11 results about "Limb segment" patented technology

The invention relates to a device (1) for determining human deep body temperature (CBT), intended to be placed on a limb segment of the body and characterized in that it comprises a module (2) for estimating blood perfusion flowing throughout the limb segment of the body; a module (3) for measuring skin surface temperature and heat flux; a central unit (5) connected to the module (2) for estimating blood perfusion flowing throughout the entire limb segment and to the module (3) for measuring skin surface temperature and heat flux, designed to determine human deep body temperature (CBT) based on at least signals from the connected modules (2, 3); and a support element for the components (2, 3, 5) of the device (1) mounted on said limb segment of the body. The invention also relates to a method of determining human deep body temperature, CBT, characterized in that estimates of the value over time of blood perfusion (Wb(t)) flowing throughout the entire limb segment are determined (S1); the temperature values Temp(t) and heat flux (HF(t)) on the skin of the tested limb segment are recorded (S2); the obtained temperature values Temp(t), heat flux HF(t) and estimates of the value over time of blood perfusion Wb(t) are pre-processed (S3); and the CBT temperature is determined (S4) based on at least the pre- processed values Temp(t), HF(t), Wb(t) using an estimator.

The application discloses a bending limb, a control method thereof, a machine hand and a robot. The bending limb comprises a first end part, a second end part and a limb segment part. The limb segment part comprises a bending rod and a connecting rod which are cross arranged. The bending rod has a first rotating node, a second rotating node, a third rotating node and a fourth rotating node. The connecting rod has a fifth rotating node and a sixth rotating node. The first rotating node and the fifth rotating node are rotationally connected with adjacent limb segment parts or the first end part. The fourth rotating node and the sixth rotating node are rotationally connected with adjacent limb segment parts or the second end part. At least one of the second rotating node and the third rotating node is rotationally connected with an adjacent limb segment part. The application connects the first end part and the second end part by the limb segment part, forms a multi-segment bending limb, and forms a linkage structure as a whole. When one limb segment part rotates, other limb segment parts and the end part are driven to rotate, so that the overall bending of the bending limb is more easily realized, and the reliability is higher.

The invention discloses a complex human body modeling analysis method based on human factor engineering, and belongs to the technical field of human body modeling. According to the method, firstly, a joint DOF model is constructed, a virtual human body model is divided into a plurality of limb segments for modeling according to the joint DOF model and the membership relation between different body parts and joints, the level of the whole limb segment is regarded as a tree structure, a single limb segment is regarded as a tree node, and then a human body limb segment hierarchical model is formed; performing parametric modeling on the virtual human body based on the human body limb section hierarchical model to obtain a virtual human body DOF model; after a virtual human body DOF model is established, a virtual human body posture is analyzed, a D-H method is used for kinematics analysis, an inter-joint transformation matrix based on human kinematics is obtained, a human body reachable domain range is determined based on the inter-joint transformation matrix, and then complex human body modeling for assembling or maintaining in a narrow space is achieved.

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.

This application provides a real-time feedback interactive guidance method and system for martial arts, relating to the field of sports training technology. The key technical points are: acquiring real-time motion data and support status data of the user during exercise; determining the user's body tilting torque and the corrective torque generated by specific limb segments based on this data; and determining whether the movement of a specific limb segment is a physiological compensatory movement or a technical error based on the direction and amplitude relationship between the two. The real-time feedback interactive guidance method and system for martial arts provided by this application has the advantages of effectively distinguishing between physiological compensatory movements and technical errors, avoiding misjudgment and negative intervention of physiological compensation, thereby improving the safety, effectiveness, and user experience of training.

A robotic device for limb rehabilitation includes a base with supports, an adjustable stand, a guiding rail, and a carriage carrying a limb holding assembly having cradles for a middle limb segment and an extreme limb segment. The carriage is driven along the guiding rail, and the limb holding assembly is configured to move the supported limb segments while maintaining natural anatomical motion. The device includes a control unit, sensors for determining positions of device elements, and an emergency stop system. The configuration allows movement of the limb in multiple planes, including translation of the middle limb segment along a longitudinal axis and angular movement of the extreme limb segment relative to the middle limb segment. The device is compact, mobile, and configurable for use in seated or supine positions to provide personalized rehabilitation.

The invention discloses a bent limb and a control method thereof, a robot arm and a robot. The bent limb comprises a first end part, a second end part and a limb section part, each limb section part comprises a bent rod and a connecting rod which are arranged in a crossed manner; the bent rod is provided with a first rotating node, a second rotating node, a third rotating node and a fourth rotating node; the connecting rod is provided with a fifth rotating node and a sixth rotating node; the first rotating node and the fifth rotating node are rotationally connected with the adjacent limb section parts or the first end parts; the fourth rotating node and the sixth rotating node are rotationally connected with the adjacent limb section part or the second end part; and at least one of the second rotating node and the third rotating node is rotationally connected with the adjacent limb section part. The limb section part is used for connecting the first end part and the second end part to form a multi-section bent limb, and the whole bent limb forms a linkage structure. When one limb section part rotates, other limb section parts and the end part are driven to rotate, so that the overall bending of the bent limb can be realized more easily, and the reliability is higher.

The application discloses a gait analysis method and system based on an IMU and a kinematic constraint convolutional neural network, and relates to the technical field of gait biomechanics analysis. The method is characterized in that IMU sensors are arranged at the positions of human feet, shanks, thighs and sacrum of a trunk, a convolutional neural network is constructed, distances from the sensors to joint axes and limb segment centroid positioning are adaptively estimated in combination with static human body parameters of a subject, then gait energy estimation is performed to realize gait analysis, and gait modes such as normal walking, obstacle crossing, walking on a sandy ground, going upstairs and going downstairs can be distinguished through coupling relationships among different energies. The gait analysis method and system based on the IMU and the kinematic constraint convolutional neural network can reduce system errors caused by position deviation of sensor wearing, is suitable for rehabilitation evaluation, motion function monitoring, auxiliary identification of abnormal gait and continuous gait energy analysis in a daily environment, and does not need to depend on an optical motion capture system and a force platform.

The application relates to a three-dimensional human body motion capture method and device, which comprises the following steps: multi-view synchronous shooting and inter-frame timestamp alignment are performed on a target human body to obtain a synchronous image frame group, a joint point detection is performed on a human body region in the synchronous image frame group to obtain two-dimensional joint point coordinates, multi-view triangulation is performed on the two-dimensional joint point coordinates based on camera equipment calibration parameters to obtain three-dimensional joint point coordinates, a limb segment connection relationship is established based on the three-dimensional joint point coordinates and a human body skeleton topological structure to obtain a limb segment connection graph, a rotation angle of each limb segment in the limb segment connection graph is solved to obtain limb segment posture data, and the limb segment posture data is time-sequentially arranged according to the acquisition time of the synchronous image frame group to obtain three-dimensional motion data, so that the technical problem of how to improve the accuracy of three-dimensional joint point reconstruction and the robustness of a limb segment connection relationship under the condition that the multi-view two-dimensional joint point detection result is uncertain is solved.

The invention provides an exoskeleton reference system offset online correction method based on a graph neural operator and a power-assisted direction rotation compensation framework, and the method comprises the steps: collecting hip, knee and ankle joint angles and angular velocities and shell postures and angular velocities, constructing a time sequence joint-shell relation graph, inputting an improved graph neural operator, and carrying out the correction of the exoskeleton reference system offset. Obtaining a phase consistency degree based on cross-joint collaborative consistency, and outputting a single-axis deviation angle around a longitudinal axis of the limb section and an update gain; the original power-assisted vectors of all the joints are unified to a limb segment coordinate system, according to a phase consistency threshold value and stride amplitude limiting, a single-axis deviation angle is subjected to constrained updating, coaxial rotation compensation is carried out around a limb segment longitudinal axis, and an alignment power-assisted control instruction is generated; aligning state parameters are updated in combination with an actuator feedback closed loop; according to the method, the assistance direction can be continuously aligned under the non-stop condition, the interference of action switching and impact vibration on slip estimation is inhibited, and the multi-joint assistance consistency and stability are improved.

An integrated tourniquet garment device is provided. The device is comprised of one or more garments with embedded tourniquet mechanisms disposed at critical anatomical pressure points along the upper and lower limbs. The garments comprise either two-piece or one-piece configurations, including but not limited to tactical uniforms or wetsuit structures. The tourniquet mechanisms comprise a tensioning assembly such as a nylon web band, a double-D clasp, and an externally accessible pull tab configured for circumferential compression of limb segments. The mechanisms are inlaid within seam structures or enclosed pockets at locations including but not limited to the elbows, armpits, upper thighs, and knees, with additional optional placement at the forearms, calves, or ankles. The pull tab allows manual actuation, with the tourniquet tension maintained via the double-D clasp in a locked configuration.