91 results about "Joints movement" patented technology

The invention discloses a mechanical arm state limited preset time point control method and system, and relates to the technical field of robot control, and the method comprises the steps: obtaining a joint position tracking error and a joint speed tracking error based on a joint motion state and an expected trajectory of a mechanical arm; based on constrained system states corresponding to the joint position tracking error and the joint speed tracking error, nonlinear transformation is carried out on the joint position tracking error and the joint speed tracking error through an unconstrained state function, and an equivalent unconstrained virtual error variable is constructed in combination with coordinate transformation; based on the unconstrained virtual error variable, designing a sectional sliding mode variable; and designing a second-order reaching law based on the sectional sliding mode variable to form a closed-loop dynamic state, and solving based on the closed-loop dynamic state to obtain a control torque so as to control the mechanical arm joint. According to the method, the trajectory tracking error of the mechanical arm can be converged at the moment specified by a user, the system state is ensured to meet strict physical constraints in the whole process, and the method can be applied to accurate trajectory control in a complex task scene.

The invention relates to the technical field of data processing, in particular to a rehabilitation training control method and system based on a flexible hand joint rehabilitation glove, and the method comprises the steps: obtaining an individualized physiological parameter baseline of a patient; real-time data of a patient in the rehabilitation training process are collected through a multi-modal sensor array on the flexible glove, the active participation degree, the joint movement smoothness and the muscle fatigue degree of the patient are calculated based on the real-time data, the active movement intention of the patient is recognized, and a real-time rehabilitation state evaluation result of the patient is obtained; generating a control instruction through an adaptive control engine according to a preset personalized rehabilitation scheme and the real-time rehabilitation state evaluation result; the generated control instruction is sent to a driving control circuit so as to control a driving unit to execute corresponding bending or stretching actions and assist the patient in completing target training actions; according to the invention, personalized, self-adaptive and quantitative evaluation of rehabilitation training can be realized, and the efficiency and effect of hand rehabilitation training are improved.

The invention provides a virtual reality-based joint movement injury rehabilitation mode generation method and a virtual reality-based joint movement injury rehabilitation mode generation system, and relates to the technical field of virtual reality, and the method comprises the following steps: analyzing a rehabilitation path according to movement joint injury data of a user; performing rehabilitation limb posture decomposition based on the rehabilitation analysis path to generate a rehabilitation analysis view; a multi-modal sensor unit is used for collecting rehabilitation feedback actions of a user, and matching recognition of physiological parameters and rehabilitation constraints is carried out in a rehabilitation analysis view; and according to the posture deviation feedback, performing amplitude and muscle power guidance feedback of the rehabilitation limb posture, and synchronously performing virtual reality visual display. The technical problem that in the prior art, most VR rehabilitation systems mainly pay attention to visual feedback, so that only the motion appearance can be evaluated, and the compensatory motion mode cannot be recognized is solved, real-time monitoring and guidance on the force exerting correctness are achieved through combination of posture decomposition and physiological parameter projection, and the effect that the correctness of force exerting is improved is achieved. Therefore, the compensatory motion mode is effectively blocked.

The invention relates to the technical field of path optimization, in particular to a multi-axis robot path planning optimization method and system, and the method comprises the following steps: collecting the current position and the start-stop interval of a multi-motion-axis joint, calculating the motion distance of each joint, converting the motion distance into an interval occupation ratio, and generating an initial path point through the interpolation of the current position; the method comprises the following steps of: selecting a plurality of path point joint combinations, performing occupation proportion comparison on the plurality of path point joint combinations to determine a dominant constraint direction, performing mapping cutting on other joint motion ranges according to a residual interval proportion, screening path points meeting constraint conditions, and verifying path sequence consistency and joint displacement continuity to form an optimized motion path of the robot. Through multi-motion-axis joint interval proportional description, an interval occupation state is introduced to participate in path screening, a dominant constraint direction is determined, and other joint intervals are mapped and cut, so that multi-axis motion proportions are coordinated, invalid displacement is reduced, and collaboration and motion smoothness are improved.

The disclosure related to methods and systems for image data analysis for objectively analyzing joint motion data. In one embodiment, the methods and system disclosed herein use automated methods to capture image data, extract motion data, and determine an objective score for one or more joints in one or more motions. The system and methods disclosed herein comprise a motion capture system with one or more image capture devices to obtain motion data for a subject and using one or more regression models and analysis techniques, various objective scores can be generated related to the subject's joint motion.

The invention relates to the technical field of robots, and discloses a human body tumble protection method and device, an exoskeleton robot and a medium, and the method comprises the steps: obtaining multi-modal motion data, collected by a sensor in real time, of a user; inputting the multi-modal motion data into a tumble identification model for identification and classification to obtain a tumble type probability of the user; if the tumble probability is greater than a preset safety threshold, determining that the user is in a tumble trend, and generating a variable impedance control instruction matched with the target tumble type according to a preset strategy library; and determining a rigidity parameter and a damping parameter of a target joint motor according to the variable impedance control instruction, and determining a target output torque based on the joint motion data, so that the target joint motor performs fall protection on the user based on the target output torque. The fall type can be accurately recognized, flexible buffering can be achieved, and then the injury risk of a user is remarkably reduced.

This invention relates to a humanoid robot, specifically a parallel rotating mechanical joint based on a ring-shaped guide rail, mimicking the rotation of a human neck. The aim is to provide a parallel rotating mechanical joint based on a ring-shaped guide rail to achieve three degrees of freedom in the movement of a biomimetic human neck joint while ensuring high rigidity and motion accuracy. Furthermore, the joint features a simplified structure, good support performance, and sufficient movement space for the neck joint. The technical solution is a parallel rotating mechanical joint based on a ring-shaped guide rail, characterized by: a head motion platform, a neck ring-shaped guide rail base, and three PSS (Personal Stability Support) link branches connected in parallel between the head motion platform and the neck ring-shaped guide rail base; the center of the head motion platform and the center of the neck ring-shaped guide rail base are connected by a composite rotating shaft.

The embodiment of the utility model discloses a hip joint motion simulation device, which comprises a crotch back cushion, a first supporting plate, a first mounting plate and a first driving mechanism, and is characterized in that the crotch back cushion, the first supporting plate and the first mounting plate are sequentially and oppositely arranged along a first horizontal direction, and the crotch back cushion is mounted on the first supporting plate; the middle of the supporting plate is hinged to the first mounting plate through a first rotating shaft arranged in the vertical direction, the first driving mechanism is arranged on the first mounting plate, the driving end of the first driving mechanism is movably connected with the first supporting plate through a connecting rod, and one end of the connecting rod is hinged to the driving end of the first driving mechanism; the other end of the connecting rod is hinged to one end of the first supporting plate, and the first driving mechanism is used for linearly driving the first supporting plate to rotate around the first rotating shaft in the first horizontal direction so as to drive the crotch back cushion to swing front and back. According to the embodiment of the invention, the hip joint of the patient can be driven to simulate the motion state when the lower limbs walk.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

The invention discloses a rehabilitation treatment evaluation method and system based on wearable equipment, and relates to the technical field of medical rehabilitation. The system comprises a wearable sensing module, a wireless communication module, a cloud data processing module, a man-machine interaction module and an auxiliary stimulation module. The wearable sensing module collects joint movement, muscle movement and stress parameters in a non-invasive mode. According to the method, through closed-loop processes of equipment preprocessing and personalized configuration, adaptive model training, real-time data acquisition, cloud quantitative evaluation and multi-dimensional feedback adjustment, full-chain coverage of'perception-analysis-evaluation-feedback 'of rehabilitation treatment is realized. According to the method, the defect that a cognitive movement therapy lacks quantitative indexes is overcome, the problems that traditional rehabilitation evaluation is subjective and a sensor can only detect and cannot assist in treatment are solved, rehabilitation treatment standardization, individuation and high efficiency are achieved, the labor cost is reduced, the rehabilitation quality is improved, and the method is suitable for rehabilitation scenes such as cerebral apoplexy and movement injury.

The invention provides a reconfigurable parallel mechanism capable of switching joint rehabilitation modes and a design method thereof.The reconfigurable parallel mechanism comprises a first motion branch chain, a second motion branch chain, a third motion branch chain, a movable platform and a fixed platform, and the movable platform is connected with the fixed platform through the first motion branch chain, the second motion branch chain and the third motion branch chain; the first motion branch chain and the second motion branch chain are both of a CRC structure, the third motion branch chain is of a CCC structure, and motion pairs, fixedly connected with the movable platform and the fixed platform, of all the motion branch chains are vertically symmetrical along the middle plane. By means of rapid switching of a two-rotation and one-movement ankle joint rehabilitation mode and a two-movement and one-rotation knee joint rehabilitation mode, configuration reconfiguration of the parallel mechanism is achieved, operation is simple, the motion trail of the reconfigurable parallel mechanism coincides with the joint motion axis, and the parallel mechanism has the advantages of being high in rigidity and precision.

Provided is an electronic prosthetic hand that detects and operates hand movements. The electronic prosthetic hand may include a prosthetic hand including a finger unit capable of joint movement and a control unit that controls the finger unit, a first sensor module positioned on a user's finger, a second sensor module positioned on the back of the user's hand, and a gyro sensor provided in each of the first and second sensor modules to measure displacement according to a change in the positions of the first and second sensor modules. The electronic prosthetic hand can be used more precisely because the first and second sensor modules detect the movements of the user's finger and back of the hand, respectively, and implement joint movements of the finger unit based on the displacement difference values according to the movements of the finger and back of the hand.

The invention discloses an upper limb exoskeleton adaptive control method based on multi-modal data fusion, and relates to the technical field of upper limb exoskeleton control. According to the upper limb exoskeleton self-adaptive control method based on multi-modal data fusion, multi-modal data such as user electromyographic signals, joint movement signals and motor output torque time sequence data are obtained; a human-computer interaction torque observation set is generated through an upper limb exoskeleton reverse power model in combination with joint movement signals and motor output torque time sequence data; based on the observation set, carrying out adaptive fusion on the electromyographic signals and the joint movement signals to obtain a fusion weight set, and predicting a user expectation instruction; performing multi-target collaborative optimization by combining the observation set and the expected instruction to generate a control parameter set; according to the upper limb exoskeleton driving control method and system, the upper limb exoskeleton is subjected to driving control processing through the control instruction, so that the exoskeleton control precision is improved, and the upper limb fine assistance requirement is met.

This disclosure relates to a time-sharing adaptive precision assistance method, device, electronic device, and storage medium that adapts to changing target assistance needs. The method includes: calibrating and initializing sensors in the exoskeleton wearer coupling system; identifying the wearer's gait characteristics; predicting the wearer's current target assistance needs based on gait characteristics, joint interaction force characteristics, and center of mass motion characteristics, and matching joint controller parameters accordingly; establishing an exoskeleton swing phase and support phase enhancement torque controller that adaptively adjusts with joint motion amplitude and frequency; and switching the exoskeleton swing phase and support phase enhancement torque controller based on the target assistance needs, thereby achieving time-sharing adaptive assistance of the exoskeleton to adapt to changing target assistance needs. This disclosure achieves dynamic matching of the target motion position by adjusting joint controller parameters, which helps improve the exoskeleton robot's autonomous perception and efficient assistance to the wearer's target assistance needs.

A robot control method and apparatus, and a device and a medium. The robot control method comprises: on the basis of an initial point and a target point of an end effector of a robot, determining a trajectory point set; acquiring joint control information corresponding to each joint of the robot when the end effector is located at each trajectory point in the trajectory point set, wherein the joint control information comprises at least one of a joint position, a joint speed and a joint acceleration; and for a first trajectory point and a second trajectory point that are adjacent to each other in the trajectory point set, and on the basis of first joint control information corresponding to each joint at the first trajectory point and second joint control information corresponding to each joint at the second trajectory point, controlling each joint to move, such that the end effector moves from the first trajectory point to the second trajectory point.

A joint movement therapy and assistive device system. The system includes a torque profile device having a plurality of connecting components, a longitudinal axis, and a center. Each connecting component of the plurality of connecting components is disposed at a selected distance relative to the center and a selected angle relative to the longitudinal axis. The system also includes at least one segment end and a plurality of tensioning components removable secured to the plurality of connecting components of the torque profile device and the at least one segment end. The plurality of tensioning components forms an additive torque profile when coupled between the torque profile device and the at least one segment end.

The application belongs to the technical field of robots, and discloses a motion decoupling double-path rope-driven bionic thumb device, which comprises a distal phalanx, a proximal phalanx, a metacarpal bone, a thumb base, IP joints, MCP joints and CMC joints for connecting the phalanges; the distal phalanx, the proximal phalanx, the metacarpal bone and the thumb base are connected through tendon rope transmission. The rope path for driving the IP joint does not pass through the MCP joint, and the part of the rope path across the MCP joint is wrapped by a Bowden tube assembly, so that the length of the rope path remains constant when the MCP joint moves, and the motion decoupling of the MCP joint and the IP joint is realized; the rope path for driving the MCP joint is also wrapped by a Bowden tube assembly outside, so that the length of the rope path remains constant when the CMC joint moves, and the motion decoupling of the MCP joint and the CMC joint is realized. The application has the advantages of compact structure, joint motion decoupling, precise force control, strong bearing capacity and the like.

A multi-joint control method, a controller, and a computer-readable storage medium. The multi-joint control method comprises: constructing a joint control function; on the basis of acquired desired positions of multiple joints and the joint control function, obtaining motion data of each joint; and on the basis of the motion data, controlling all the joints to move to the desired positions. By constructing a joint control function, obtaining motion data of all the joints on the basis of desired positions of all the joints and the joint control function, and controlling, on the basis of the motion data, all the joints to move simultaneously, the purpose of improving the control efficiency and coordination is achieved.

The application relates to a kind of mechanical arm path planning methods based on way point, wherein, method includes: the joint variable value corresponding to each joint in target mechanical arm at current way point is calculated, and the distance between current way point and next way point is determined, and whether the distance is not greater than preset interval value is judged;If not greater than preset interval value, each joint motion instruction from current way point to next way point is written by joint motion equalization strategy, otherwise interpolation segmentation is carried out between current way point and next way point, and the interpolation direction corresponding to current way point is determined, and each joint motion instruction in each interpolation segment is written according to interpolation direction and joint motion equalization strategy;The corresponding action of target mechanical arm is controlled by each joint motion instruction. Thus, it solves the problem that the existing method causes unnecessary waste of energy in the movement process of mechanical arm, and the inverse solution calculation complexity is higher when having redundant degree of freedom, which affects the path planning efficiency of mechanical arm.

The application discloses a shoulder movement estimation method based on glenohumeral joint positioning and electromyography cooperation, and relates to the technical field of robot-assisted rehabilitation, and comprises the following steps: collecting surface electromyography signals and kinematics data; according to the surface electromyography signals and the kinematics data, solving a dynamic glenohumeral joint position in real time by minimizing distance residual based on anatomical constraints and step residual for ensuring continuity; determining muscle activation according to the surface electromyography signals; the muscle activation constitutes a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; and estimating an upper arm angle according to elements in the command matrix. The method can realize high-precision, low-cost and long-term stable estimation of shoulder joint movement, and provides reliable technical support for robot-assisted rehabilitation.

The invention provides a preschool education system and method based on somatosensory interaction. The method comprises the following steps: acquiring skeleton joint point motion data of a target child in a somatosensory interaction process so as to generate a joint motion track; performing phase compensation on the joint motion trail and an angular velocity change sequence in the skeleton joint point motion data to obtain a motion data stream, and performing space-time coupling on the motion data stream to obtain a space-time dependency matrix between motion joint points; building an embedded feature space of the joint action according to the motion data flow, and applying development perception decoupling constraint to the embedded feature space to obtain space decoupling loss of the joint action; and identifying the interaction action of the target child based on the space-time dependency matrix and the space decoupling loss to obtain an interaction action sequence, and generating an interaction control instruction based on the interaction action sequence. By adopting the scheme of the invention, the interaction action in the somatosensory interaction process can be recognized in combination with the child development characteristics so as to generate the interaction control instruction conforming to the child development level.

This invention provides a surgical tool comprising a drive housing, a shaft extending from the drive housing, an end effector located at the end of the shaft and having opposing jaws and cutting elements, and a wrist configured to rotate the end effector in a plane and capable of articulation. The wrist articulates via opposing translations of a pair of drive members. This invention provides various systems for locating one or more drive inputs that cause movement in the wrist and / or the end effector, or for controlling the articulation of the drive inputs.

To provide improved medical systems and devices for procedures using end-effectors involving joint movement. [Solution] The medical device is a handle having a proximal end, a distal end, and an actuator that moves between the distal end and the proximal end, wherein the actuator is connected to a handle actuation wire, the handle includes a tube extending from the distal end of the handle, and a connector at the distal end of the tube that is detachably connected to an end effector. The distal end of the handle actuation wire includes a connector element that is detachably connected to a corresponding connector element of the end effector actuation wire of the end effector.

The application provides a motion analysis method and system based on image and foot bottom contact modeling, comprising the following steps: reconstructing the three-dimensional posture of the subject motion according to the identified 2D key points, and generating a personalized skeletal model matched with the subject according to the height data of the subject; obtaining the foot bottom image of the subject, and automatically generating a plurality of contact spheres in the foot bottom area according to the extracted foot bottom contour shape to approximately represent each area of the foot bottom contact with the ground, the positions and radii of the contact spheres are optimized and set according to the foot type of the subject, and a personalized foot bottom contact model is formed; solving the ground reaction force (GRF) consistent with the dynamics under the given kinematic conditions according to the personalized skeletal model, joint motion data and personalized foot bottom contact model; determining the moving path of the force point of action of the resultant force with time according to the force condition of each contact sphere of the double feet, and calculating the trajectory of the foot bottom pressure center (COP). The application can perform motion analysis based on image and foot bottom contact modeling.

The invention provides a limb dyskinesia recognition and active exercise auxiliary control method based on computer vision, and relates to the technical field of exercise rehabilitation engineering. According to the method, the motion image sequence of the upper limbs and / or the lower limbs of the patient is obtained, the multi-joint three-dimensional coordinates are extracted to form the spatial position data, and the joint angles and the angular speeds are calculated to obtain the joint motion state data. Combining with the torque support evidence, identifying joint angle deviation, angular velocity abnormity and compensation behaviors, generating a dyskinesia identification result containing intention intensity and compensation indexes, and determining target auxiliary joint and auxiliary torque output according to the dyskinesia identification result; and active motion auxiliary control is implemented in modes of joint driving assistance, torque compensation, track amplification or lateral force compensation and the like. According to the invention, fine recognition and self-adaptive assistance of dyskinesia can be realized without additional wearable equipment, and the accuracy and safety of rehabilitation training are improved.

The application provides an ultrasonic knife control method, system, storage medium and surgical equipment, relates to the technical field of medical instruments, and comprises the following steps: acquiring joint encoder data, a rotation angle and a clamping angle of an operating end respectively; generating an expected position matrix according to the joint encoder data; acquiring a spatial coordinate system of an ultrasonic knife end, generating an actual position matrix by using a D-H parameter method according to the spatial coordinate system; decoupling the expected position matrix and the actual position matrix to generate joint motion instructions of the ultrasonic knife end; converting the rotation angle and the clamping angle into a motion angle and a yaw angle of the ultrasonic knife end respectively; generating posture motion instructions according to the motion angle, the yaw angle and an angle limitation rule; and controlling the ultrasonic knife end according to the joint motion instructions and the posture motion instructions. Through the above method, the problem of ultrasonic knife arm shaking is solved, and the control precision of the ultrasonic knife is improved.

The invention relates to the technical field of medical care informatics, and discloses a digital rehabilitation guidance system which comprises the following steps: decoupling an inertial signal into two paths of independent data streams representing target joint movement and reference part postures; monitoring a fluctuation intensity index of the reference data stream in real time; by means of compliance gating logic, an evaluation process for target joint data is activated only when the fluctuation intensity is lower than a validity threshold value, otherwise, output is blocked, and invalidation is marked; according to the method, a reverse negative mechanism based on non-target channel background noise is established, pseudo standard data caused by compensation leveraging is effectively eliminated, the problem of rehabilitation assessment distortion in a weak supervision environment is solved, and the data credibility and the training safety are improved while the computing power load is reduced.

Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

The invention provides a pneumatic soft joint movement rehabilitation robot, and belongs to the technical field of wearable robots. Comprising an elbow soft body actuator, a knee soft body actuator, a pneumatic driving assembly, a main controller and a power source, the elbow soft body actuator comprises an arm sleeve, the two ends of the arm sleeve are each fixedly connected with a wedge-shaped block A, a folding type air bag A is fixedly connected between the two wedge-shaped blocks A, and a curvature sensor A and an electromyographic signal collecting module A are arranged on the inner side of the arm sleeve; the knee soft body actuator comprises a leg sleeve, the two ends of the leg sleeve are each fixedly connected with a wedge-shaped block B, a folding type air bag B is fixedly connected between the two wedge-shaped blocks B, and a curvature sensor B and an electromyographic signal collecting module B are arranged on the inner side of the leg sleeve. According to the invention, bending of arms and legs can be effectively supported at the same time, human body action intentions can be judged by collecting electromyographic signals, human body movement and rehabilitation training can be assisted, and muscle fatigue generated by movement can be effectively relieved.

This invention relates to an ankle joint motion recognition mechanism, comprising a first branch, a second branch, a third branch, a moving platform, and a fixed platform. All three branches are connected to the moving and fixed platforms, with the first and second branches symmetrical about the third branch. Each branch includes a motor and nine links, forming two parallelograms. The first branch has two encoders, and the second branch has one encoder. The mechanism has a fixed center and a moving center. The motors on the three branches control the pose of the moving platform, giving the moving center two degrees of freedom of movement around the fixed center and the moving platform three degrees of freedom of rotation around the moving center, thus achieving high-precision fitting of ankle joint motion. A human-machine motion mapping model is constructed based on the link angles measured by the encoders and the human-machine system mapping parameters. This model identifies the talus posture, effectively recognizing the talus movement patterns hidden within the ankle tissue, providing data for the design and optimization of the motion trajectory and posture transformation trajectory of subsequent ankle joint rehabilitation robots.