53 results about "Gross motor functions" patented technology

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

The invention relates to hand function rehabilitation training equipment based on a spontaneous movement imagery electroencephalograph. Hardware of the instrument consists of an electroencephalograph signal acquisition and processing module, a hand force signal real-time detection sensor array, a control module based on multisource information fusion and a rehabilitation manipulator module, and software for supporting the active rehabilitation training of hand functions is arranged in a computer. The rehabilitation training equipment provides external compensation assistance or resistance hierarchically by taking movement imagery electroencephalographs of patients who suffer from cerebral injury as a starting signal and the muscle force of hands as a feedback signal in a self-adaptive mode according to the myasthenia state of the patients to assist patients who suffer from dyskinesia in performing passive, assisted and active rehabilitation training, displays the state information of the hand movement functions and the provided external power information for doctors and the patients and provides an objective and quantitative assessment method and an index for clinical rehabilitation diagnosis and treatment. The instrument is easy to use, has a friendly interface and is accepted by the doctors and the patients easily. A user can operate a system of the instrument without programming experiences, and the operating environment is not complex.

The invention provides a biological motion information based upper limb shoulder elbow wrist joint motion function evaluation method. The method includes: choosing acceleration signals and myoelectric signals as biological motion information of upper limb motion; performing feature extraction to the acceleration signals and the myoelectric signals; on the basis, screening feature values from two aspects: screening features according to typicality and distinguishability of signal features and aiming at actions of different types and different action executing abilities; utilizing different advantages of two kinds of signals to combine the feature values of the two kinds; and taking a short form Fug1-Meyer scoring value as a standard to construct a linear regression model for optimized combination of multiple signal features, and using the optimized combination to serve as upper limb shoulder elbow wrist joint motion function evaluation index criteria. By the method, online real-time information extraction and score detection can be realized, and conventional upper limb motion function evaluation method can be substituted to quantitatively score upper limb motion functions more deeply.

The invention discloses a mandibular movement imitating robot, which belongs to the technical field of bionic robots and can provide a scientific means for the research of the dentistry, the food science and the biomechanics. The mandibular movement imitating robot comprises a static platform, six driving devices, six movable branched chains and a mandibular platform, wherein the driving devices consist of motors and ball screw pair transmission systems and are used for driving the six movable branched chains to realize movement of the mandibular platform in a three-dimensional space. The mandibular movement imitating robot has the advantages that the dimension diameters of a human body mandibular system and the biomechanical characteristics of a mandibular muscle driving system are synthetically considered, the movement function and a chewing environment of a human mandible can be truly reproduced, and the requirements of realness in movement locus and rationality in occlusion strength are satisfied.

The invention discloses a three-posture rehabilitation robot. The three-posture rehabilitation robot comprises a body position conversion device, an upper limb rehabilitation device and a lower limb rehabilitation device, wherein the body position conversion device assists a patient in carrying out body position conversion of different postures under the drive of an electric push rod; the upper limb rehabilitation device is bound to the lower arms for driving the lower arms to carry out the upper limb rehabilitation training; the lower limb rehabilitation device is bound to the thighs for driving the thighs to carry out the lower limb rehabilitation training. The three-posture rehabilitation robot assists the patient in carrying out body position conversion of different postures and the upper and lower limb rehabilitation training under different postures, realizes the active and passive rehabilitation exercise training of the shoulder joints and the elbow joints, and the separation movements of the upper arms and the lower arms, realizes the active and passive rehabilitation exercise training of the hip joints, knee joints and ankle joints, inhibits the abnormal synergic movements of the thighs and the shanks, is beneficial for the improvement of the balancing capacity of the patient and the recovery of the recovery of the movement function, and can liberate the therapists from the heavy rehabilitation training work.

The present invention is a system and method to collect and analyze data produced through biometric and psychometric tasks on interactive computing devices. The collected biometric data can be used to quantify motor skills and to generate statistics that correlate with or predict ability in other functional domains. The biometric data tasks and data collection can be incidental to user interaction with a computing device using a touchpad or other input device—such as users drawing lines to connecting screen elements while using the user interface of an application on a computing device.

The invention brings forward a multi-feeling interactive and multimode control functional electrical stimulation system with organic combination of a functional electrical stimulation technology, movement auxiliary appliances, an internet of things technology, multi-feeling interactive games and human body vital sign parameters. The system is composed of a functional electrical stimulation module, a human body vital sign parameter acquisition module, a movement auxiliary appliance information acquisition module, an information fusion module and a multi-feeling interactive game competition module based on the internet of things technology. Human body vital sign feedback controls a functional electrical stimulation device to be more natural for movement function reconstruction so as to be more coincident with human body movement. Movement function reconstruction can be effectively facilitated by real-time visual and audio feedback so that efficiency of rehabilitation training can be enhanced. Multi-feeling, such as visual and audio, real-time feedback information of the movement process and the movement effect can be provided for trainees by a game interactive type immersion environment based on the internet of things, and cross-region and cross-time training effect competition can be performed so that motivation and willpower of the trainees can be stimulated and maintained to a larger extent, and thus a better rehabilitation effect can be obtained.

The invention discloses a rehabilitation robot training system for monitoring and restraining compensatory movement of hemiplegia upper limb. The system comprises a host computer control center, an interactive display screen, a force feedback gloves, a position tracker, upper limb rehabilitation robot end connectors, an upper limb rehabilitation robot, a base, and a pressure cushion. Two robotic arm ends of the upper limb rehabilitation robot are respectively equipped with the upper limb rehabilitation robot end connectors, which are respectively worn on the upper arm and the forearm of the patient's arm, the patient's arm is driven to move, the host computer control center stores and processes the position tracker, the force feedback glove and the pressure cushion to collect the patient'sdata in real time and monitors and analyzes whether the patient has the compensatory movement, and the interactive display screen displays the position and posture of the patient's upper limbs and the compensation movement monitoring results in real time and uses voice to guide the patient to suppress the compensatory movement. The rehabilitation robot training system realizes the monitoring andinhibition of the compensatory movement in the process of rehabilitation training of the hemiplegia upper limbs, which helps the correct movement of the patient and promotes the enhancement of the motion function of the hemiplegia upper limbs.

The invention belongs to the field of application of robot technologies and relates to a force-sensing space-adaptive gecko inspired robot capable of fulfilling automatic adhesion and anti-adhesion functions and realizing attitude correction. The robot is composed of a body, limbs, a tail, four feet and the like. The design requirement of integrating sensing and driving of leg structures of a miniature foot-type robot is met. The robot can be applied to the design of multi-degree-of-freedom foot-type robots of which the feet have the automatic adhesion and anti-adhesion motion functions and which can meet the three-dimensional contact force perception and space surface adaptive ability. The tail has a rotation speed regulation function, so that the control over the attitude of the gecko inspired robot per se under microgravity can be realized, the four feet can perform front impact adhesion on the target landing surface conveniently, and the gecko inspired robot can land stably on complex target surfaces and perform surface adhesion and anti-adhesion walking motions by combining the design of automatic adhesion and anti-adhesion motions of the feet and three-dimensional contact force perception and space surface adaptive functions.

The invention discloses an energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic. The energy-saving walking leg mechanism comprises a rack, a crank connection rod mechanism, a rebounding mechanism and a toe, wherein the crank connection rod mechanism comprises a crank, a thigh and a rocking rod; the rebounding mechanism comprises a fixed sliding block, a crus, a movable sliding block, a connection rod, a spring, a baffle plate, a ratchet mechanism, a brake cable, an angle limiter and metatarsal bones. The energy-saving walking leg mechanism is designed on the basis of the size parameters of the ostrich hindlimb and the rebounding characteristics of joints between ostrich tarsal bones; an energy-saving and efficient walking leg is designed by simulating the ostrich hindlimb movement; the metatarsal bones automatically stretch by using the rebounding force generated by compressing the spring, so that the energy loss is reduced; the energy-saving and efficient walking leg simulating ostrich hindlimb movement function characteristic can achieve the energy-saving and efficient purpose.

The invention discloses a method for extracting exercise ability parameters represented by cerebral cortex hemoglobin information. The steps include: (1) a stroke patient performs a finger-nose and heel-to-knee exercise experiment: the healthy side and the affected side complete the movement of the upper and lower limbs successively, The patient autonomously controls the start and end of the exercise and the rest time between the two tasks; (2) According to the information of the hemoglobin concentration in the cerebral cortex recorded during the exercise and during the rest, analyze the cerebral cortex of the patient before and after recovery from a multi-band perspective The degree of dispersion of oxygenated hemoglobin concentration in each motor function area, as well as the change trend of active frequency bands with positive concentration values ​​and inhibitory frequency bands with negative concentration values; (3) find out the change parameters of brain hemoglobin information space differences and the activation and inhibition The characteristic parameters of the frequency band represent the strength of stroke patients' exercise ability.

The invention discloses a comprehensive evaluation method for movement functions based on a stroke patient. The comprehensive evaluation method comprises the following steps: acquiring biomechanical information in the movement process of the patient through acquiring equipment, wherein the biomechanical information comprises attitude information, electromyography information and plantar pressure information; constructing a human body limb mechanical model according to the movement process of the patient; fitting the biomechanical information by adopting a Bayesian decision-making function mode according to the biomechanical information as well as weight information corresponding to different parts in the human body limb mechanical model; performing feature extraction on the fitted biomechanical information. With the adoption of the comprehensive evaluation method disclosed by the invention, the attitude information, the electromyography information and the plantar pressure information are integrated and are used for quantitatively evaluating patient movement control and complete validity, and objectively, accurately and quantitatively evaluating patient posture control abilities, so that the rehabilitation diagnosis and treatment become visual and quantifiable, the clinical judgment of falling risks is helped, the life activity range of the patient is determined, and the treatment potential and the treatment direction of the patient are determined.

The invention discloses an evaluation instrument with the function of balancing the motion of a human body, which comprises an evaluation instrument main body, a seat, a motion system, a control system, a controller and a display screen, wherein the evaluation instrument main body comprises a base and a bracket group which is vertically arranged at the front side of the upper end of the base; the seat is arranged at the upper part of the rear end of the base through a support mechanism; the motion system comprises a lower limb motion mechanism and an upper limb motion mechanism which are in mutual driving connection and are respectively positioned in the base and in the bracket group; the control system comprises two intelligent sensors which are respectively installed at the two sides in the mutual driving connecting position of the lower limb motion mechanism and the upper limb motion mechanism and are used for collecting the rotating speed at the left and right sides of the evaluation instrument main body; the controller is used for computing the data and receiving / transmitting the data; and the display screen is arranged at the upper end of the bracket group and used for displaying the balance numerical value. The evaluation instrument disclosed by the invention collects the rotating speed at the left and right sides in the motion of the human body through the intelligent sensors, and the rotating speed is accurately computed through the controller and displayed on the display screen. The evaluation instrument disclosed by the invention is intelligent in operation and accurate in diagnosis result.

The invention relates to a system and method for capturing a hand movement function based on a data glove and a position tracker, relates to the field of hand movement function capturing systems, and aims to solve the problems that the hand movement function is difficult to capture and the existing data glove is difficult to record hand grasping posture data scaling. According to the system and method for capturing the hand movement function based on the data glove and the position tracker disclosed by the invention, hand joint flexion-extension angle information is acquired through the data glove; scaling of the data glove is completed rapidly and accurately through 8-posture data glove scaling experimental paradigms; according to hand movement function experimental requirements, multiple grasping postures of many people for many times can be effectively recorded in combination with wrist position posture data of the position tracker; therefore, the hand movement function capturing accuracy and efficiency are greatly increased; and the system and the method are applied to capturing hand postures.

The invention discloses a wearable power-assisting glove, and relates to the technical field of medical rehabilitation equipment. The power-assisting glove comprises a five-finger glove for wearing and a driving device arranged on the outer side of the five-finger glove; and the driving device comprises a motor, a concentrator, a power-assisting rope, a power-assisting rubber band and a rubber band fixer. The motor drives the power-assisting rope to achieve the purpose of bending fingers, and the power-assisting rubber band drives the power-assisting rope to reset so as to achieve the purposeof straightening the fingers, and to achieve the purpose of hand rehabilitation training. The wearable power-assisting glove is small in size, ingenious in structural design, low in price and convenient to carry, allows a patient with hand hemiplegia and movement function damage to conduct rehabilitation training independently, and has a large application prospect in the rehabilitation field.

The invention relates to a musculus facialis three-dimensional motion measuring device on the basis of motion capture. The musculus facialis three-dimensional motion measuring device comprises a fixed head support and a motion capture device, and the fixed head support is fixed on a skull through a plurality of bone fulcrums of the skull of a measured user. The motion capture device comprises motion capture cameras arranged in front of the face of the measured user and used for capturing relative relation of various facial motion observation points on the face and the fixed head support, and the motion capture device calculates musculus facialis static parameters and dynamic parameters of facial motion observation points according to the relative relation. The fixed head support can be used as an 'absolute' reference system for reflecting the static conditions of the musculus facialis and the dynamic conditions of the facial observation points, is fixed through the bone fulcrums of the skull and can be stably fixed on the skull to move along with the skull without affection of facial expression. Further, the static parameters of the musculus facialis and the dynamic parameters of the facial motion observation points can be quickly, conveniently and accurately measured, and objective evaluation of the motion function of the musculus facialis is realized.

The invention provides a lower limb fracture reduction device. The lower limb fracture reduction device comprises a hip part, a thigh part, a knee joint, a shank part and an ankle part, wherein the hip part has three degrees of freedom including retracting / stretching of a coronal position, antexion / rear protraction of a sagittal plane and rotation separately; the thigh part has degree of freedom of stretching / pushing; the knee joint has degree of freedom of flexion and extension of the sagittal plane; the shank part has degree of freedom of stretching / pushing; the ankle part has two degrees of freedom including degree of freedom of flexion and extension of the sagittal plane of the ankle part and rotation separately; and the various degrees of freedom are sensed by a sensor to guarantee accurate exercise and then guarantee safety of human tissues. The lower limb fracture reduction device has movement functions corresponding to the lower limbs of a human body, reduction and temporary fixation of fracture are realized by movement of various parts of the lower limbs; and therefore, the lower limb fracture reduction device has the advantages of accurate reduction, good safety and high degree of automation.

The invention relates to a rehabilitation device and discloses a paralyzed limb independence enabler. A plurality of position sensors are arranged on one side of a healthy limb, joint movement is converted into electrical signals, and an electronic controller controls a mechanical execution device corresponding to a joint on one side of a paralyzed limb to generate mechanical movement, the joint is driven to move, and accordingly the paralyzed limb can restore the movement function again and can actively partially participate in life activities in a self-control mode. The paralyzed limb independence enabler simultaneously enables a patient to be liberated mentally, restore confidence and obtain ordinary physiotherapy rehabilitation training.

A memory alloy artificial cervical intervertebral disc comprises an artificial intervertebral disc body and a support plate sleeved with the artificial intervertebral disc body, wherein the artificial intervertebral disc body has conicity; drop preventing reverse stings are distributed on the upper and lower surfaces of the artificial intervertebral disc body; fixed branches are arranged at the two sides of the upper and lower surfaces; and drop preventing pawls are respectively arranged at the two ends at the inner side of each fixed branch. The intervertebral disc has simple process and shape, is easy to deform and insert, is stable in installation after complex, is convenient to use in operation, is secure and reliable in fixation, maintains the cervical vertebra motion range, reduces adjacent vertebral body complications, not only shortens the operation time and simplifies the operation, but also dispenses with bone removal and grafting, reduces more pains of the patient, maintains or increases the motion range of the vertebral articulations with lesions to some extent, avoids load of the adjacent vertebral articulations from increasing after fusion and fixation of the vertebral articulations with lesions, slows down degeneration of the adjacent vertebral articulations and realizes the aims of maintaining the movement functions and delaying and reducing secondary degeneration of the adjacent segments.

The invention discloses a similar dual-A-arm suspended robot crotch lateral-deviation damping system. The system is positioned on the crotch for connecting thighs and a body of a robot, and functions of damping and supporting lateral-deviation movement of legs of the robot can be realized. Based on a biological movement function bionics principle, structural characteristics and movement functions of the shoulder and the crotch of a tetrapod are simulated so as to realize leg lateral-deviation movement of a multi-legged robot, and the robot is guaranteed to have enough damping and vibration absorption capabilities. In order to completely achieving the goal, the similar dual-A-arm suspended robot crotch lateral-deviation damping system is designed. By depending on components such as a four-bar mechanism framework, extension springs and a lateral-deviation driving device, the system can achieve lateral-deviation movement of the crotch of the multi-legged robot and a damping function. The four-bar mechanism framework has good stability, lateral-deviation movement can be completed by matching of lead screw driving, total system stability of the multi-legged robot is improved, good bionic effect is gained, and flexibility of the robot is improved greatly.

The invention discloses a rehabilitation motion control method and system based on a rehabilitation robot, wherein the rehabilitation motion control method comprises the following steps: acquiring teaching data, wherein the teaching data comprises motion data of at least one motion joint when a patient is driven to perform teaching motion; generating a smooth motion track of the motion joint to perform rehabilitation motion according to the motion data; controlling the rehabilitation robot to drive the patient to perform rehabilitation motion according to the smooth motion track. The method comprises the following steps: firstly, driving the patient to carry out a complete teaching motion by a therapist; recording teaching data by the rehabilitation robot; carrying out track processing onthe basis of the teaching data to generate the smooth motion track of the rehabilitation motion; finally, reproducing the teaching track by the robot to drive the affected lateral limb of the patientto carry out rehabilitation training. According to the assistance of the rehabilitation robot, the labor intensity of the therapist can be obviously reduced, and meanwhile, the smooth motion track ismore beneficial to the scientific and effective rehabilitation training of the patient, so that the purpose of restoring the motion function of the patient is achieved.

The invention discloses a movement function evaluating system related to muscle abilities of old persons. The movement function evaluating system comprises a data collecting module, a graphic interface operation database module, a gait data visualization module and an old-person tumbling risk evaluating module, wherein the data collecting module is used for inputting basic data of more than 1,000old persons covering different ages and collecting corresponding old-person movement capture data and old-person plantar pressure data; the graphic interface operation database module is connected with the output end of the data collecting module; the gait data visualization module is connected with the output end of the graphic interface operation database module; the old-person tumbling risk evaluating module is connected with the output end of the gait data visualization module, and old-person tumbling risks are classifies with a SVM. According to the movement function evaluating system related to the muscle abilities of the old persons, movement functions related to muscle abilities of the old persons can be evaluated, complex physical checking does not need to be carried out on the old persons, the walking process of the old persons is only observed, and tumbling risk ranking of the old persons can be obtained.

The invention discloses a method and device for evaluating and training the fine motion function of fingers. The device comprises a support, a position and posture sensor, multi-axis force sensors, a controller and finger pinching pieces. The multi-axis force sensors are symmetrically arranged on the two sides of the support respectively and connected with the finger pinching pieces. The position and posture sensor is arranged at the top end of the support. The multi-axis force sensors are used for collecting three-dimension space force signals of the fingers, the position and posture sensor is used for collecting space position data of the device, the controller generates visual posture feedback according to the information collected by the multi-axis force sensors and the position and posture sensor, and real-time display is carried out. According to the method and device, the force control capacity and posture and position control capacity of all the participating fingers can be effectively tested, testing precision is high, high sensitivity is achieved, and the repeated testing ICC is larger than 90%. The precise finger force and posture and position control capacity of a subject can be reflected objectively and accurately, and testing does not depend on subjective experience and judgment of a tester any more.

The invention according to the application relates to a locomotion therapy and rehabilitation device developed for patients whose locomotion function is either lost or declined due to spinal disorders, orthopaedic surgeries and central nervous system disorders to redevelop and improve their walking ability.

The invention discloses a motion function assessment method, and the method comprises the steps: receiving motion data collected by collection equipment, calculating multi-dimensional assessment indexvalues according to the motion data, and performing the assessment of a motion function according to the multi-dimensional assessment index values. Compared with a conventional active observation method for the assessment of the motion function, the method achieves the assessment of the motion function according to the objective motion data collected by the collection equipment, and the multi-dimensional assessment index values are calculated based on the motion data, thereby achieving the assessment of the motion function from multiple dimensions. The assessment process is more objective andfiner, so the method is higher in accuracy. The invention also discloses a motion function assessment device.

The invention provides a method for measuring the skin deformation of a human body during the full swing motion of golf. The method comprises the following steps: taking the anatomy and human engineering of clothes as the reference, choosing the human body measuring points; according to the human body measuring points, drawing lines of human body; collecting the human body gesture data under states of static standing and key swing motions; analyzing the stretching and deformation situation of skins of upper human body under swing motions, compared with the states under still standing. According to the method, the deformation amount of human body skin is researched so as to precisely represent the motion characteristics of golf sports; the method can guide the manufacturing of golf clothes, and solves the problems of sport functions and comfortableness of golf clothes.

The invention provides a supplementary motion system and a control method thereof. The system comprises a data acquisition unit, a signal processing signal, a motor driver and a mechanical actuating mechanism, wherein the data acquisition unit is used for acquiring electromyographic signals of a plurality of parts of limbs; the signal processing unit is used for respectively extracting time-domain characteristics and frequency characteristics of the electromyographic signal of each part and training and identifying multi-joint coordinated action types of the limbs by adopting a parallel mode classification algorithm; the motor driver is used for driving the mechanical actuating mechanism to actuate according to the action types; and the mechanical actuating mechanism is used for assistingthe limbs to finish the corresponding actions under the drive of the motor driver. By adopting the system and the control method thereof, a user can select a training mode by setting a mechanism actuating structure as active training or passive training; and the system can automatically sense the action intention of the user, coordinate the user to finish training needs with different strengths and speeds, and improve the motion function rehabilitation effect.

The invention provides intelligent robot equipment and a service system which can be used for rehabilitation of post-cerebral apoplexy exercise functions. According to the invention, by integrating the brain-computer interface technology and the internet technology with post-cerebral apoplexy exercise rehabilitation, an intelligent cerebral apoplexy rehabilitation robot system which utilizes the brain-computer interface technology and governs paralyzed limbs through the cerebral hemisphere with complete functions instead of the cerebral hemisphere with impaired functions is provided. Meanwhile, a set of mobile equipment and service system capable of carrying out remote rehabilitation monitoring and guidance in real time is provided, so that existing limited high-quality rehabilitation medical resources are more fully utilized, and finally the purpose of effectively improving the cerebral apoplexy rehabilitation effect and efficiency is achieved.

The invention discloses automatic gait analysis for evaluating a motion function recovery condition after HIBD treatment. A device according to the invention comprises a data acquisition terminal, a wireless transmission module and a cloud server set. The data acquisition terminal comprises a runway, a timing module, a step counting module, a step pitch measuring module and a landing area acquisition module. The cloud server set comprises a router, a data buffering server and an analysis evaluation server. In the cloud server set, the router is connected with the data buffering server and theanalysis evaluation server. According to automatic gait analysis for evaluating the motion function recovery condition after HIBD treatment, through performing speed, stride, landing area and limb lifting time on an analysis object, and comparing the speed, the stride, the landing area and the limb lifting time with standard values, a comprehensive score is obtained, wherein the score can directlyreflect the recovery condition of the analysis object.