98 results about "Joint angulation" patented technology

The invention belongs to the field of exoskeleton robots and in particular relates to an actively and passively hybrid-driven lower limb-assisted exoskeleton robot and a control method. The robot comprises a waist-hip bracket and two thigh mechanisms. The waist-hip bracket is passively driven and comprises an adjustable waist rack and a hip joint assisted coil spring mechanism. The hip joint assisted coil spring mechanism achieves flexion/extension of two hip joints. Each thigh mechanism comprises a knee joint driving motor, a harmonic reducer, a knee joint angle sensor, an ankle joint spherical hinge and a foot. The knee joint driving motor and the harmonic reducer achieve flexion/extension of the knee joint. The ankle joint spherical hinge achieves dorsal extension/plantar flexion, introversion/extroversion and rotation of the ankle joint. The thigh waist-hip joint achieves passive drive of the hip joint through the coil spring mechanism and active drive of the knee joint through themotor. On the premise of guaranteeing a loading capacity of a wearer, the complexity of a lower limb-assisted exoskeleton robot system is reduced, and the lower limb-assisted exoskeleton robot systemis simple in structure and easy to control.

The invention discloses a real-time detecting method for knee joint angels and a device. The method includes that an ultrasonic detecting device is mounted on the inner side of the front of a walking aid robot platform, multiple channels of ultrasonic range-finding sensors detect distance data among thigh detected surfaces and shank detected surfaces of lower limbs on both sides and the detecting platform, and information of bent angels of knee joints in a walking process of a testee is obtained. The device is an ultrasonic detecting system erected on the basis of the walking aid robot platform and comprises the multiple channels of ultrasonic range-finding sensors, a single chip microcomputer data acquisition and transmission device, a data processing unit for a portable computer and an internal memory, and a knee joint bent angle calculating and analyzing unit. The detecting device is mounted on a walking aid robot, devices are not mounted on the body of the testee, the testee is not limited in a walking process, the information of the bent angels of the knee joints can be obtained, and the detecting system is convenient in installation, simple in structure and low in cost.

The invention provides a human joint angle measuring method based on a feature point space position. According to the human joint angle measuring method based on the feature point space position, human joint motion can be tracked so that a space track of a joint mark point can be collected. On the basis, joint motion angle values of the portions of neck, elbow, wrist, hip and the like are measured through least squares fit and the Newton interpolation method, descriptive statistical analysis can be further conducted on the joint angle values, and therefore the requirements that position accuracy is better than 2mm and the measuring accuracy of joint angles is better than 0.2 degree are satisfied. According to the human joint angle measuring method based on the feature point space position, the problems that manual measurement is slow, a person to be measured is prone to fatigue, and a measuring result is poor in accuracy in the prior art are solved, the problems that when three dimension scanning measurement is used, required data volume is large, calculation speed is low, and auxiliary work amount of the measurement is large are solved. The joint motion angles of large sample crowd can be measured and calculated rapidly, accurately and automatically.

The invention relates to a lower-limb brain-like intelligent mechano-electronic exoskeleton and an integrated control system thereof. The lower-limb brain-like intelligent mechano-electronic exoskeleton is characterized by comprising a gravity center adjusting device, a plurality of mechano-electronic joints, a plurality of connecting rods, a plurality of exoskeleton bodies, foot fixing shoes and pelma sensors; the gravity center adjusting device is installed on the waist connecting rod, and the waist connecting rod, the hip mechano-electronic joint, the thigh exoskeleton bodies, the thigh connecting rods, the knee mechano-electronic joints, the shank exoskeleton bodies, the shank connecting rods and the ankle mechano-electronic joints are connected in sequence; the mechano-electronic joints are internally provided with joint angle and damping sensors respectively and driven by corresponding mechanical joint driving devices to generate actions. The lower-limb brain-like intelligent mechano-electronic exoskeleton is reasonable in design, various actions can be precisely sensed, and on this basis, the corresponding control functions are achieved. Meanwhile, the balance of the lower limbs is automatically adjusted through the gravity center adjusting device, the walking stability and reliability are ensured, and the problem that the rehabilitation effect of a patient who loses the lower limb functions is slow can be effectively solved.

The invention relates to a regeneration power mechanical skeleton system. The regeneration power mechanical skeleton system is designed to solve the technical problems that existing like products are in shortage of data signal pre-catching and collecting, real-time monitoring, restoration gait position information and feedback compensation amount. The regeneration power mechanical skeleton system comprises a mechanical system and a data collection system. The mechanical system comprises a lower limb servo mechanism and a connection mechanism. The regeneration power mechanical skeleton system is characterized in that according to the mechanical system, a rotational joint between a hip joint connection plate and a thigh plate and a rotational joint between the thigh plate and a shank plate are each provided with a hall angle sensor; the hall angle sensors are used for collecting ground angle signals of the lower limbs and the waist of the human body and obtaining angle values of all the joints through foot angle difference calculation, the joint angles and torque signals of the human body are pre-caught and stored in a control system of the mechanical skeleton system, and a user independently selects a control pattern; and the posture of the human body is monitored in real time through the control system, and limb position information and the feedback compensation amount are provided for the human body gait restoration control process.

The invention relates to an on-line estimation method of elbow joint torque under functional electrical stimulation, the musculoskeletal model is pre-modeled by off-line acquisition of joint torque, angle and angular velocity data, and then real-time acquisition of joint angle and angular velocity signals, real-time adaptive updating of the parameters of the pre-modeling musculoskeletal model system, so as to achieve online estimation of torque. The invention realizes on-line estimation of torque through real-time acquisition of joint angle and angular velocity signals.

The invention discloses a man-machine interaction intelligent control method of a load maneuvering exoskeleton and an exoskeleton system. The method comprises the following steps: firstly, modeling a human body and the load maneuvering exoskeleton into a five-connecting-rod model consisting of a trunk, a left thigh, a right thigh, a left shank and a right shank; dividing the five-connecting-rod model into a supporting leg model and a swinging leg model, and respectively establishing kinetic equations of the two models by utilizing a Lagrange motion equation; and then designing a hybrid control method combining position control and AIA control based on a tracking differentiator, applying the position control to the supporting leg model in a gait period, enabling the joint angle of an exoskeleton to track the joint angle of the human body in real time, applying the AIA control based on the tracking differentiator to the swinging leg model, enabling the exoskeleton to adapt to the human body movement and environment of a wearer by self, achieving the two control methods alternately according to a supporting phase and a swinging phase of the gait cycle, so that the exoskeleton tracks the position of the human body in real time. Coordinated movement of the exoskeleton and the human body can be achieved.

The invention belongs to the field of robot control, and specifically relates to a self-stabilization control method, system and device of a wheel-legged robot, aiming to enable the wheel-legged robotto keep stable even facing external disturbance and to return to the initial state. The method comprises steps of selecting control parameters from a pre-established control parameter table based onsize and position of external interference force, wherein the control parameters are control parameters of a preset control model; acquiring angle information of a hip joint, a knee joint and an anklejoint at the moment, rotating angle information of a traveling wheel and angle of inclination of a center of gravity, and calculating output torques of the hip joint, the knee joint and the ankle joint according to the control model with the selected control parameters; and controlling the hip joint, the knee joint and the ankle joint based on the output torques of the hip joint, the knee joint and the ankle joint. The wheel-legged robot can keep stable even facing external disturbance and can return to the original state rapidly.

The invention discloses a human body action acquisition method based on an inertial sensor without standard posture correction. The method comprises the steps that 1, an IMU is arranged, and joint physiological kinematics constraints are established; 2, by utilizing the IMU in the step 1, when the number of sampling points of the IMU exceeds 100, an optimization program runs according to a constraint equation, and a joint axis and a joint position vector are estimated by utilizing a Gauss-Newton method; 3, two groups of joint angles are respectively solved through acceleration information andangular velocity integration by utilizing the solved joint axis and joint position vector; and 4, weighted average of the two joint angles in the step 3 is solved through complementary filtering, andthe joint angles are solved. The method aims to decode IMU signals of lower limbs of a human body and calculate angles of hip joints, knee joints and ankle joints of the lower limbs in real time according to a kinematic model of the lower limbs of the human body.

The invention discloses a humanoid robot lower limb joint zero position calibration method. The humanoid robot lower limb joint zero position calibration method comprises the following steps that whether or not a fourth joint reaches a zero position is judged according to whether or not the sum Sv of the square of change rates of qx, qy and f<z> reaches a minimum value firstly, after the fourth joint reaches the corresponding zero position, the angle of a first joint is adjusted to enable the first joint to reach the corresponding zero position; and then a second joint, a sixth joint, a thirdjoint and a fifth joint are adjusted to enable the second joint, the sixth joint, the third joint and the fifth joint to reach the corresponding zero positions. Parameters qx, qy and f<z> in the calibration method are acquired through an attitude sensor mounted on a trunk and a six-dimension force/torque sensor fixed to an ankle joint correspondingly, other devices are not needed for assistance, moreover, zero position calibration is completed by the robot itself, the effects of being rapid and accurate are achieved, and the cost is saved.

The invention discloses gait control method, device and equipment for a lower limb wearable robot. The method comprises the steps of obtaining ground interaction force information and joint angle information of the lower limb wearable robot; judging a next gait phase according to the ground interaction force information and the joint angle position information; and substituting a joint angle intoa joint torque model corresponding to the next gait phase to calculate a joint control signal, and performing torque control on the lower limb wearable robot. The next gait phase is judged according to the ground interaction force information and the joint angle information of the lower limb wearable robot, the ground interaction force information and the joint angle information can be collected through a sensor, the cost is low, control signals are calculated according to joint torque models corresponding to different gait phases, and the control method is simple.

The invention discloses a hip and knee bending angle adjusting device and method, and belongs to the technical field of medical instruments, the hip and knee bending angle adjusting device comprises a base, a hip joint angle adjusting assembly and a knee joint angle adjusting assembly, the hip joint angle adjusting assembly comprises a thigh fixing part and a hip joint adjusting part, the hip joint adjusting part comprises a supporting rod, an angle adjusting rod and a driving mechanism, one end of the supporting rod is rotatably arranged on a base, the other end of the supporting rod is fixed to a thigh fixing plate, one end of the angle adjusting rod is rotatably arranged on the supporting rod, the other end of the angle adjusting rod is arranged on the driving mechanism, the knee joint angle adjusting assembly comprises a shank fixing part and a knee joint adjusting part, one end of the shank fixing plate is movably arranged on the thigh fixing plate, and the knee joint adjusting part comprises a rotary driving mechanism. The hip bending angle is adjusted through the hip joint angle adjusting assembly, and the knee bending angle is adjusted through the knee joint angle adjusting assembly, so that the needed accurate angle is achieved, and a patient is in a comfortable posture and rapidly recovered.

The invention provides a limb electrical stimulation training system based on joint angle feedback, and relates to the technical field of rehabilitation therapy. The limb electrical stimulation training system comprises a joint angle feature acquisition module used for collecting angle parameters of joints in a motion process, a central processor module connected with the joint angle feature acquisition module and used for identifying joint angle characteristics and sending out a control signal, and an electrical stimulation module connected with the central processor module and used for generating an electrical stimulation signal acting on a joint motion muscle group. According to the system, a limb muscle group of motion obstacle is electrically stimulated when a rehabilitation person actively moves to a joint obstacle point, so that the rehabilitation person is helped to go through the obstacle point, the joint motion angle reaches an angle as a normal person, and rehabilitation training is carried out.

The invention discloses a sensing and control system and method for a lower limb joint assisting exoskeleton system. The system comprises a joint angle encoder, a gait phase sensor, a joint angle position controller, and a joint torque controller, wherein the joint angle encoder measures a joint angle position, and transmits an output signal to the gait phase sensor, the joint angle controller andthe joint torque controller; the gait phase sensor performs gait phase judgment according to the joint angle signal and divides the gait phase into a support phase and a swing phase; when the gait phase sensor judges that a robot is currently in the support phase, a joint angle position control mode is adopted; and when the gait phase sensor judges that the robot is currently in the swing phase,a joint torque control mode is adopted. According to the sensing and control system, sensor configuration is simplified, reliability and rapidity of the sensing system are improved, wearable performance of other fittings is not influenced, active assistance is realized, and the man-machine following performance can be improved.

The embodiment of the invention provides an action data analysis method, device and system and a computer readable storage medium. The method comprises the following steps: acquiring action data of preset actions of upper limbs of a user; according to a preset joint angle threshold value, analyzing the action data, and obtaining the completion state of the preset action; according to the completion state, analyzing whether the peripheral nerve of the upper limb is injured, and outputting an analysis result. According to the invention, upper limb peripheral nerve injury assessment based on user action data analysis can be realized, the objectivity and accuracy of assessment are improved, and the purpose of saving labor cost is achieved.