot can effectively adjust the leg length of mechanical legs and canbe adjusted according to the body width of a patient to make gait simulation more accurate, the structure is safe and small, and the overall height is reduced to the maximum extent.

The invention discloses a people gait simulation stair-climbing robot and belongs to the field of robots. The robot comprises four feet of the same structure, a connecting part and a control system. Each foot comprises an installation plate, wherein a front sole and a rear sole are installed on the two sides of the installation plate in a Z shape, and a driving device is installed in the installation plate. The two feet located in the front part are the front feet in the stair climbing direction, the two feet located in the rear part are the rear feet in the stair climbing direction, and the front feet are connected with the rear feet through the connecting part. The control system is electrically connected with the driving device and controls the driving device. The structure and the connecting manner of the people gait simulation stair-climbing robot are designed by simulating the structure of feet of a human body and combining the shape of stairs, the walking state of the robot is basically similar to the stair climbing state of people, the stairs cannot be damaged, and high stability is achieved.

A six-degree-of-freedom gait simulation testing device belongs to the technical field of motion simulation. The bottom of an upper frame is connected with the top of a lower frame; a base driving part and a force plate are arranged at the top of the upper frame and the bottom of the lower frame respectively; the top of a parallel mechanism is connected with the base driving part; the bottom of the parallel mechanism is connected with an ankle clamping and tibia loading part; the ankle clamping and tibia loading part is arranged above the force plate; a muscle tendon stretching part is arranged on one side edge of the lower frame; the base driving part and the parallel mechanism are matched with the ankle clamping and tibia loading part respectively. While ensuring the six-degree-of-freedom motion of an ankle relative to the ground, the six-degree-of-freedom gait simulation testing device is reduced in structure size and improved in structural stiffness, shortens the gait simulation period and improves the testing precision.

The invention discloses a both-foot gait simulation and plantar pressure simulation system and using method. The system comprises a mechanical structure system, a driving system, a sensing system, a control system, a machine-environment interaction system and a man-machine interaction system, wherein the mechanical structure system achieves gait simulation and plantar pressure reproduction, the driving system is the device providing power for the mechanical structure system so that a mechanical execution unit can move according to the expected requirement, the sensing system is composed of an internal sensor and an external sensor, obtains pressure, position and torque information of the internal and external environments and timely feeds the information back to the control system, the control system controls the mechanical execution unit to complete regular movement according to an operation instruction and the signals fed back by the sensing system, the machine-environment interaction system achieves connection and coordination of machines and equipment in the external environment, and the man-machine interaction system achieves connection of a man and machines and control over involved machines. The system can accurately achieve real-time and true reproduction of human gaits and plantar pressure, and can also set the stride and the stride frequency.

The invention discloses gait simulation fitness equipment, which comprises a device main body, side suspension racks, a rotating mechanism and guide mechanisms, wherein the device main body comprises a supporting frame and a central bracket which is arranged at the front end of the supporting frame and is provided with a first pivot; the two side suspension racks are arranged on two sides of the device main body; and each of the side suspension racks is provided with a suspension pivot. According to the fitness equipment disclosed by the invention, the movement locus of a pedal group is more in line with a natural gait by virtue of a multi-link motion mechanism which is erected on the device main body and the side suspension racks; in addition, different motion modes can be achieved by regulating the relative positions of the pivots, so that muscle groups in different parts are trained, and a purpose of exercise training is achieved.

The invention relates to a lower limb walking rehabilitation training machine, which comprises two supporting frames, two gait simulation mechanisms installed on the two supporting frames respectively and two pedals installed on the two gait simulation mechanisms respectively.The supporting frame is a crutch type support frame, The gait simulation mechanism comprises a special four-bar mechanism and a curve amplification mechanism. The four-connecting-rod mechanism is formed by hinging a crank, a first connecting rod, a rocker and a rack rod end to end, the upper end of the first connecting rod is hinged to the lower end of a second connecting rod in the curve amplifying mechanism, the lower end of a third connecting rod in the curve amplifying mechanism is hinged to the pedal, and the rack rod in the four-connecting-rod mechanism and the supporting frame are relatively fixed, and a fourth connecting rod in the curve amplifying mechanism is connected with the inner side of the crutch type support frame, The stepping type walking training is achieved, the gait is stable, plantar impact is avoided, the instrument structure is simple, the size is small, operation is easy, and the requirement for the use environment is low.

The invention discloses a weight losing type gait rehabilitation training robot. The weight losing type gait rehabilitation training robot comprises a rehabilitation platform, an intelligent weight losing device and a gait simulation generating device. The intelligent weight losing device is installed at the top of the rehabilitation platform, and the gait simulation generating device is installed at the bottom of the rehabilitation platform and located below the intelligent weight losing device. The weight losing type gait rehabilitation training robot can achieve active and passive rehabilitation training and is used for rehabilitation training of trainers having dysbasia due to cerebral palsy, stroke and the like. The weight losing type gait rehabilitation training robot is controlled by a computer, is provided with a corresponding sensor and a safety device, provides different walking training modes for patients, drives the lower limbs on two sides of each patient to perform gait rehabilitation training through the gait simulation generating device, and gradually recovers the walking capability of the lower limbs of each patient. Compared with traditional weight losing gait training, the working intensity of a therapist is greatly reduced, and the weight losing type gait rehabilitation training robot is more intelligentized and provides individualized treatment.

The invention discloses a whole shoe gait simulation device. The whole shoe gait simulation device comprises a management control system, a robot, a leg supporting component, a shoe last and a groundsimulation module. According to the whole shoe gait simulation device, the robot supports the leg supporting component, the leg supporting component is connected with the shoe last, the mode that theshoe last is used for tying a shoe is adopted, the robot can simulate various actions or motion modes of a person, and various testing modes are provided; and meanwhile, the shoe and the shoe last canbe adjusted and used according to a tested object, various motion environments can be simulated, the testing requirements of different shoe types can be met, the testing requirements of different crowds can be met, and the whole shoe gait simulation device has better adaptability especially for professional athletes.

The invention discloses a dynamic gait simulation model and method of a robot. The dynamic gait simulation model comprises an initial posture adjustment module, a fuselage state detection module, an in-situ stepping module, a lateral stepping module and an ADAMS interaction module. The ADAMS interaction module is connected with the initial posture adjustment module, the fuselage state detection module, the in-situ stepping module and the lateral stepping module, and the fuselage state detection module is connected with the initial posture adjusting module, the in-situ stepping module and the lateral stepping module. The feasibility of a quadruped algorithm can be effectively verified so that the development cost of the quadruped algorithm can be reduced and the development efficiency of the quadruped algorithm can be enhanced.

The invention provides a gait walking aid training mechanism with a weight reduction mechanism. The gait walking aid training mechanism comprises an underframe, a power device, a driving device, a left pedal, a right pedal, an armrest frame and a seat, wherein the power device and the driving device are arranged on the underframe and are connected with each other; the left pedal and the right pedal are arranged on the driving device; the armrest frame is arranged above one end of the underframe; the seat is arranged above the other end of the underframe; a weight reduction frame is erected above the armrest frame; a walking aid waistcoat is suspended at the tail end of the weight reduction frame; pedal grooves are connected to the upper portions of the left pedal and the right pedal through gait devices, and foot fixing devices are arranged on the side faces of the pedal grooves; and the power device comprises a motor, an electromagnetic clutch, a transmission chain wheel and a magnetic control wheel which are sequentially arranged, and the transmission chain wheel is connected with the driving device through a chain. The gait walking aid training mechanism overcomes the problems that a traditional gait training mechanism lacks protection and assistance for a patient, the patient cannot be trained or is injured in training, gait simulation is different from human real gait, and the motion amplitude cannot be flexibly adjusted to adapt to different disease degrees of the patient.

The invention belongs to the field of lower limb robot simulation. The invention specifically discloses a lower limb robot dynamics simulation platform and simulation method fusing a balance strategy.The simulation platform adopts a modular design, comprises a robot dynamics model module, a humanoid gait planning module and a balance module, the robot dynamics model module is used for constructing a virtual controlled object and comprises an entity sub-module, a rigidity transformation sub-module and a rotational joint sub-module, and the rotational joint sub-module comprises an active jointsub-module and a passive joint sub-module; wherein the anthropomorphic gait planning module and the balance module are both connected with the robot dynamic model module, the anthropomorphic gait planning module is used for generating an expected joint angle of a virtual controlled object, and the balance module is used for limiting excessive movement of the mass center of the virtual controlled object; the simulation platform is simple and efficient to construct, a balance strategy is fused, the requirement of lower limb robot gait simulation for balance is met, and rapid switching of different simulation functions is facilitated through modular design.

The invention relates to a walking rehabilitation training machine for lower limbs, which comprises two support frames, two gait simulation mechanisms respectively installed on the two support frames, and two gait simulation mechanisms respectively installed on the two gait simulation mechanisms. pedal, the support frame is a cane-type support frame, and the gait simulation mechanism includes a special four-bar linkage mechanism and a curve amplification mechanism. The four-bar linkage mechanism is composed of a crank, a first connecting rod, a rocker and a frame rod hinged end to end, the upper end of the first connecting rod is hinged with the lower end of the second connecting rod in the curve amplification mechanism, and the curve enlargement The lower end of the third connecting rod in the mechanism is hinged with the pedal, the frame rod in the four-bar linkage mechanism is relatively fixed to the support frame, and the fourth connecting rod in the curve amplification mechanism is connected to the crutch type support frame. Medial connections. The invention realizes "stepping" walking training, has a stable gait, no plantar impact, simple structure, small size, easy operation, and low requirements on the use environment.

The invention relates to a shank posterior muscle damage detection system based on plantar pressure. The shank posterior muscle damage detection system comprises the following steps of: constructing a muscle bone model corresponding to a target human body according to the target height and weight; obtaining plantar pressure of the target shank posterior muscle under different damage degrees through gait simulation; and judging the damage degree of the target shank posterior muscle by comparing the plantar pressure of the target actual walking with the plantar pressure of the damage simulation. Damage information can be prompted at the initial stage of shank posterior muscle damage, so that the target can process the damage condition in time, and more serious muscle damage is avoided.

The invention belongs to the field of lower-limb robot simulation, and specifically discloses a lower-limb robot dynamics simulation platform and a simulation method integrating a balance strategy. The simulation platform adopts a modular design, including a robot dynamic model module, an anthropomorphic gait planning module and a balance Module, the robot dynamics model module is used to construct the virtual controlled object, which includes the entity sub-module, the rigid transformation sub-module and the rotation joint sub-module, the rotation joint sub-module includes the active joint sub-module and the passive joint sub-module; anthropomorphic gait planning Both the module and the balance module are connected with the robot dynamics model module, the anthropomorphic gait planning module is used to generate the expected joint angle of the virtual controlled object, and the balance module is used to limit the excessive movement of the center of mass of the virtual controlled object; the construction of the simulation platform is simple It is efficient and integrates balance strategies to meet the balance requirements of lower limb robot gait simulation. The modular design facilitates the rapid switching of different simulation functions.

The invention discloses a gait simulation lower limb walking training device. The device comprises a base plate, a fixing plate, a supporting connecting plate, a supporting column, protection frames and treading structures, the base plate is of a rectangular plate-shaped structure, two sliding cavities are symmetrically formed in the base plate, each treading structure is slidably arranged at thecorresponding sliding cavity, a transmission cavity is formed in the base plate, and a transmission structure for driving the two treading structures to adjust the positions is arranged in the transmission cavity; a lifting structure for assisting in adjusting the height of the supporting column is arranged in the supporting column; and a protection structure is arranged on each of the two protection frames, an opening of the supporting column faces downwards, and a supporting structure is arranged at the position, close to the opening, of the supporting column. The gait simulation lower limbwalking training device is reasonable in design, a patient can conveniently carry out gait simulation training, meanwhile, the device can be adjusted according to the heights of different patients, auser can be protected in the training process, rest is facilitated, and the device is suitable for popularization and use.

The invention relates to the technical field of medical robots, and discloses a twelve-degree-of-freedom gait simulation device, which comprises a pedal platform; and a first driving assembly which comprises a first power mechanism and a first transmission mechanism, wherein the first transmission mechanism is connected with the first power mechanism and the pedal platform; and power output by the first power mechanism is converted through the first transmission mechanism to drive the pedal platform to rotate on a horizontal plane or revolve on a first vertical plane. The gait simulation device can simulate the actual gait movement of a human body, and adopts an active driving mode to drive the lower limbs of a patient to perform rehabilitation training, so that the omnibearing active rehabilitation training effect is achieved.

The invention discloses a gait simulation system based on deep learning, which includes a central processing module, the central processing module realizes a bidirectional connection with a data program extraction module, and the data program extraction system realizes a bidirectional connection with a networked information database, the data The program extraction module includes an extraction command processing module, a program group model recognition module, a program group model analysis module and a program group model sending module, the output of the extraction command processing module is connected with the input terminal of the program group model identification module, and involves gait Analog technology field. The gait simulation system and method based on deep learning have greatly improved the intelligence of the gait simulation system, realized the deep learning of the entire gait simulation system through networked big data, and achieved different gaits for external recognition The purpose of intelligent learning and imitation greatly facilitates people to use gait simulation equipment for gait correction or rehabilitation training.

The invention provides a bed-riding lower limb linkage gait simulation training device, which comprises a base, a driving device, a transmission device, a sliding device and a foot fixing device. The driving device is arranged in the base. The transmission device is arranged on the base, and driven by the driving device to be rotatable around the first axis. The sliding device is arranged on the base. The front end of the foot fixing device is rotatably connected to the transmission device with the second axis as an axis, and the rear end is slidably connected to the sliding device, wherein the first axis is parallel to and spaced apart from the second axis. The device can generate dorsiflexion / plantar flexion of the ankle joint with the movement of the lower limbs, forming a linkage of lower limbs that simulates gait, and maximally solves the demand for compound ankle and knee joint movement during bed-ridden lower limb training. The bed-mounted lower limb linkage gait simulation training device can provide very effective assistance to the rehabilitation training of patients with motor function impairments caused by brain injuries.

The invention discloses a gait simulation and prediction system and a simulation and prediction method, and belongs to the technical field of gait parameter analysis and simulation. The problem that an existing method does not have the function of simulating gait parameters is solved. According to the invention, the gait parameters are acquired and simulated through the gait parameter acquisitionmodule, the gait parameter database module, the convolutional neural network module and the gait feature algorithm, and the defect that the existing method does not have the function of simulating thegait parameters is overcome. Meanwhile, the system also has the characteristics of wide application range, high stability, high universality and low operation cost, and highly meets the requirementsof human-computer interaction. The method can be applied to the technical field of gait parameter analysis and simulation.

A six-degree-of-freedom gait simulation testing device belongs to the technical field of motion simulation. The bottom of an upper frame is connected with the top of a lower frame; a base driving part and a force plate are arranged at the top of the upper frame and the bottom of the lower frame respectively; the top of a parallel mechanism is connected with the base driving part; the bottom of the parallel mechanism is connected with an ankle clamping and tibia loading part; the ankle clamping and tibia loading part is arranged above the force plate; a muscle tendon stretching part is arranged on one side edge of the lower frame; the base driving part and the parallel mechanism are matched with the ankle clamping and tibia loading part respectively. While ensuring the six-degree-of-freedom motion of an ankle relative to the ground, the six-degree-of-freedom gait simulation testing device is reduced in structure size and improved in structural stiffness, shortens the gait simulation period and improves the testing precision.

A practical training device for ideological and political education comprises a desk, a chair, an equipment base, a load bearing device and a gait simulation device, the load bearing device comprises a backpack, a first connecting rope, a spring, a second connecting rope, a first sliding block, a driving motor and a movable pulley, the second connecting rope is connected to the movable pulley, a sliding groove is formed in the equipment base, and the sliding groove is connected to the first sliding block. The first sliding block is connected to the first sliding groove in a sliding mode, and the gait simulation device comprises a positioning groove formed in the equipment base, a foot base placed on the positioning groove, a foot sleeve fixedly connected to the foot base and used for a user to put the foot in, and a second sliding block connected to the equipment base; second sliding grooves are formed in the equipment base, the second sliding blocks are connected with the second sliding grooves in a sliding mode, the number of the second sliding blocks is two, a tension spring is arranged between the two second sliding blocks, and the tension spring is located on the upper surface of the foot sleeve.

An industrial robot with multiple forms and multiple walking modes comprises an equipment base used for containing dishes, a wheel leg device and a control device, and the wheel leg device comprises a first wheel leg, a second wheel leg, a third wheel leg, a first rotating motor, a second rotating motor and a third rotating motor. The control device can control the two wheel leg devices to cooperate to complete gait simulation actions, and the third wheel leg is provided with a hollowed-out groove and a plurality of first sliding grooves located in the inner wall of the hollowed-out groove. The first sliding groove is provided with a sliding block, a connecting shaft connected to the sliding block, a pulley connected to the connecting shaft, a first driving motor used for driving the sliding block to slide in the vertical direction and a servo motor used for driving the pulley to move. The first rotating motor, the second rotating motor, the third rotating motor, the first driving motor and the servo motor are electrically connected with the control device.

The invention relates to a parallel experimental device for six-degree-of-freedom gait simulation, which comprises a frame, a six-bar parallel mechanism and a series loading device, wherein the frame is provided with a force-plate-mounting-height adjusting device and a tendon driving device. The force-plate-mounting-height adjusting device is mounted on a lower platform surface of the frame and comprises four lead screws, four lower nuts, four upper nuts and two force plate mounting racks, the tendon driving device comprises a motor, a coupler, a reduction gear set, a sprocket and a chain, the six-bar parallel mechanism comprises a fixed platform, a movable platform, 12 groups of hooke hinges and six identical movement branching chains, and the series loading device comprises a hydraulic cylinder, a guide rail fixing shaft, a force sensor and a shin bone connecting shaft system with an indexing disc, wherein the hydraulic cylinder is fixed onto a movable platform, and the guide rail fixing shaft is capable of sliding along a sliding groove. The experimental device can not only simulate six-degree-of-freedom movement of shin bones fixed by a loading shaft system, but also axially load force (such as gravity, microgravity or the like) to the shin bones, and can be effectively used for researching ankle dynamics.

The invention discloses a deep learning and control method for gait control of a lower limb rehabilitation robot, belongs to the field of rehabilitation robots, and comprises the steps: inputting walking rule data of various types of normal persons, and taking the walking rule data as a first-layer control basis; inputting treatment data related to rehabilitation treatment of limb dysfunction caused by nervous system diseases to serve as a layer of data basis; inputting basic parameters and pathological data of the patient to serve as a two-layer data basis; continuously perfecting gait control of the lower limb rehabilitation robot by using a deep learning method, and perfecting treatment gait simulation for a patient according to different patients on the basis that a gait control systemadopts big data to calculate a gait mean value form. Therefore, the simulation progress is effectively improved, the rehabilitation efficiency of the patient is improved, and the rehabilitation quality of the patient is improved. The rehabilitation effect of the lower limb rehabilitation robot is improved.