79 results about "Gait training" patented technology

The invention discloses a recognition method for gait training, and relates to the technical field of gait recognition. The method comprises the following steps: acquiring a visual sequence acquired by a visual sensor and an IMU sequence acquired by an inertial measurement unit, and performing time reference unification and space reference unification on the visual sequence and the IMU sequence; inputting the visual sequence features and the IMU sequence features after space-time reference unification into a space-time joint calibration network, and performing space-time joint calibration and feature fusion on the visual sequence features and the IMU sequence features through the space-time joint calibration network to obtain fusion features; and performing gait anomaly recognition based on the fusion feature, and generating a dynamic feedback signal according to a recognition result. Multi-modal data space-time calibration is achieved through dynamic time warping and space reference unification, cross-modal feature deep fusion is completed in combination with a space-time joint calibration network, accurate gait anomaly recognition and multi-modal dynamic feedback are achieved, and the problem of feature fusion failure caused by space-time alignment errors is effectively solved.

The invention discloses a robot gait training method and system based on reinforcement learning, and relates to the technical field of electric vehicle charging, and the method comprises the steps: carrying out the simulation learning initialization of a strategy based on a reference video; selecting a plurality of evaluation indexes to design a dynamic reward function so as to guide the initial strategy network to optimize the gait performance; through an environment difficulty scheduling mechanism, the training environment difficulty is automatically adjusted according to strategy performance; performing optimization training on the strategy network by using a PPO algorithm; and judging the optimized gait strategy by constructing a cognitive load index, and outputting a final gait strategy. According to the method, imitation learning, self-adaptive reward modeling, multi-stage scheduling, reinforcement learning optimization and cognitive feedback are organically fused, and a robot gait training framework with generalization ability, stability and social adaptability is constructed. According to the method, the naturalness, the stability and the man-machine friendliness of the gait of the robot can be remarkably improved under complex terrains and interaction scenes, and the method has wide application prospects and popularization value.

The invention relates to the technical field of rehabilitation medical treatment and neural engineering, and particularly discloses an epidural electrical stimulation lower limb rehabilitation system and method based on a brain-computer interface, the epidural electrical stimulation lower limb rehabilitation system comprises a weight reduction suspension device, an epidural electrical stimulation module and a brain-computer interface module, the epidural electrical stimulation module controls left and right electrical stimulation through a program controller, and the brain-computer interface module comprises a wireless electroencephalogram acquisition device and an interaction terminal and is used for acquiring electroencephalogram signals of a movement area of a patient and presenting a virtual gait scene and voice prompt at a computer end. The method comprises the steps of electroencephalogram signal collection and feature extraction, motion intention judgment, stimulation control and feedback backtracking, and by combining a motion intention decoding result with electrical stimulation output, activation of a lower limb target muscle group is achieved, a training closed loop is constructed, and the method is used for postoperative rehabilitation of a spinal cord injury patient.

The invention discloses a brain small vascular disease lower limb dysfunction self-adaptive electrical stimulation auxiliary rehabilitation system in the technical field of medical instruments, and the system comprises a data collection module which is used for obtaining the multi-modal data of a patient in real time; the decision regulation and control module is used for generating dynamically optimized electrical stimulation parameters and rehabilitation task instructions based on a deep reinforcement learning algorithm and patient individualized pathological characteristics according to the multi-modal data; the electrical stimulation execution module is used for synchronously regulating and stimulating nerve targets according to the optimized electrical stimulation parameters; and the interactive virtual reality module is used for combining immersive gait training and cognitive training. By detecting the multi-modal physiological data of the patient, combining the deep reinforcement learning model to dynamically optimize the electrical stimulation parameters, and coupling VR exercise training and cognitive training, the three-in-one collaborative rehabilitation mode of electrical stimulation-physical treatment-cognitive intervention is realized, the rehabilitation training efficiency is improved, the relapse risk of the patient is reduced, and the rehabilitation training experience of the patient is enhanced.

The invention relates to the technical field of data processing, and discloses a gait training method and system based on virtual reality. The method comprises the following steps: acquiring gait motion data in real time through a plurality of inertial measurement sensors, and fusing the gait motion data with whole body depth image data acquired by a depth camera to form a gait feature vector; and a gait analysis model constructed by using a convolutional neural network and a long-short-term memory network is used for recognizing gait parameter abnormity in real time and generating an evaluation report. And according to the evaluation report, a self-adaptive virtual reality training scene is dynamically generated, and instant visual and auditory feedback is provided, so that the individuation and effect of gait training are improved, and the method has a wide clinical application prospect.

1. Name of the product in this design: Walking aid (ZX-08). 2. Purpose of this design: To assist hemiplegic and paraplegic patients in standing, moving, and gait training. 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.

1. Name of the product in this design: Gait training and assessment device. 2. Purpose of this design: A device for gait training and assessment. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

A disclosed exercise system comprises: a walking exercise device having a pedal for a patient to stand on, and a pedal driving unit having one or more links to drive the pedal; and a system control device for conducting gait training of the patient according to a training plan, wherein the system control device comprises: an index prediction unit for determining a gait assessment index on the basis of initial gait status information of the patient or a gait training result after gait training; a training planning unit for establishing a patient-customized training plan to be performed by a walking exercise unit on the basis of the gait training result; a training process unit for monitoring training data with respect to a real-time training status from the patient in real time while performing training on the patient according to the training plan, and generating feedback on the training data; and a training evaluation unit for evaluating the training result on the basis of training result data corresponding to the result of the patient's rehabilitation training performed by the walking exercise unit.

The application discloses a control method of an autonomous navigation lower limb robot, which comprises the following steps: collecting human gait data to obtain an original gait curve, optimizing the gait in combination with sensor data, and controlling an exoskeleton to perform rehabilitation training; based on lower limb motion parameters and navigation instructions, the speed of a driving wheel is controlled, so that the platform advances to a target direction in cooperation with the lower limb motion parameters, thereby realizing the functions of gait training and autonomous navigation, and the comfort during lower limb rehabilitation training and the experience of a patient are improved, and real-time regulation and control of lower limb motion and autonomous control of a walking direction of the patient during training are realized.

The present application relates to the technical field of medical devices, and discloses a multifunctional riding type lower limb rehabilitation robot, which comprises a frame, an exoskeleton lifting assembly installed on one side wall of the frame, and a detachable gear shifting riding device. The rehabilitation auxiliary robot can be used in two ways. A waist support structure is fixedly installed on one side outer wall of the exoskeleton lifting assembly. Hip joints are respectively installed on the two side outer walls of the waist support structure. The frame, the waist support structure, the hip joints, the knee joints, the ankle joints and the foot palm support and the walking stick can be used to perform muscle strength training and motion support and motion control training on patients with central palsy. The riding device can effectively complete rehabilitation training through the riding posture. After the gear is shifted, the riding device can drive the frame to move. The muscle strength training can also be performed on patients with peripheral nerves. After the muscle strength is enhanced, the patients can effectively stand, stand steadily, maintain balance and perform gait training.

The technical scheme of the invention discloses a brain-computer interface assisted patient gait training system. The brain-computer interface system is combined to provide the accuracy of the brain motion intention, the infrared optical motion capture system is adopted to capture reflective identification points on the human body through infrared rays emitted by the lens, and accurate and real-time motion information is collected and generated. The gait of a standing or walking training patient under the suspended sky rail is tracked and measured in real time, and the track of a three-dimensional space point, the motion posture of a rigid body and the action of a human body are recorded as real visual feedback of a lower limb training brain-computer interface of the dyskinesia patient. It is guaranteed that when the brain of a patient outputs a motion intention, input from the real motion ability of the patient can be obtained, peripheral electrical stimulation or epidural electrical stimulation is combined as tactile feedback, and therefore precise closed-loop regulation and control of the brain on the output of a motion control signal of the paralyzed lower limb are promoted.

The utility model relates to the technical field of medical equipment, in particular to a wheelchair for rehabilitation training, which comprises two first supports and second supports arranged on the first supports, rear wheels are arranged on the first supports, front wheels are arranged on the second supports, driving parts are rotatably arranged on the first supports, and the driving parts are rotatably arranged on the second supports. A moving assembly is arranged at the movable end of the driving part, a connecting frame is rotationally arranged between the moving assembly and the connecting frame, the driving part is arranged to drive the moving assembly to move upwards so as to drive the hanging assembly to move upwards, the hanging assembly supports a patient, and the patient can be changed into a standing state from a sitting state. When the moving assembly moves upwards, the cushion can be changed into a vertical state from a horizontal state under the action of the connecting rod, so that the cushion can be prevented from being blocked when gait training is carried out on a patient, the gait training of the patient is facilitated, and the lower limbs of the patient are helped to recover.

The invention discloses an experimental rat hind limb platform type gait device and a control method thereof, and relates to the technical field of experimental animal behavior training and rehabilitation evaluation.The device comprises a fore limb positioning platform, a hind limb driving platform, a safety protection assembly, a data acquisition unit and a control unit; the control unit is used for generating an optimal track and driving the hind limb driving platform to move, specifically, target track parameters are set according to the injury state of the rat, the hind limb driving platform is started, multi-target optimization is conducted on the movement track of the hind limb driving platform based on the target track parameters, and meanwhile gait data of the rat are monitored in real time. When the gait data is abnormal, the hind limb driving platform is closed, and an alarm is given; according to the invention, individualized, intelligent and safe control of a rat gait training process can be realized, so that a motion track is adaptive to gait characteristics of different repair stages, and the accuracy of rehabilitation evaluation and the reliability of an experimental result are improved.

The utility model relates to the technical field of passive exercise training equipment, and discloses a lower limb passive joint motion range and gait training instrument for small animals, which comprises a base and a support frame fixedly connected to the top end of the base, a movable fixing mechanism is arranged at the top end of the base, and an adjusting limiting mechanism is arranged above the movable fixing mechanism. A shifting plate is shifted to drive movement and extrudes a first spring at the same time, so that the outer wall of a clamping block is separated from the inner wall of a clamping groove, then a limiting plate is pushed forwards to drive a sliding plate to move forwards, then the legs of a rat are placed in the sliding plate, the shifting plate is loosened, and the first spring rebounds to push the clamping block to move, so that the clamping block is clamped to the inner wall of the clamping groove; then a limiting plate is pulled to drive a sliding plate to move, at the moment, the inner wall of a clamping groove extrudes the outer wall of a clamping block till the clamping block moves into the proper clamping groove, and therefore the leg of the rat is fixed, and the fixing stability of the leg of the rat in the rehabilitation moving process is guaranteed.

A motion unit of the disclosed gait training system comprises: a support unit including an actuator support portion having a predetermined height; and an actuator including a first link having one end connected to the actuator support portion by a first joint, a second link having one end connected to the other end of the first link by a second joint, and a foot plate connected to the other end of the second link by a third joint, wherein a first driving motor for rotating the first link with respect to the actuator support portion is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footrest with respect to the second link is installed at the third joint.

The utility model belongs to the technical field of rehabilitation training equipment, and relates to a gait correction training device which is particularly suitable for Parkinson patients. The problems that an existing device is unreasonable in structure, poor in stability, incapable of being flexibly adjusted and inconvenient to store are solved. The device comprises at least three sections of gait training units, each unit is composed of a transverse connecting piece and symmetrical handrail assemblies, and supporting sliding rods, supporting rods and handrail sliding rods in the assemblies are matched with one another. The sliding rods of the adjacent assemblies on the same side can be slidably connected in a sleeved mode, the inner diameters are sequentially increased, and flexible adjustment and contraction storage are achieved. And meanwhile, through the design of the supporting legs and the special supporting rods and slope chamfering treatment of the transverse connecting pieces, the stability and the use safety of the device are guaranteed. The device provides personalized training support for Parkinson patients, effectively improves the rehabilitation training effect, and is convenient to store and manage.

The application discloses a gait training auxiliary device for stroke rehabilitation and relates to the technical field of medical auxiliary instruments.The gait training auxiliary device comprises a treadmill, a guardrail, a supporting pivot, a fixing sleeve, a sliding shaft, a winding wheel, a locking unit, an elastic belt, a foot pedal, a winding unit and a trigger unit.The trigger unit is used for triggering the locking unit to fail after the supporting pivot is rotated to a fixed angle, so that the winding unit drives the winding wheel to rotate.The elastic belt and the foot pedal are arranged, the patient places the feet on the foot pedal, then walks on the treadmill for rehabilitation training, when the angle of the patient's legs is large, the trigger unit is actuated, the locking unit is triggered to fail, the sliding shaft and the winding wheel are disconnected from the locking connection state, the winding unit drives the winding wheel to rotate, the elastic belt can assist the patient to quickly lift the legs when winding, the patient can be prevented from falling down, and the uncomfortable feeling during the training can be reduced.

The present invention relates to a virtual reality-based task-oriented gait training system and method, in which the virtual reality-based task-oriented gait training system according to the present invention includes a gait detection unit that detects a walking movement of a trainee, a projector unit that projects virtual walking environment information for inducing a gait training of the trainee, and a control unit that executes a walking training program to change the virtual walking environment information according to the detected walking movement of the trainee, in which the virtual walking environment information includes a background constructing a virtual space and a walking training object appearing in the virtual space, and the gait training object includes a virtual obstacle for disturbing the walking movement of the trainee according to a preset level of difficulty or a gait inducing object for inducing gait of the trainee with a predetermined stride length. According to the present invention, there is an advantage that the trainee can perform gait training with interest and receive trainee-customized treatments through real-time interaction in virtual reality implemented closer to a real ground walking environment.

The application discloses a gait real-time analysis method and system based on visual skeleton feature extraction, which comprises the following steps: collecting a user walking video through a single camera; extracting human key skeleton points in real time by using a lightweight AI model; calculating anatomical coronal plane, sagittal plane parameters and gait space-time parameters based on the skeleton point coordinates; superimposing the skeleton and parameters on the video in real time and providing voice feedback; starting and stopping through a gesture recognition non-contact control system; automatically storing data and generating a rehabilitation report; the system comprises a USB camera, an embedded processing end and a feedback end with display and audio; the application replaces expensive motion capture equipment with a low-cost single camera, realizes objective quantitative evaluation of gait training, real-time multi-modal feedback and automatic management, significantly reduces medical costs, improves the efficiency and effect of rehabilitation training, and is especially suitable for primary medical institutions.

The invention discloses a treading type leg scraping device which comprises a vertical rod type auxiliary walking device and a leg scraping piece, a first binding piece is connected to the leg scraping piece, a leg scraping protruding block is arranged on the inner side of the leg scraping piece, the vertical rod type auxiliary walking device comprises a pedal and a second binding piece, and a supporting device is connected to the pedal. A rotating frame is rotationally connected to the upper portion of the supporting device, a connecting structure is arranged between the rotating frame and the leg scraping piece, and when a patient conducts normal walking gait training through the pedal and the second binding piece, the device can synchronously drive the leg scraping protruding block to scrape the thigh. The mechanical stimulation of the leg scraping bumps on the thigh skin and subcutaneous tissues can induce the human body to generate benign stress response and repair response, so that the walking ability is recovered, local and whole body blood circulation is effectively promoted, metabolic waste discharge is accelerated, and muscular pain and stiffness caused by long-term braking or sport injury are relieved.

A walker device is described herein including two side frames, each side frame including a front vertical support, a rear vertical support and at least one connecting member extending between the front and rear vertical supports. The walker device further includes a cross bar extending between the two side frames and pivotally connecting to the front vertical supports of the two side frames. The walker device also includes a tension device which applies a resistive force to the pivoting motion between the first cross bar and the two side frames. The walker device is therefore capable of a pivoting configuration which enables the user to learn or re-learn a more natural gait pattern including rotation of the upper and lower body. Some embodiments of the walker device include a second, auxiliary cross bar that is parallel to the first cross bar and horizontally offset from the first cross bar.

A horizontal lower limb rehabilitation robot includes a horizontal rigid chassis, left and right lower limb training mechanisms symmetrically arranged on both sides of the rigid chassis, an electrical control unit, and a multimodal sensing system located at key locations. The left and right lower limb training mechanisms have identical symmetrical structures. The electrical control unit coordinates the movement timing and amplitude of the hip and knee joint drive units, enabling simultaneous flexion training of the hip, knee, and ankle joints, bridging training to activate the lower limb trunk and gluteal muscles, and gait training simulating natural walking. This robot features a rational structure, convenient adjustment, safety, comfort, and intelligence. Through intelligent control and multiple rehabilitation training modes, it can meet the training needs of patients at different rehabilitation stages and with different body types, achieving integrated rehabilitation training and effect evaluation, and providing a more efficient and safer intelligent device for lower limb rehabilitation treatment.

The present application relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device, comprising a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on a leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a calf adjusting block and a calf supporting rod, the knee joint mounting plate is arranged on the thigh adjusting block, and the calf supporting rod is adjustably arranged on the calf adjusting block; the ankle joint movement mechanism is arranged at the lower end of the calf supporting rod; driving mechanisms are arranged on the hip joint mounting plate and the knee joint mounting plate. The present application is used for gait training of patients with rehabilitation needs of walking disorders, the combined movement process is closer to normal gait walking, and it is more beneficial for gait training and improves the training effect.

A method for real-time adjustment of gait training parameters includes the following steps: (a) collecting muscle-relaxed gait data of a first user in a muscle-relaxed state and active-force gait data of a first user in an active-force state, and establishing a standard motion model by the ratio of the first user's active-force gait data to the first user's muscle-relaxed gait data; (b) obtaining a motion model of a second user, including the second user's muscle-relaxed gait data in a muscle-relaxed state, and predicting a personalized training model by combining the second user's muscle-relaxed gait data with the standard motion model; (c) determining whether the second user's actual training meets the standard of the personalized training model, thereby adjusting the personalized training model and providing an auxiliary training model.

This application provides a lower limb exoskeleton robot control method and system based on motion intention recognition, including: acquiring exoskeleton motion data and exoskeleton unloaded data; determining exoskeleton dynamic parameters through gait training based on the exoskeleton unloaded data; determining human lower limb dynamic parameters based on the exoskeleton motion data and exoskeleton dynamic parameters; calculating human joint torques through inverse dynamic equations based on the exoskeleton motion data, exoskeleton dynamic parameters, and human lower limb dynamic parameters; inputting human joint torques and predefined gait training joint trajectories into a control model to obtain the joint trajectory output by gait training control; the control model is constructed based on inertial terms, damping terms, nonlinear damping terms, and stiffness terms, and is used to dynamically adjust the predefined gait training joint trajectory under the drive of human motion intention, solving the technical problem of poor adaptability of human-computer interaction control due to insufficient motion intention perception accuracy in existing technologies.

The invention relates to the technical field of rehabilitation training equipment, and discloses a suspension type balance auxiliary device for gait training, which comprises an equipment supporting iron stand, an emergency locking mechanism is arranged in the equipment supporting iron stand, an auxiliary anti-falling mechanism is arranged outside the emergency locking mechanism, the emergency locking mechanism comprises an I-shaped sliding rail, and the I-shaped sliding rail is provided with an auxiliary anti-falling mechanism. The upper surface of the I-shaped sliding rail is fixedly connected with the inner top wall of the equipment supporting iron frame, and two training sliding grooves are formed in the bottom face of the I-shaped sliding rail. According to the suspension type balance auxiliary equipment for gait training, by arranging an emergency locking mechanism, when a tension and pressure sensor is used for monitoring that the gravity center of a person trained by the equipment is unstable, an electric lifting rod is contracted upwards by a certain distance to tighten the part between the trainer and the equipment; and the stroke locking structure fixed outside the electric lifting rod is used for locking the extension and retraction of the electric lifting rod, so that the body shape of the trainee is stable, and the effect of improving the safety of the auxiliary equipment is achieved.

The utility model discloses a rehabilitation wheelchair capable of changing multiple postures, and particularly relates to the technical field of wheelchairs. The seat plate frame set comprises a seat plate frame, a fixed seat plate and a rotary supporting seat plate, the fixed seat plate and the rotary supporting seat plate are arranged above the seat plate frame, the seat plate frame is hinged to the supporting frame, and a rectangular hole is formed in the middle of the fixed seat plate and rotationally connected with the rotary supporting seat plate. The backrest frame set comprises a backrest frame, a waist support arranged above the backrest frame and a back support assembly, the middle of the waist support is hinged to the backrest frame, the bottom of the waist support is hinged to the seat plate frame, and the back support assembly is hinged to the backrest frame; the leg plate frame group comprises a leg plate frame and a knee propping device; the pedal plate group comprises a pedal plate and a gait training device; the posture adjusting assembly can enable the wheelchair to be switched among a sitting posture, a prone posture and a standing posture. According to the utility model, a user can flexibly switch among a sitting posture, a prone posture and a standing posture, so that different use requirements of the user are met; in addition, in the posture changing process, the body of the user can be supported, and the safety of the user is guaranteed.

1. The name of this design product: Multifunctional transfer machine (ZX07). 2. Purpose of this design product: to assist hemiplegic and paraplegic patients in standing, moving, and gait training. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention discloses a multi-form rehabilitation walking aid robot which comprises a rack, a deformable mechanism, a pedal connecting rod mechanism, an exoskeleton hanging bracket and moving wheels. The invention has the prominent characteristics that four mechanism forms of lying, sitting, standing and folding can be switched, the functions of a nursing bed, a wheelchair, a walking aid, an exoskeleton hanging bracket and the like are integrated, and compared with the prior art, the under-actuated mechanism is adopted, so that the number of actuators is reduced; the functions of a nursing bed, a wheelchair, a gait training device, a walking aid, an exoskeleton mounting frame and the like are combined, and horizontal training, sitting and standing switching training, gait training and walking aid training of a patient are achieved.