251 results about "Gait training" patented technology

A gait training system comprising an ambulation assistance device operable to provide support for an ambulating user and a target projection device attached to said ambulation assistance device, the target projection device operable to project a guide target on a predetermined position on a surface, the guide target positioned so a user can step on the guide target while ambulating in a predetermined gait.

The invention relates to a motion control method of a lower limb rehabilitative robot. In the method, aiming at different rehabilitation stages of a patient, two working modes of passive training and active training are carried out: under the mode of passive training, the patient is driven by controlling the robot to finish specific motions or motion according to a right physiological gait track; abnormal motions of the patient are completely restrained; and the patient passively follows the robot to do walking rehabilitation training; under the mode of active training, limited abnormal motions of the patient are restrained by the robot; through a real-time detection on joint driving forces generated when the patient acts on the robot in the motion process, human-computer interaction moment is extracted by utilizing an inverse dynamic model to judge the active motion intention of lower limbs of the patient; and the interaction moment is converted into correction value of gait track by utilizing an impedance controller to directly correct or generate the gait training track the patient expects through an adaptive controller, therefore, the purpose that the robot can provide auxiliary force and resistant force for the rehabilitation training can be indirectly realized. By means of the motion control method of the lower limb rehabilitative robot, rehabilitation training motions suitable for different rehabilitation stages can be provided for a dysbasia patient, thereby enhancing active participation degree of the rehabilitation training of the patient, building confidence of the rehabilitation and positivity of the motion, and then enhancing effect of the rehabilitation training.

A gait training system using motion analysis is provided to perform consecutive motion analysis while a person to be measured is walking on a treadmill. The gait training system includes a treadmill including a belt rotatable by a roller of which a rotating rate is adjustable in response to a walking speed of a walker; and measuring means for transferring signals associated with a movement of a body of the walker. The measuring means are attached to the body. A control unit analyzes a walking movement based on a data from the measuring means, and a display unit displays the data to the walker.

Gait training apparatus and method for use thereof for providing leg swing assistance to a patient. The apparatus comprises a support structure and one or more leg orthoses attached to the support structure, each leg orthosis comprising a thigh member attached to the support structure at a hip joint, and a shank member attached to the thigh member at a knee joint. Both members have respective connectors for securing them to the corresponding body parts of the patient. The hip joint and knee joint are each biased by biasing members. The support structure may comprise a frame defining a patient activity region, including a base, a back support, a pair of support handles, and a weight support member mounted above the activity region. A method of using the device comprises selecting parameters for the biasing members using information about the patient.

A device and method for gait training, such as for rehabilitation of a person after a stroke is provided. In some embodiments, the device comprises a stimulator, preferably electric stimulator, for provoking a spinal cord withdrawal reflex in the person by stimulation on the person's foot in response to a control signal. Hereby, the person's leg will move and initiate a gait swing. A sensor is placed to sense movement of the leg and provide a feedback signal accordingly. A processor unit with a processor runs a control algorithm which calculates the control signal in response to the feedback signal. Thus, the method is based on a closed-loop design, and the control signal is preferably calculated for each walking step, and it is preferably based on the feedback signal obtained from the preceding walking step. Hereby reflex habituation can be accounted for. Preferably, the stimulator has a plurality of stimulator channels with electrodes placed on different sites distributed on the sole of the foot and on the heel. The feedback signal may be based on accelerometer(s), and / or gyroscope(s), and / or goinometer(s) positioned on the leg and / or foot, e.g. partly or fully integrated in an in-sole for a shoe etc.

A method for restoring functional ambulation in subjects with incomplete spinal cord injuries which includes partial weight bearing therapy followed by epidural spinal cord stimulation (ESCS) to facilitate partial weight bearing therapy and over-ground walking. Electrical epidural stimulation (EES) is generated by an implanted device during partial weight bearing therapy on a treadmill. The subject is then transitioned to full weight bearing gait training on a treadmill with EES to over-ground gait training with EES and a walker, and finally to full weight bearing independent stepping over-ground with EES with or without an assistive device.

A lightweight, foldable device for the partial weight bearing during walking and gait training is provided. The lightweight, partial weight bearing suspension walker is made from two frames that are pivotally attached and can be folded at the pivot point for storage or transport. The apparatus can be adjusted to fit over wide treadmills or wheelchairs and through narrow doors. The apparatus includes two fail-safe lift and support devices to insure patient safety in case of unintentional release by the operator.

The invention relates to an assembly digital field based on a flexible array pressure sensor and a method for training gait. Parameters of an athlete including action time sequence, action frequency, position calibration, stress center point, stress time and flight time can be acquired through acquiring information including pressure of foot soles of the athlete contacted with the flexible array pressure sensor unit in the assembly digital field. The digital field and the method have the advantages that the requirement of real time can be met in longer distance; the module of the assembly digital field can be disassembled and assembled arbitrarily, and can extract gait characteristics on multiple sports training events; and the athlete can correctly recognize the training effect of the athlete self through a sports effect evaluation system and an expert system, and adjust the training plan in real time. The digital field and the method can also be applied in the field of mode recognition.

A full body Gait Training Harness for children with disability may be modified for adult use to assist a trainer to teach functions such as walking with a proper gait and crawling. Shoulder straps attached to a torso-encircling belt cross at the trainee's back to eliminate slippage, allowing use on those who have no arms. Leg loops secure the harness to the thighs, rather than through the crotch, for a more secure and comfortable fit. Leg stabilization straps between the leg loops and the shoulders provide tension to encourage development of a proper gait and to prevent crossing of the trainee's legs. Shoulder handles allow a trainer to support a trainee from above without stooping, while a back handle may be used to lift a trainee or support them in a crawling position. Walking extension straps attached to the shoulders allow trainee independence while the trainer retains control.

The invention discloses a gait phase detection apparatus with ankle joint angle self-rectification function, which comprises a shank fixing mechanism, a ankle joint angle control mechanism, a ankle joint angle measuring mechanism and a thenar pressure measuring footwear. The invention can control ankle joint motor rotation angle according to thenar pressure signal, regulate ankle joint angle for foot drop patient in weight reduction walking training, prevent the damage to foot due to the towing and impacting caused by foot drop, and improve the dorsiflexion ability of foot drop patient; a pressure sensor and an angle sensor collects thenar pressure signal and ankle joint angle signal timely, an upper computer performs fuzzy logic algorithm to realize to detect gait phase smoothly and submissively. patient with walking ability defects or normal person with some degree of gait deformity can wear the invention while walking, detect the gait phase information in walking, estimate gait recovery degree scientifically, and optimize gait training strategy.

A robot for gait training includes a walking-assist robot (100) configured to by put on legs of a walking trainee; a treadmill (200) with a conveyor belt floor which moves at a designated speed in order for the walking trainee to continuously perform gait training at a fixed position; a load-hoist (300) for upwardly supporting the body of the walking trainee; and a controller (400). The controller (400) includes an input unit (410) for receiving or inputting information or commands about size of the body of the walking trainee, and a speed, angle and rotational force of each joint required for training of the walking trainee, an information storage device for selectively storing the information and commands received through the input unit (410), a control unit for controlling a driving state of the walking-assist robot (100), the treadmill (200) and the load hoist (300) according to the information or commands input through the input unit (410) or transmitted from the information storage device, and a monitor (420) for numerically or graphically displaying the information transmitted from the walking-assist robot (100), the treadmill (200), the load hoist (300) and the information storage device. Therefore, it is possible to check the angle, speed and torque of each joint of the walking trainee in real time. As a result, by comparing the current walking of the walking trainee with a standard walking pattern appropriate for the training for the walking trainee, it is possible to analyze and determine whether the gait training is correctly performed and which walking pattern is more appropriate for the walking trainee.

A flexible orthotic device includes two or more active components embedded in a sheet material. Each active component can include a controller and one or more actuation elements controlled by the controller. The two or more active components can communicate with each other and cause the active components to contract and dynamically change the structural characteristics of the orthotic device. By coordinating the motion of two or more active components, the flexible orthotic device can be programmed to assist or resist the motion of a subject wearing the device. The orthotic device can be effectively employed to provide locomotion assistance, gait rehabilitation, and gait training. Similarly, the orthotic device may be applied to the wrist, elbow, torso, or any other body part. The active components may be actuated to effectively transmit force to a body part, such as a limb, to assist with movement when desired. Additionally or alternatively, the active components may also be actuated to provide support of varying rigidity for the corresponding body part. The active components can be actuated to provide specialized learning tasks to enhance exploratory learning.

The invention relates to an external skeleton robot for exercising lower limbs and an exercise control method thereof. The robot comprises the following four parts of a support balance frame, external skeleton mechanical legs, a running machine and a control system. The exercise control method has two modes, namely a passive walking exercise mode and an active walking exercise mode. In the passive walking exercise mode, the robot is controlled to drive an operator to complete specific exercise or exercise by a correct physiological gait trajectory; in the active walking exercise mode, the robot inhibits the limited abnormal exercise of the operator, directly corrects the limited abnormal exercise or generates gait exercise trajectories expected by the operator through a self-adaptive controller and indirectly fulfills the aim that the robot supplies walking exercise auxiliary force and resistance. The external skeleton robot can improve the exercise ability of limbs of human bodies, can assist persons walking and can reduce the exercise intensity under the condition that the persons bear load or walk for a long time.

An interactive exoskeleton robotic knee system for assist walking and gait training. The system comprises of an exoskeleton framework to be attached to the thigh and shank of the user's leg; electric motor; mechanical lock; motion sensor assembled on the lower limb unit, and a control box. The system provides extension and flexion movement in the knee joint.

A gait training device operates in cooperation with a wearable motion assist device that specifies a walking phase of a wearer, and applies power to the wearer in correspondence to the walking phase of the wearer, the gait training device including: a body weight support device that lifts up the wearer to support a weight applied on feet; a moving unit that is movable according to a walking motion of the wearer; and a control device that controls a moving speed of the moving unit and / or an amount of body-weight support by the body weight support device based upon a position of a center of gravity of the wearer detected by the wearable motion assist device.

An actively controlled orthotic device includes active components that dynamically change the structural characteristics of the orthotic device according to the orientation and locomotion of the corresponding body part, or according to the changing needs of the subject over a period of use. Accordingly, the orthotic device can be effectively employed to provide locomotion assistance, gait rehabilitation, and gait training. Similarly, the orthotic device may be applied to the wrist, elbow, torso, or any other body part. The active components may be actuated to effectively transmit force to a body part, such as a limb, to assist with movement when desired. Additionally or alternatively, the active components may also be actuated to provide support of varying rigidity for the corresponding body part.

The invention discloses an interactive gait training and evaluation system based on multi-source information fusion for stroke patients. The interactive gait training and evaluation system structurally comprises a pose acquisition module, a plantar pressure acquisition module, a fatigue information acquisition module, a wireless communication module, a data analysis and processing module, an intelligent cloud platform, an AR (augmented reality) helmet and a mobile terminal. The system aims at stroke patients with certain walking ability and can intelligently provide the patients with high-immersion interactive rehabilitation training game on the basis of the AR technology, and the gait rehabilitation training effect on the patients can be improved effectively; multi-dimensional gait information during rehabilitation training of the patients is acquired by a gait acquisition module and processed by the data analysis and processing module, processed information and data are transmitted to the mobile terminal through the wireless communication module, and gait evaluation results can be fed back to doctors and the patients in real time in a highly visualized manner; safety of the patients in the rehabilitation training process is guaranteed on the basis of muscle fatigue monitoring; the intelligent cloud platform can realize automatic tracking, evaluation and push of gait diseases.

The invention relates to a movable parallel wire driven lower limb rehabilitation robot and an implementation method thereof. The robot comprises a suspension weight reducing unit, a tension sensor, safety straps, a safety handrail, a spring, a door fence, wire driving units, universal driven wheels, a leg wearing device, a treadmill, rear driving wheels, wires, a supporting frame and a liquid crystal display screen. The whole robot is of a truss structure formed by the supporting frame, and the suspension weight reducing unit on the upper portion is connected with the safety straps through the wires; the movement of the waist of a patient is constrained through four groups of springs between four vertical beams on the left and on the right and between the safety straps; the liquid crystalscreen is arranged above the safety handrail on the front portion of the robot; the patient and a wheelchair enter and go out through the left door fence; four cross beams at corresponding positionsof an affected limb sagittal plane on each side are provided with the four wire driving units; the affected limb is driven for rehabilitation training by pulling the leg wearing device through the wires; the universal driven wheels are installed on the front portion of the bottom of the robot, and the rear driving wheels are arranged on the rear portion of the robot. The robot can achieve gait training and walking training in passive, power-assisted and active modes.

The present invention provides a body lift-assist walker device for gait training is provided by the invention. The patient wears a pressurized body suit over all or a portion of his lower body, and the suit is attached to the walker device. A positive pressure or vacuum condition is applied to the interior of the suit, so that the differential pressure condition across the suit offloads a portion of the patient's body weight to the ground through the supportive walker device to make it easier for him to walk or run. The walker device also includes a lift-assisted body weight support device operated by a constant force mechanism like a pneumatic air cylinder that can lift the patient from a sitting position to a standing position with minimal physical effort. The device provides a portable and convenient system for persons undergoing physical therapy for treatment of gait or balance problems following an injury, stroke, or neurological disorder, or for use by elderly or disabled persons who have encounter difficulties in the sit-to-stand movement or walking.

The invention discloses a rehabilitation training robot for lower limbs of human bodies. The rehabilitation training robot comprises an exoskeleton power device, a treadmill, a waist connecting device, a suspension weight reducing device and a control system of the suspension weight reducing device. The rehabilitation training robot has the advantages that the human bodies can be driven by the exoskeleton power device to be trained according to gait tracks of normal persons during walk; the treadmill is cooperated with exoskeletons, and accordingly identical training speeds can be provided topatients; the human bodies can be hung by the suspension weight reducing device by the aid of ropes, the patients can be pulled to move according to predetermined tracks in the up-down directions, andweight reducing force can be provided; the waist connecting device is a connecting portion for the exoskeleton power device and the suspension weight reducing device, the widths of the human bodies can be adaptively adjusted, and requirements of rising and falling movement of the human bodies in walking procedures can be met; gait training can be carried out on the patients according to predetermined gait tracks under the effects of gait training and suspension weight reducing control systems, the patients can be pulled by a weight reducing system to move according to synchronous gravity center tracks, accordingly, rising and falling change of the bodies when normal human bodies walk can be simulated, and rehabilitation effects can be improved.

The invention discloses a method and a system for assisting gait training. The method comprises: creating periodic gait features of a human body under a motion mode through kinematic information, and determining a time phase of performing electrostimulation on target muscles within a gain period according to the periodic features; collecting kinematic data of the human body in a motion process in real time, and judging the time phase of the current state of the human body according to the kinematic data; and performing electrostimulation on the target muscles if the time phase of the current state of the human body is the time phase of performing electrostimulation on the target muscles. The method disclosed by the invention is used for stimulating the lower limb muscles of the human body at a proper time through current to assist recovery, thereby being capable of improving the lower limb motion quality of a patient.

The invention discloses a multiple-pose lower limb rehabilitation training robot which comprises a robot base and a training bed. The training bed comprises two leg mechanisms, a seat, a seat width adjusting mechanism, a human body gravity center adjusting mechanism, a back cushion, a weight reduction system and a seat back cushion angle adjusting mechanism. The robot base comprises a bed body angle adjusting mechanism, and the bed body angle adjusting mechanism is matched with a seat angle adjusting mechanism and can provide multiple pose training modes including lying, sitting, standing and the like for a paralysis patient. Each leg mechanism comprises a hip joint, a knee joint and an ankle joint. The hip joint, the knee joints and the ankle joints are driven by a motor and are provided with angle and force sensors, can be used for recognizing motion intention of the patient and facilitate active and aiding training of the patient. The human body gravity center adjusting mechanism, the leg mechanisms and the weight reduction system are mutually matched, bionic gaits approximating to natural walking of a human body can be achieved, and gait training effect can be improved.

Gait analysis systems are provided with body support systems for user's self-adjustment of body weight force when ambulating with the body support systems. The gait analysis systems with the body support systems can be used with a treadmill or over a fixed surface for gait training and analysis with the ability to adjust the user's body weight force during the collection of gait data. Gait data for analysis is collected by an array of sensors mounted on the body support systems in various combinations for sensing gait movement, video imaging, heel strike and toe off states, video processing, feet pressure maps and electromyography.

The invention provides a front face human body automatic identity recognition method under a long-distance video. The method comprises a gait module and a human face module, and the method comprises the steps of firstly reading a video file, using the Adaboost method for detecting pedestrians, automatically opening the human face module and the gait module for respectively adopting the kernel principal component analysis on gait and human face for carrying out feature extraction if detecting the pedestrians, and finally adopting the decision-making level fusion method which adopts the human face features to assist the gait features for carrying out recognition. The method proposes a new solution concept for long-distance identity recognition and adopts the decision-making level fusion method which uses the human face features to assist the gait features. The human face features are assisted in the single-sample gait recognition, and the method has the advantages that even the gait training sample is the single sample and human face images are multiple, the number of the training samples can be expanded from another point of view, thereby being beneficial to the identity recognition, and improving the recognition precision by 2.4% by the fusion with the human face features.

The invention aims at providing a comprehensive gait rehabilitation training system and relates to a gait rehabilitation training robot, which comprises a mechanical leg. The mechanical leg comprises a hip rod (23), a thigh section (24), a shank section (25), a shank jacket (26) and linear transmission units (20). The gait rehabilitation training robot is characterized in that the hip rod (23) and the thigh section (24) are hinged through a movable bearing to form a hip joint, the thigh section (24) and the shank section (25) are hinged through a movable bearing to form a knee joint, the rear end of the first linear transmission unit (20) is hinged with the lower side surface of the hip rod (23), the movable end of the first linear transmission unit is hinged with the thigh section (24), and hip joint motion is realized through the extension and retraction drive of the first linear transmission unit; and the thigh jacket (26) is sheathed on the thigh section (24), the length of a thigh is adjusted by adjusting the position of the thigh jacket (26), one end of the second linear transmission unit is hinged with the thigh jacket (26), the movable end of the second linear transmission unit is hinged with the shank section (25), and knee joint motion is realized through the extension and retraction drive of the second linear transmission unit.

A treadmill body support apparatus is provided to assist users in standing, walking and running on a treadmill surface and exercising safely on the treadmill surface with freedom of vertical and lateral gait movement. The treadmill body support apparatus can be used by disabled and impaired users that require movement of the user to and from the treadmill surface from a mobility aid such as a wheelchair and adjustable weight-bearing support and balance support while exercising safely on the treadmill surface with freedom of vertical and lateral gait movement.

The invention discloses a slave-type lower limb gait training rehabilitation robot system which is divided into a lower limb wearable exoskeleton robot and a slave robot. The slave-type lower limb gait training rehabilitation robot system comprises two translational degrees of freedom, two vertical weight loss degrees of freedom of the slave robot and six rotational degrees of freedom of two legs,hip and knee of the wearable robot. The lower limb wearable exoskeleton robot is fixed on lower limbs and waist of a patient and provides walking assistance according to the gait of the patient and helps the patient to complete the walking action; and the slave robot is connected with the lower limb wearable exoskeleton robot to play a role in supporting the patient and reducing the weight, so that the corresponding following movement can be realized according to the walking of the patient. The slave-type lower limb gait training rehabilitation robot system is mainly used for solving variouslower limb movement dysfunctions caused by the central nerve injury, provides the safe, long-acting and large-range gait training for the patient and can improve the lower limb rehabilitation trainingefficiency of the patient.

An apparatus (100) for gait training has a movable base (200) comprising at least one drive unit (210) for moving the movable base, an arm arrangement (300) extending from the movable base, a weight support system (400) to enable a person to be at least partially suspended from above via said arm arrangement, a movement detector to detect a movement of the person and a control unit adapted to control said drive unit(s) in response to a movement of the person detected by the movement detector such that the movable base follows the person in a predetermined distance range and in a predetermined angular range with respect to a movement direction of the person.

A device and method for gait training, such as for rehabilitation of a person after a stroke is provided. In some embodiments, the device comprises a stimulator, preferably electric stimulator, for provoking a spinal cord withdrawal reflex in the person by stimulation on the person's foot in response to a control signal. Hereby, the person's leg will move and initiate a gait swing. A sensor is placed to sense movement of the leg and provide a feedback signal accordingly. A processor unit with a processor runs a control algorithm which calculates the control signal in response to the feedback signal. Thus, the method is based on a closed-loop design, and the control signal is preferably calculated for each walking step, and it is preferably based on the feedback signal obtained from the preceding walking step. Hereby reflex habituation can be accounted for. Preferably, the stimulator has a plurality of stimulator channels with electrodes placed on different sites distributed on the sole of the foot and on the heel. The feedback signal may be based on accelerometer(s), and / or gyroscope(s), and / or goinometer(s) positioned on the leg and / or foot, e.g. partly or fully integrated in an in-sole for a shoe etc.

The invention discloses a support vector machine-based pedestrian gait classifying system and a support vector machine-based pedestrian gait classifying method. The system comprises a data acquiring module, a data processing module and an SVM (Storage Virtualization Management) module, wherein the SVM module is provided with a storage medium; the data acquiring module acquires gait training data and transmits the gait training data to the data processing module to be processed; the data processing module outputs the input quantity of the acquired gait training data to the SVM module to be studied to obtain an SVM classifier which is then stored in the storage medium; during real-time test, after real-time gait information is acquired in real time by the data acquiring module, data processing is preformed by the data processing module to acquire the input quantity of the test data; the input quantity of the test data is classified by the SVM module according to the SVM classifier to obtain real-time gait type. A static interval in a pedestrian moving process can be precisely detected by the system and the method, and the positioning precision is improved.