46 results about "Ground reaction force" patented technology

The invention discloses a motion visual evaluation system and method combining attitude motion and visual training, and relates to the technical field of digital medical treatment and visual health, and the system comprises a biomechanics-attitude acquisition module which integrates a three-dimensional force sensor, a high-precision joint angle sensor, an inertial measurement unit sensor group and a depth camera; synchronously collecting joint torque, ground reaction force, muscle power output, joint angle and posture offset; through a mechanics-vision correlation model of the data processing module, how the biomechanical characteristics influence the visual response and the feedback effect of the visual task on the biomechanical state can be deeply excavated, the improvement of the posture and the visual ability is concerned, the training strategy can be optimized from the biomechanical level, and the training efficiency is improved. And a key basis is provided for the evaluation feedback module to output a multi-dimensional report containing collaborative rating, biomechanical optimization direction and visual adaptation suggestions.

The invention discloses a lower limb multi-joint torque intelligent prediction method and related equipment, and relates to the technical field of joint torque prediction.The method comprises the steps that original surface electromyography sEMG, kinematics data and ground reaction data of a subject under different lower limb movements are collected; kinematics data and ground reaction force data are used as input, and multi-degree-of-freedom angle data and moment data of three joints of the lower limb are obtained through inverse kinematics and inverse dynamics calculation; constructing a lower limb multi-joint torque prediction model through a deep learning technology, and performing model training by using the training set; and inputting the test sample set into the trained lower limb multi-joint torque prediction model to obtain a joint torque prediction result of the subject. According to the method, the problems of low joint torque prediction precision, high calculation cost and the like in the prior art are solved, the method has the advantages of being easy to implement, high in generalization, capable of processing large-scale data and the like, and prediction results are expected to be applied to three-dimensional compliance and modular control of the exoskeleton robot.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

This invention discloses a method for analyzing and calculating the tensile force of reinforced bodies in a reinforced cushion layer of a pile-net composite foundation, comprising: S1, obtaining the basic parameters of the pile-net composite foundation according to the design scheme of the pile-net composite foundation, including embankment parameters and reinforced foundation parameters; S2, calculating the average stress of the soil between piles at the pile top plane of the pile-net composite foundation based on the embankment parameters and reinforced foundation parameters; S3, calculating the average ground reaction force at the base of the reinforced cushion layer of the pile-net composite foundation; S4, calculating the total tensile force of the reinforced bodies caused by vertical loads based on the average stress of the soil between piles obtained in S2 and the average ground reaction force obtained in S3; S5, calculating the total tensile force of the reinforced bodies caused by the slope thrust effect; S6, calculating the tensile force of each layer of reinforced bodies in the reinforced cushion layer of the pile-net composite foundation. This method is applicable to more complex application scenarios and is a means of calculating the tensile force of reinforced bodies in reinforced cushion layers with both high calculation efficiency and accuracy.

This invention discloses a gait prediction method and system based on a support-aware multi-scale temporal convolutional network. The method includes the following steps: S1, collecting plantar pressure data through pressure insoles and ground reaction force data through a force plate to construct a gait dataset; S2, performing data preprocessing and feature enhancement on the dataset from step S1; S3, establishing a multi-scale support-aware temporal convolutional network (MSA-TCN) model; S4, training the network model from step S3 using supervised learning, inputting the dataset from step S2 into the trained network model for prediction, and outputting the predicted ground reaction force. This invention overcomes the shortcomings of existing technologies in multi-scale temporal feature extraction, gait phase-aware modeling, and synchronous high-precision prediction of multi-dimensional mechanical parameters.

The control device (10) according to this disclosure switches parameters that affect the ground reaction force at the feet of the robot's (20) legs (22) in response to a change in the robot's (20) gait pattern, and outputs control information used to control the legs (22) based on the parameters.

The application provides a lower limb muscle strength prediction and balance function evaluation method based on plantar pressure and spatial pose fusion, comprising: collecting plantar pressure data, lower limb spatial pose data and human individual physiological parameters of a subject, and combining a force platform to obtain ground reaction force data; real lower limb muscle strength is calculated by using inverse dynamics and Hill muscle model, and a plantar pressure + spatial pose-lower limb muscle strength data set is constructed; the optimal sensor quantity and layout are obtained by combining a heuristic optimization algorithm and a machine learning regression model, taking prediction accuracy and information redundancy as indexes; a deep forest model is trained based on fusion features, real-time prediction of hip joint, knee joint and ankle core muscle group muscle strength is realized; further, muscle strength symmetry analysis, weak muscle group identification and hip-knee-ankle force ratio analysis are completed, and multi-dimensional quantitative evaluation of balance function is completed. The method can realize high-precision lower limb muscle strength prediction under limited sample conditions, and output multi-dimensional balance function evaluation results.

The application relates to the technical field of robot control, and discloses a biped robot walking control method based on model predictive control and a landing point optimization. The method aims to solve the problems of insufficient stability and poor adaptability of the prior art when coping with external disturbances and uneven terrains. The core of the application is to perform optimization control on the supporting leg and the swing leg respectively: model predictive control (MPC) is adopted to realize real-time optimization of the three-dimensional ground reaction force of the supporting leg, so that the effective support of the supporting leg on the torso is ensured; meanwhile, a gait stability feedback controller is designed, real-time state feedback is provided through a state observer, the swing leg trajectory is optimized, the landing point position of the robot is dynamically corrected, and the anti-interference ability of the system is enhanced.

The invention discloses a PTB socket model optimization design method and device, electronic equipment and a product, and relates to the technical field of rehabilitation engineering and rehabilitation assistive devices. According to the invention, the inner surface of the artificial limb socket model is divided into a pressure sensitive area and a pressure tolerance area, and a load is applied by simulating the maximum ground reaction force supported by a single leg when a shank amputation patient is assembled with an artificial limb to walk; then, the displacement increment of the grid surface in each pressure tolerance area is iteratively optimized through an optimization algorithm by taking the maximum overall comfort degree of the artificial limb socket model as a target, so that optimization design can be carried out according to individual differences of shank amputation patients, and the conditions of stress concentration of a sensitive area and insufficient support of a tolerance area are avoided; discomfort, pain and even secondary injury brought to the patient suffering from shank amputation are avoided, and the use experience of the patient suffering from shank amputation is improved.

This invention provides a method for online force assessment of characters in a virtual reality environment, aiming to achieve real-time quantitative assessment, physical accuracy, and high robustness of force on humanoid character movements in virtual reality environments. This method combines a motion generation model and a physics optimizer, using an end-to-end integrated approach to dynamically estimate key mechanical parameters such as joint torque and ground reaction force. Specific steps include: acquiring user motion trajectory data from sparse sensors (such as VR headsets and controllers); generating preliminary full-body motion postures using a motion generation model based on discrete latent space learning; performing physical correction and force estimation on the motion using a physics optimization module (employing a dual proportional-differential controller and a motion tracking optimizer); integrating motion data and force parameters; and outputting character animation and force visualization results in real time through a rendering engine. Through the collaborative design of motion generation and physical force assessment, this invention significantly improves the realism, real-time performance, and adaptability of virtual character movements, making it suitable for VR applications such as security monitoring, medical training, and sports simulation, enhancing immersion and interaction efficiency.

The utility model relates to the technical field of soles, in particular to a novel sole structure, the bottom of a rubber tube is fixedly connected with an anti-puncture layer, and the bottom of the anti-puncture layer is fixedly connected with a wear-resistant layer. According to the novel sole structure, friction force can be increased through the anti-skid lines, a user can be prevented from falling down when walking on rainy days, the elastic rubber layer is made of memory foam and has good elasticity, the elastic rubber layer and the rubber pipes can play a buffering role, the elastic rubber layer and the rubber pipes can be compressed by the counter-acting force of the ground on the foot, and therefore the user can feel comfortable. The anti-puncture sole has the advantages that impact on foot muscles, ligaments and joints is reduced, a user feels more comfortable, fatigue and aching pain during walking are reduced, the anti-puncture layer is made of Kevlar and has high toughness and puncture resistance, the possibility that the sole is punctured can be reduced when the user steps on a hard object or a nail, and the anti-puncture sole is safe and reliable. Therefore, the situation that the soles of the user are punctured is reduced.

The present application relates to the field of gait mechanics, and provides an analysis method for constructing a gait mechanics network based on multivariate transfer entropy, comprising: step 1, obtaining multiple channel signals by performing ensemble empirical mode decomposition (EEMD) on ground reaction force signal original data channel signals, and decomposing each signal into high, medium and low frequency band components; step 2, constructing a transfer entropy gait mechanics network by using multivariate transfer entropy (MuTE); step 2.1, establishing the past state of the system by using non-uniform embedding (NUM); step 2.2, calculating the transfer entropy by using an entropy estimator; step 2.3, verifying the significance of the transfer entropy; and step 3, analyzing the operation law of a single physiological mechanism and multiple physiological mechanisms during walking by using the transfer entropy gait mechanics network. The present application can preferably perform gait mechanics analysis.

This invention relates to the field of rail transit technology, and more particularly to a method and system for calculating the coupled dynamics of high-speed rail vehicles and tracks. The constitutive equations of the fractional-order Zener model are transformed into a CA mortar layer model, and its numerator operator is expressed as a discrete series to obtain the target CA mortar layer model. The ground reaction force of the CA mortar layer acting on the track slab is then obtained. Based on the ground reaction force of the CA mortar layer acting on the track slab, the vibration differential equations of the track slab are constructed. The vibration differential equations of the track slab are transformed into a set of ordinary differential equations in modal coordinates containing fractional-order terms using the Ritz method. Taking a half-car model as the vehicle subsystem, the vibration differential equations of the rail in modal coordinates and the set of ordinary differential equations in modal coordinates containing fractional-order terms of the track slab are integrated into the track subsystem to construct the coupled dynamics model of the high-speed rail vehicle and track. This invention effectively improves the accuracy of vehicle-track coupled dynamics calculations.

The present invention relates to a step element (2) for detecting the ground reaction force distribution across the ground contact area of ​​the foot of a hoofed animal or the foot of a human being when it steps onto the ground, with a plurality of spring elements (4) which are arranged between the ground and the hoof or foot in use, wherein the spring elements (4) are designed as planar force measuring sensors (4) which each have at least one microwave stripline (18) with an individual natural frequency which changes proportionally to an acting force (F).

The present invention relates to a reaction force measuring plate (1) for detecting the ground reaction force distribution over the ground contact surface of the foot of a hoofed animal or the foot of a human when walking on the ground, comprising a, preferably rigid, support plate (3) with a first lower surface (3a) facing the ground during use and an opposite second upper surface (3b) facing the hoof or foot, a plurality of flat force measuring sensors (5) positionally fixed on the first lower surface (3a) of the support plate (3), and a, preferably elastomeric, force transmitting flat element (11) which is positionally fixed on the force measuring sensors (5) parallel to the support plate (3) and facing away from the first lower surface (3a), wherein for each force measuring sensor (5) at least one, preferably exactly one, elastic force transmitting stud (7) is fixed on the free lower surface of the force transmitting flat element (11) directly opposite exactly one of the force measuring sensors (5), wherein the free lower surface of the force transmitting flat element (11) forms the lower side of reaction force measuring plate (1) which faces that ground and, during use, is in contact with the ground.

The invention discloses a multi-sensor fusion longitudinal jump force estimation and height compensation method and system. The method comprises the following steps: acquiring sensing data of a plurality of inertial measurement units arranged at different segments of a human body; based on sensing data of a plurality of inertial measurement units, determining a ground clearance moment and a landing moment in a longitudinal jumping process, applying a physical constraint that the ground reaction force approaches to zero in a flying period, and estimating a time sequence of the ground reaction force from the ground clearance to the landing moment; calculating a first vertical jump height estimation value based on the ground reaction force time sequence, and calculating a second vertical jump height estimation value based on the off-ground moment and the landing moment; and determining a height error compensation amount according to the first longitudinal jump height estimation value and the second longitudinal jump height estimation value in combination with action characteristics extracted from the sensing data so as to correct the second longitudinal jump height estimation value and obtain the compensated longitudinal jump height. According to the invention, the accuracy and scene adaptability of measuring and calculating the longitudinal jumping ground reaction force and the flying height are improved.

The utility model discloses a supportable lower limb power-assisted exoskeleton, which relates to the technical field of bionic skeletons, and comprises a mounting frame, a position blocking plate and an elastic piece, the elastic piece is fixedly mounted between the mounting frame and the position blocking plate, and the shape of the elastic piece is set to be S-shaped. Ground counter-acting force and vibration are transmitted to the ankle-foot connecting skeleton, the S-shaped elastic piece between the mounting frame and the stopping plate deforms to absorb energy, the second damper and the second damping spring between the inner wall of the ankle-foot connecting skeleton and the end point of the elastic piece cooperate for buffering, and meanwhile corrugated damping plastic between the mounting frame and the stopping plate consumes energy through elastic deformation. The elastic piece, the second damper, the second damping spring and the damping plastic form a multi-stage damping system, high-frequency small-amplitude vibration and low-frequency large-amplitude impact can be dealt with in the modes of elastic deformation, damping consumption and the like, joint impact is reduced, and human bones are protected.

The application relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, and belongs to the technical field of foot-type robots. The method solves the problem that the foot end of a foot-type robot is prone to sinking when the foot-type robot travels on soft terrain. The method comprises the following steps: acquiring real-time ground reaction force of each foot of the foot-type robot in a current gait cycle supporting phase and joint control information in a previous gait cycle supporting phase; obtaining an expected ground reaction force time curve of each foot in the current gait cycle supporting phase based on the joint control information of each foot in the previous gait cycle supporting phase and a standard ground reaction force time curve; and obtaining control torque of each foot at each time by using a PID controller based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and corresponding real-time ground reaction force, and applying the control torque to each joint motor of each foot to optimize the contact force distribution of each foot. The method realizes walking stability of the foot-type robot on unstructured terrain.

The application relates to a flying car parking space, which comprises a flying car parking space, a flying car parking space lifting device and a flying car supporting device; the flying car lands on the flying car parking space; the flying car parking space lifting device is connected to the flying car parking space and is configured to move between a receiving position and a parking position; the flying car supporting device is arranged on the flying car parking space and is configured to at least partially offset the gravity suffered by the flying car during landing on the flying car parking space. Compared with the prior art, the application can help to reduce the influence of the ground reaction force on the vertical take-off and landing flying car by lifting the parking space. On the one hand, lifting the parking space can reduce the contact area between the flying car and the ground, thereby reducing the size of the ground reaction force; on the other hand, lifting the parking space can also increase the height of the parking space, thereby reducing the influence of the roughness and unevenness of the ground on the flying car, so that the flying car can be more easily and stably landed.

Reaction force measuring plate (1) for recording the ground reaction force distribution across the ground contact area of ​​the foot of a hoofed animal or the foot of a person when it enters the ground, comprising a support plate (3) with a first, upper surface (3a) facing away from the ground during use and an opposing second, lower surface (3b) facing the ground, a plurality of planar force measuring sensors (5) fixed in position on the first, upper surface (3a) of the support plate (3), several elastic force transmission studs (7) fixed to the free surfaces of the force measuring sensors (5), and at least one rigid load distribution plate (13) arranged parallel to the support plate (3) and facing away from the support plate (3) on the elastic force transmission studs (7) and facing away from the ground, characterized in that a, preferably elastic,The force transmission surface element (11) encloses the force measuring sensors (5) and the support plate (3) at least partially laterally and from the side facing the ground, wherein the force transmission studs (7) of the first, upper surface (3a) of the support plate (3) are fixed to the force transmission surface element (11) in a positionally fixed manner corresponding to the force measuring sensors (5), wherein the free, lower surface of the force transmission surface element (11) forms the underside of the reaction force measuring plate (1) facing the ground and in contact with the ground during use.

The application discloses an intelligent jumping test analysis method and system based on computer vision and multi-modal data fusion, relates to the technical field of human motion analysis, and comprises the following steps: individual modeling is performed on a subject before testing, individualized limb segment parameters, visual quality baseline and dynamic characteristic benchmark are obtained, multi-view visual image streams and inertial measurement data are collected in formal testing, after three-dimensional reconstruction and inertial calculation, the jumping phase boundary is determined based on the individual dynamic characteristic benchmark, and three-dimensional joint trajectory is output, kinematic parameters and ground reaction force are calculated, the phase boundary is iteratively corrected through dynamic reverse checking closed loop, and the jumping ability evaluation result is output. Through the synergistic effect of individual modeling driven full-process self-adaptation, phase perception multi-modal fusion and dynamic reverse checking closed loop, the precision and robustness of the jumping test analysis are improved, and the applicability to subjects with different body types and motion abilities is enhanced.

The invention provides a combined multi-modal attention-dependent knee joint adduction moment estimation method and system, and the method comprises the steps: S1, building a deep learning model architecture through a long-short-term memory encoder, introducing a self-difficulty perception loss function into a model, and carrying out the use in a training process; s2, enabling the deep learning model to carry out multi-modal data fusion, and fusing data from the wireless inertial measurement unit and the wireless myoelectricity measurement unit of multiple features; s3, after the deep learning model fuses the features, on the basis of kinematics modeling, the estimation of the knee joint adduction moment is calculated by mapping the multiple features to the force arm and the ground counter-acting force. According to the invention, the efficiency and accuracy of knee joint health management are improved, and greater autonomy and sense of control are brought to patients.

The invention provides a scoliosis monitoring method based on a multi-modal fusion system, and the method comprises the steps: collecting the foot three-dimensional ground reaction force and foot kinematics data through an intelligent insole integrated with a flexible force sensor and an inertial measurement unit, and carrying out the synchronous transmission through a communication unit. A human body posture video is obtained through a monocular camera, and posture parameters of the spine, the pelvis and the trunk are extracted through an improved human body key point detection model. And space-time fusion of kinematics data and video key point data is realized by adopting extended Kalman filtering, and multi-modal time sequence data is constructed. And generating a pseudo label based on a posture anomaly rule, establishing a multi-modal training data set containing the component data, the kinematics data, the posture parameters and the pseudo label, and training the scoliosis monitoring model through self-supervised pre-training and supervised fine tuning. And finally, outputting scoliosis evaluation indexes and abnormal risks, and realizing intelligent monitoring of the spine state.

The application discloses a PTB receiving cavity model optimization design method and device, electronic equipment and products, and relates to the technical field of rehabilitation engineering and rehabilitation aids. The application divides the inner surface of a prosthesis receiving cavity model into a pressure sensitive area and a pressure resistant area, simulates the maximum ground reaction force loading of single leg support when a below-knee amputee wears a prosthesis, and then iteratively optimizes the displacement increment of the grid surface in each pressure resistant area through an optimization algorithm with the maximum overall comfort of the prosthesis receiving cavity model as the target, so that the individual differences of the below-knee amputee can be optimized and designed, the stress concentration in the sensitive area and the insufficient support in the resistant area can be avoided, the discomfort, pain and even secondary injury of the below-knee amputee can be avoided, and the use experience of the below-knee amputee is improved.

The invention provides methods comprising: (i) providing data from a wearable motion sensing system worn by a subject and data from a reference motion sensing system recording the movement of the subject; and (ii) synchronizing the data from the wearable motion sensing system and the reference motion sensing system by: determining a first signal derived from the acceleration and optionally the angular velocity of a sensor of the wearable motion sensing system, as a function of time; determining a corresponding second signal derived from the position of one or more markers as measured by the reference motion sensing system and / or the ground reaction force applied to feet of the subject, as a function of time; and identifying a time lag that aligns the first signal and the second signal. Related methods, systems and products are also described.

The present invention relates to a reaction force measuring plate (1) for detecting the ground reaction force distribution across the ground contact area of ​​the foot of a hoofed animal or the foot of a person when it enters the ground, comprising a, preferably rigid, support plate (3) with a first, lower surface (3a) facing the ground in use and an opposing second, upper surface (3b) facing the hoof or foot, a plurality of planar force measuring sensors (5) fixed in position on the first, lower surface (3a) of the support plate (3), and a, preferably elastomeric, force transmission surface element (11) fixed in position parallel to the support plate (3) and facing away from the first, lower surface (3a) to the force measuring sensors (5), wherein at least, preferably exactly, one elastic force transmission stud (7) is attached to the free,The lower surface of the force transmission surface element (11) is fixed directly opposite one of the force measuring sensors (5), wherein the free, lower surface of the force transmission surface element (11) forms the underside of the reaction force measuring plate (1) facing the ground and in contact with the ground during use.

The application discloses a hemiplegia lower limb rehabilitation orthosis and relates to the field of medical instruments.The hemiplegia lower limb rehabilitation orthosis comprises a base, guiding grooves are symmetrically formed in the inner wall of the base, supporting columns are fixedly arranged on the two sides of the base, a movable assembly is assembled to the inner wall of the guiding grooves, and the movable assembly comprises a fixed rod and a fixed plate used for simulating walking support.The end of the fixed rod is fixedly connected with the lower end of the fixed plate, and the bottom end is elastically lifted when touching the ground, so that the ground reaction force in a real walking scene is simulated.The hemiplegia lower limb rehabilitation orthosis can simulate gait changes in real walking in the correction training process, and the ground reaction force in the real walking scene is restored by cooperating with the elastic lifting structure, so that the rehabilitation training of the patient is closer to the real walking state, and the training effect is improved.

The invention relates to the technical field of parking assistance of diesel generating sets, and discloses a pull-type diesel generating set parking assisting steering device which comprises an equilateral triangle block, a stabilizing mechanism is installed at the bottom of the equilateral triangle block, and the stabilizing mechanism comprises a fixing block, a connecting spring, a telescopic rod, a bearing block and universal wheels. The upper surface of the fixing block and the lower surface of the equilateral triangle block are fixedly installed. According to the parking auxiliary steering device of the pull-type diesel generating set, the equilateral triangle block is arranged as a bearing foundation, and the stabilizing mechanism installed at the bottom of the equilateral triangle block is combined, so that the problems that one wheel is suspended and the stability is poor due to the fact that the gravity center shifts in the jacking process of a traditional device are effectively solved; the corresponding universal wheels are subjected to counter-acting force of the ground, and the connecting springs and the telescopic rods are compressed through the bearing blocks, so that the bearing blocks can slide on the inner walls of the fixing blocks in a self-adaptive mode.

A sensor apparatus for footwear includes at least one pair of light sources and at least one pair of light receivers, each light receiver being positioned and configured to receive light emitted from a respective one of the light sources. A pair of movable curtains functions to adjust the amount of light received by the pair of light receivers. The curtains are movable conjointly such that the amount of light received by one of the light receivers is inversely proportional to the amount of light received by the other light receiver. (FIG. 1B).

The invention provides methods comprising: (i) providing data from a wearable motion sensing system worn by a subject and data from a reference motion sensing system recording the movement of the subject; and (ii) synchronizing the data from the wearable motion sensing system and the reference motion sensing system by: determining a first signal derived from the acceleration and optionally the angular velocity of a sensor of the wearable motion sensing system, as a function of time; determining a corresponding second signal derived from the position of one or more markers as measured by the reference motion sensing system and / or the ground reaction force applied to feet of the subject, as a function of time; and identifying a time lag that aligns the first signal and the second signal. Related methods, systems and products are also described.