32 results about "Gait types" patented technology

A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow / outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.

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.

The invention provides a general gait design and control method of a footed robot. The gait design includes determining the gait parameters: StepsInGait, NrLiftedPos, TLDivFactor, HalfLiftHeigth, and the position parameters of the starting key points of the gait cycle of each leg of the footed robot. These parameters are used to determine a set of key position points in the gait cycle. The control method obtains the position coordinates of the foot end of each step of each leg of the robot in a gait cycle, and solves the rotation angle of each joint of the leg according to the kinematic model and inverse kinematics. The invention simplifies the gait design into the setting of gait parameters, one set of gait parameters corresponds to one gait type, and a set of key position points in the gait cycle is determined; Height, fuselage height and other control variables, provide a set of general foot robot foot trajectory calculation method.

The present invention provides a lower limb prosthesis hierarchical control system and method based on multi-source information of the healthy leg, comprising: a human-machine system module, a sensing system module, a signal preprocessing module and a hierarchical controller; the sensing system module is installed in a The human body healthy leg side of the human-machine system module; the layered controller consists of a top-level controller module, a middle-level controller module and a bottom-level controller module. The input of the signal preprocessing module is the signal output of the sensor system module, and its output is divided into two parts, which are respectively connected to the top controller module and the middle controller module; the output of the top controller module is connected to the middle controller module; the middle controller The output of the module is connected to the bottom controller module; the bottom controller module conducts two-way interaction with the prosthetic side of the human-machine system module. The invention can realize the discrete switching of gait of different gait types in actual use, and can continuously adjust the walking speed in real time according to the human body intention within the same gait cycle.

The present application relates to an auxiliary movement system and a lower limb exoskeleton control method. The auxiliary movement system includes a lower limb exoskeleton support device, and a data acquisition device and a control device arranged on the lower limb exoskeleton support device, and the lower limb exoskeleton support device includes a calf support part, a thigh support part and a hip support part . The data acquisition device includes a first sensor disposed at the connection between the hip support part and the thigh support part and a second sensor disposed at the calf support part, for collecting gait data and walking data related to human motion. The control device is arranged on the hip support part, and is used to obtain the gait data and walking data collected by the data acquisition device, and determine the current gait type according to the gait data and gait classification rules, so that it can be based on The gait type and the walking data under the corresponding gait type analyze the real-time physical state of the patient.

A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type. Therefore, the walking assistance method may effectively assist various types of abnormal gaits.