16 results about "Gait simulation" patented technology

The invention discloses an interaction test method for gait simulation of a humanoid robot, which is applied to a test platform. Comprising the following steps: controlling a current gait simulation model corresponding to a virtual robot to perform a gait simulation test in a virtual test environment in a current preset time period; the virtual test data is sent to the physical robot; controlling the physical robot to execute corresponding gait operation according to the virtual test data in the actual test environment, and sending the actual test data to the virtual robot; updating the current gait simulation model based on the virtual test data and the real test data; and continuing to perform the gait simulation test based on the updated gait simulation model, and ending the updating operation until the gait simulation test is ended, so as to generate a complete gait scheme. Therefore, by constructing a closed-loop interaction mechanism between the virtual robot and the physical robot, dynamic adjustment of the gait simulation model is achieved, the gait of the physical robot is restored, and the stability and precision of the gait of the physical robot are improved.

The five-degree-of-freedom rehabilitation robot for the lower limbs of the human body comprises a shell, a tension supporting plate is arranged on the inner side of the shell, a back supporting rod is arranged on the back of the shell, a display screen is arranged on the bottom face of the shell, and an electroencephalogram collector is arranged below the shell. And a wearable exoskeleton is arranged below the electroencephalogram collector. By optimizing the structure of the rehabilitation robot, a two-way communication and control channel is created between a rehabilitative person and the robot, the rehabilitative person can better control the robot, the whole rehabilitation process is divided into the early stage and the later stage, in the early rehabilitation stage, the limb strength of a user is weak, and the whole rehabilitation robot provides waist and back supporting force for the user; interaction modes are automatically selected on the protection equipment for gait simulation, an early-stage rehabilitation task is completed, a user can independently use the wearable robot for rehabilitation on the ground in the later period of rehabilitation, and meanwhile, whether the user wears a waist armrest or not is selected according to own requirements, so that a rehabilitative person can take better exercise.

The invention belongs to the technical field of biological simulation, and relates to an analogue simulation method based on gait control data and related equipment thereof. Carrying out reinforcement learning on the gait simulation agent to obtain the gait simulation agent after reinforcement learning is completed and gait simulation continuous actions output by the gait simulation agent after reinforcement learning is completed; gait control data of the target object are collected; inputting the gait simulation intelligent body into the gait simulation intelligent body after reinforcement learning is completed, and obtaining a walking simulation continuous action corresponding to the target object; through comparison, identifying differential actions; and performing gait adjustment according to the gait control data corresponding to the differential actions. The method is applied to a medical biological simulation science and technology product optimization scene, product stress support adjustment can be carried out in combination with reinforcement learning and analogue simulation modes for an intelligent artificial limb user or an intelligent walking stick user, and a better product experience service is provided for related patients.

The application relates to the technical field of medical data processing, and discloses a non-walking type gait simulation evaluation system based on virtual reality interaction, which uses a virtual reality interaction module to make a to-be-tested person complete a gait task of simulated walking in any one or any combination of a cognitive load task, an emotional load task and a space obstacle task in a virtual reality test scene, so that real-time gait changes of the to-be-tested person in different scenes are simulated, efficient and accurate gait evaluation is realized in combination with a data acquisition module and a processor, the safety of the to-be-tested person in the gait evaluation process can be ensured, and the objectivity of the evaluation process can be ensured, especially in the case that the to-be-tested person often has a frozen gait, the time and frequency of footstep stagnation or change can be accurately recorded, doctors can accurately understand the occurrence mode of the frozen gait of Parkinson's patients, and effective data guidance is provided for personalized treatment of the patients.

The application discloses a wheeled exoskeleton rehabilitation supporting device, which comprises a movable frame structure, a seat cushion arranged on the movable frame structure and used for supporting the hips of a patient, a leg supporting mechanism arranged on the front side of the movable frame structure and used for supporting the legs of the patient, and a gait simulation mechanism arranged on the front and back sides of the movable frame structure and used for simulating the gait of human walking. The leg supporting mechanism arranged on the front side of the movable frame structure cooperates with the gait simulation mechanism arranged on the front and back sides of the movable frame structure, and the powered conditions of the two mechanisms are adjusted to realize the active and passive rehabilitation training of the legs of the patient. In the case that the patient is limited in daily movement or the stability of the legs is poor, the device can be used as a walking wheel, so that the rehabilitation training of the legs is realized, and the inconvenience of the patient in daily life is reduced.

The invention relates to the technical field of simulation, and discloses a dinosaur gait simulation method and device, a bionic dinosaur and a storage medium, and the method comprises the steps: obtaining standardized gait parameters based on collected motion gait data of at least one reference organism having a related relationship with a target dinosaur; constructing a three-dimensional skeleton model based on fossil morphological data of the target dinosaur, and determining a biomechanical constraint condition based on the three-dimensional skeleton model; mapping the standardized gait parameters to a three-dimensional skeleton model, and optimizing a mapping result in combination with a biomechanical constraint condition to obtain optimized gait parameters; and performing dynamic simulation verification on the optimized gait parameters in a physical simulation environment to obtain a dinosaur gait simulation model. According to the method, the reasonability of dinosaur gait simulation can be improved, and the simulation result is more accurate.

The invention relates to the technical field of medical data processing, and discloses a non-walking type gait simulation evaluation system based on virtual reality interaction. A virtual reality interaction module is utilized to enable a to-be-tested person to complete a walking simulation gait task cooperatively generated with any one or any combination of a cognitive load task, an emotional load task and a spatial obstacle task in a virtual reality test scene so as to simulate real-time gait changes of the to-be-tested person in different scenes. Efficient and accurate gait evaluation is achieved by combining the data acquisition module and the processor, the safety of a to-be-tested person in the gait evaluation process can be guaranteed, the objectivity of the evaluation process can also be guaranteed, especially under the condition that the to-be-tested person often has frozen gaits, the time and frequency of footstep stagnation or change can be accurately recorded, and the accuracy of the gait evaluation is improved. A doctor is helped to accurately know the occurrence mode of the frozen gait of the Parkinson's patient, and effective data guidance is provided for personalized treatment of the patient.

The invention relates to the technical field of foot biomechanics, in particular to an insole design method and system based on heel pain. The method comprises the following steps: acquiring heel pressure data; determining a first pain area based on the heel pressure data; performing insole pressure relief design according to the first pain area to generate insole pressure relief data; positioning an arch support region of the first pain region; performing gait simulation based on the arch support area to obtain gait data; evaluating a foot arch deformation degree according to the gait data; the bionic arc-shaped contour is remodeled through the foot arch deformation degree; calculating a support fitting degree based on the bionic arc-shaped contour; performing functional material matching according to the insole pressure relief data to obtain functional material data; and determining a second pain area according to the functional material data and the support fitting degree. Based on foot biomechanics, the slow pressure accurate matching rate and the supporting fitting rate of the insole to the heel pain area are improved.

The invention discloses a gait simulation method based on a dynamic Hebb learning CPG neural network musculoskeletal model. The gait simulation method comprises the following steps: 1, constructing a Hebb learning CPG neural network model HB-CPG through an advanced controller; 2, constructing a musculoskeletal model through action potential activation; 3, a CPG neural network model HB-CPG and a musculoskeletal model are used for simulating coordination and controllability of knee joint movement under external electrical stimulation spinal cord CPG; a dynamic Hertz learning rule is introduced into a CPG nervous system, so that the inherent frequency of a CPG oscillator is changed to be synchronized with an external input signal, and the sensitivity is kept by learning the amplitude of a rhythm oscillator.

The invention discloses a gait simulation and verification method, system and device based on a lower limb exoskeleton rehabilitation robot and a medium, and the method comprises the steps: obtaining self-defined gait parameters, and generating a first gait track according to the gait parameters; performing simulation verification on the first gait track to obtain a second gait track passing the simulation verification; generating a control instruction according to the second gait track, and sending the control instruction to the lower limb exoskeleton rehabilitation robot; the lower limb exoskeleton rehabilitation robot is controlled to execute a corresponding motion program according to the control instruction, and gait data of the user in the motion process are collected. According to the embodiment of the invention, the self-defined gait parameters can be converted into the gait track, the rationality of the gait track is checked through simulation verification and actual verification, and a personalized and scientific gait rehabilitation training scheme can be conveniently provided for a user. The device can be widely applied to the field of medical rehabilitation equipment.

The application relates to the technical field of biomechanics, and provides a human gait simulation method, device, equipment, medium and product, the method comprising the following steps: determining a current gait state according to motion sensing information of a musculoskeletal model; determining a reflex loop corresponding to the current gait state according to the current gait state; inputting the motion sensing information into the reflex loop for calculation to obtain muscle excitation signals of each muscle in a driving model; and driving the musculoskeletal model to move by using the muscle excitation signals to generate a simulation gait. The human gait simulation method provided by the application determines the current gait state through the motion sensing information of the musculoskeletal model, dynamically matches the corresponding reflex loop based on the gait state, then inputs the motion sensing information into the reflex loop for calculation to generate muscle excitation signals conforming to physiological laws, drives the musculoskeletal model to form a stable and realistic simulation gait on a complex terrain by using the excitation signals, and effectively improves the adaptability and authenticity of gait simulation.

The application discloses a multi-motion scene simulation and rehabilitation training robot, which comprises a safety protection device, two left-right symmetrical motion scene simulation devices, a step width adjusting device, a multi-mode sensing and intelligent control system and a motion scene virtual simulation system. The motion scene simulation devices are installed on the step width adjusting device, the step width adjusting device is placed on the ground, the interval of the two motion scene simulation devices can be dynamically adjusted, the safety protection device is hung above the motion scene simulation devices, the multi-mode sensing and intelligent control system realizes the collection of motion sensing information, the sensing of motion intention and the intelligent control of the motion scene simulation devices, the step width adjusting device and the like. The application provides gait simulation and rehabilitation training of various scenes such as flat ground, steps, slopes, obstacle crossing and falling in an indoor environment, and provides more diversified training scene experience for patients with lower limb motor dysfunction and patients with balance dysfunction.

The application discloses a kind of leather shoes sole multidimensional comprehensive performance test method, belong to leather shoes performance detection technical field.The test is with main control unit as core coordination control, external integration gait simulation unit, scene simulation unit, performance test unit and collection analysis unit, wherein gait simulation unit includes the leather shoes foot mould of adaptation 38~44 code and MEMS pressure sensing unit, scene simulation unit includes the closed loop conveying belt of replaceable pavement module and the temperature and humidity cabin of temperature and humidity closed loop control, performance test unit integrates wear resistance, folding resistance, anti-skid, shock absorption test component, collection analysis unit includes multidimensional force sensor and high-speed camera;Test method is realized based on the test equipment, and detection is completed through sample pretreatment, installation parameter setting, multi-working-condition synchronous test and comprehensive performance evaluation.The application realizes the automatic detection of leather shoes sole multidimensional performance, structure is stable, detection is accurate, and is suitable for leather shoes sole, precision shoe material and other industrial detection fields.

The invention relates to the technical field of medical instruments, in particular to a sitting posture gait simulation plantar soft tissue axial pressure applying device. Comprising a shell, a bottom plate fixedly arranged at the bottom of the shell, a supporting plate fixedly arranged at the top of the shell, a supporting seat fixedly arranged at the top of the bottom plate, a lifting mechanism fixedly arranged in the supporting seat and a sensing module fixedly arranged on the upper portion of the lifting mechanism. Wherein a box body is defined by the bottom plate, the shell and the supporting plate; the lifting mechanism comprises a lead screw stepping motor, a guide rail and a guide rail sliding block. According to the invention, the lifting mechanism and the sensing module are used for simulating the pressed state of the plantar soft tissue of the foot under the gait working condition, the probe plays roles of a pressure head and a probe at the same time in the process, and the dynamic measurement of the plantar soft tissue blood flow in the gait process is realized through the method.

The invention provides a lower-limb walking rehabilitation trainer, including 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 frames are crutch type supporting frames. The gait simulation mechanisms include a special four-bar linkage and curve amplification mechanism. The four-bar linkage consists of a crank, a first connecting rod, a rocking rod and a rack rod that are articulated end to end. The upper end of the first connecting rod is articulated with the lower end of the second connecting rod in the curve amplification mechanism, the lower end of the third connecting rod in the curve amplification mechanism is articulated with the pedal, the rack rod is relatively fixed to the supporting frame, and the fourth connecting rod is connected to the inner side of the crutch type supporting frame.

The utility model discloses a lower limb walking training device simulating gaits, and particularly relates to the technical field of lower limb training, the lower limb walking training device comprises a U-shaped frame, a connecting frame and two storage assemblies, the connecting frame is fixedly installed in the U-shaped frame, and the two storage assemblies are both located at the bottom of the connecting frame; each of the two storage assemblies comprises a storage plate, two side plates, two vertical cylinders and a plurality of connecting rings, a swing assembly is arranged on the connecting frame, and the swing assembly comprises a self-locking motor, two rotating shafts, a bevel gear set, two rotating frames, a plurality of first lead screws and a plurality of threaded sleeves. Two feet are placed in the two storage plates, the self-locking motor works to drive the two rotating frames to rotate, the rotating directions of the two rotating frames are opposite, then the four first lead screws, the four vertical cylinders and the storage plates are driven to rotate, swing training is conducted on the two legs of a user, operation is easy, the two legs of the user can be conveniently swung, and the training efficiency is improved. The use effect is good.