124 results about "Locomotor training" patented technology

A method and a robotic device for locomotion training. The method involves shifting a subject's pelvis without directly contacting the subject's leg, thereby causing the subject's legs to move along a moveable surface. The device comprises two backdriveable robots, each having three pneumatic cylinders that connect to each other at their rod ends for attachment to the subject's torso. Also provided is a method of determining a locomotion training strategy for a pelvic-shifting robot by incorporating dynamic motion optimization.

A body weight support system that monitors and controls the level of support force within a stepcycle to result in normative center of mass movement and ground reaction forces. The system comprises a harness connected to a lift line which in turn is connected to a means for advancing and retracting the lift line. A control system is configured to monitor load on the cable and to regulate lift line advancement and retraction in response to load information. The support system can be combined with a treadmill for locomotor training of a subject.

A robotic system and method for locomotion assessment and training of a mammal, exemplified by a rodent. A neurologically impaired animal is suspended over a moving surface in a harness, and the animal's hindlimbs are connected to robotic arms that apply force to the hindlimbs or measure limb movement characteristics. The moving surface can be a physical or virtual surface. A single robotic mechanism comprising two robotic arms can simultaneously apply force, measure limb movement, and provide a virtual surface. Manual or automatic adjustment of load support allows the mammal to step at varying body weight loads.

A body weight support system that monitors and controls the level of support force within a stepcycle to result in normative center of mass movement and ground reaction forces. The system comprises a harness connected to a lift line which in turn is connected to a means for advancing and retracting the lift line. A control system is configured to monitor load on the cable and to regulate lift line advancement and retraction in response to load information. The support system can be combined with a treadmill for locomotor training of a subject.

A system comprising wearable sensor modules and communicatively connected mobile computing devices for assisting a user in physical rehabilitation and exercising. The modules comprise sensors and the mobile computing device comprises device sensors. An application operably installed in memory of the mobile computing device provides a set of step-by-step instructions to a user for wearing the sensor modules in a particular way over an anatomical part depending on an exercise to be done by the user. The application further acquires a first set of data generated by the sensors and a second set of data generated by the device sensors. It then calculates a set transformation parameters based on the first set of data relative to the second set of data to do a sensor-anatomy registration of sensors to the anatomical part while the mobile computing device is placed substantially aligned with the wearable sensors over the anatomical part.

A method and apparatus for upper limb rehabilitation training of coordinated arm / forearm, forearm / forearm and grasping movements of a motor impaired patient comprises a nonrobotic, passive support, an arm / forearm sensor, a gripping device, a grip sensor capable of measuring an impaired grasping force of a grasping of the patient, a computer to process measurements of coordinated and simultaneous impaired arm / forearm, forearm / forearm and grasping movements to control a graphical representation of the arm / forearm and grasping movements in interaction with a virtual environment, and to provide a visual feedback signal to the patient of simulated normal activities of daily living performed with enhanced motor ability relative to the actual impaired motor ability. A visual feedback signal of the simulated activities of daily living is provided to motivate the patient to perform the upper limb rehabilitation movement training despite limited motor ability.

A robot for the recovery training to combined upper limibs movements of hemiplegia patient is composed of chair, vertical post installed at side of chair, mechanical arm installed to and moving along said vertical post and consisting of mechanical upper and lower arms, bracket for wrist, and elbow joint hanger. Its advantage is high recovery effect.

The invention discloses a training and motion state detection integrated ankle rehabilitation training device. The device comprises a supporting mechanism, a training mechanism and a detection portion; the supporting mechanism comprises a base, a supporting frame, foot plates and foot plate supporting seats; the training mechanism comprises varus / valgus motion platforms, dorsiflexion / plantarflexion motion platforms and pronation / supination motion platforms; the detection portion comprises three torque sensors mounted on single platforms and three encoders mounted on motors for power transmission. The training and motion state detection integrated ankle rehabilitation training device can realize three-degree-of-freedom rehabilitation training of human ankles, can be used for providing passive training for patents by simulation of operation techniques of therapists and is also available for independent training of the patents under specified requirements of doctors; by the torque sensors and the encoders, torque and movement position information of the patients in a training process can be acquired, functions of rehabilitation training and patient's movement information detection are integrated, and bases can be provided for a rehabilitation evaluation system.

The invention discloses a wearing type foot health measuring method, which belongs to the technical field of sensing. Sensors which are arranged in an insole (or a sole) are used for sensing physical quantity of a foot of a user when the foot of the user moves, a fiber bragg grating demodulating system placed outside a shoe (or the insole) realizes data processing, and a display terminal has a displaying function. The sensors are packaged fiber bragg grating sensors or Fabry-Perot fiber bragg grating sensors, wavelengths of transmitted waves of fiber bragging gratings can be drifted when the foot of the user moves, optical signals are transmitted to the demodulating system placed outside the shoe (the insole) via optical fibers, the fiber bragg grating demodulating system obtains variation values of the wavelengths of the transmitted waves of the fiber bragg gratings and analyzes and processes signal data, variation of the physical quantity generated when the foot of the user moves can be reflected in due time, and the data can be transmitted to the display terminal to be displayed and realize follow-up processing. The wearing type foot health measuring method has the advantages of simple structure, convenience in manufacture, fast response speed, stability in working, electromagnetic interference resistance, corrosion resistance, high temperature resistance and the like, can be applied in industries including medical treatment, exercise training, games and the like, and has a high practical value.

The invention discloses a tail-suspended rat fixing device, which comprises a rat fixing box, a tail suspension device and an angle adjusting device. The invention also provides a tail-suspended rat vibration / motion training device, which comprises a motion track limit device, a vibration training device, an active motion training device, a passive motion training device, a rat hind limb fixing device and a height adjusting device. The invention also provides a vibration / motion control device, which comprises a display screen, a key, a direct-current motor speed adjusting knob, a power supply adapter, a switch, a USB interface and an internal circuit, wherein the direct-current motor speed adjusting knob is used for adjusting the rotating speed of a direct-current motor during passive motion training; the power supply adapter and the switch are used for supplying power for the whole device; the USB interface is used for carrying out function expansion later; and the internal circuit is used for controlling and quantifying rat vibration / motion training and supplying power. The device can keep the same tail-suspended height, can carry out equal-length and equal-tension motion by combining vibration and motion training, and simultaneously achieves training quantification and control.

The invention relates to a coordination exercise training device for double upper limbs. The coordination exercise training device comprises a plurality of keys and a central control device. Each key is provided with a pressing sensor used for collecting a pressing signal of the key, wherein the pressing sensor is provided with a signal line and / or a wireless communication device, the signal line and the wireless communication device can transmit the corresponding collected pressing signal to a central controller, a touch patch is arranged on or not arranged on the pressing end face of the key, and a convex-concave structure is arranged on the pressing end face of the key or the touch patch. The sensors are arranged on a plurality of different unit modules respectively. The unit modules are movably connected to a wheel disc in the radial direction. The wheel disc is installed on a supporting tower frame. By means of the coordination exercise training device, the evaluation and training of the hand fine movement and the upper limb rough movement are integrated, movement and cognition are combined through the biological feedback technology, the coordination exercise training device can be widely applied to geriatrics, the sports medicine, the rehabilitation department, the hand surgery, the plastic surgery, the neurology department, the pediatrics department and other clinical departments, convenience is brought to medical personnel, and the all-directional training is provided for users.

The invention discloses a combined hemiplegia rehabilitation exercise walking aid which comprises a wheelchair, armrests, a wheelchair seat, large wheels, small wheels, a front upper support structure, a front lower support structure and a seat mechanism. Through combination of the wheelchair and the front upper support structure, the front lower support structure and the seat mechanism, the labor sum of patient relatives can be effectively relieved, patients which cannot completely take care of themselves, instable in standing, likely to lose balance and be completely hemiplegic can be helped for walking training and rehabilitation exercise, and the accidents of tripping and the like are avoided.

This invention provides a lower-limb off-axis movement training apparatus, which is mounted on the movement part of a sagittal plane exercise machine and allows the user to perform off-axis movement training during sagittal plane functional movements. The said apparatus for the lower limb off-axis training consists of a base, an off-axis movement generating part mounted on the base, and a foot container supported by the off-axis movement generating part. The said off-axis movement generating part comprising at least one of the following two: (1) off-axis pivoting generating part, which generates the pivoting movement of the foot container; (2) off-axis sliding generating part, which generates the sliding movement of the foot container. A feedback training system including the said training apparatus is provided. While the user performs sagittal plane movements of the lower limbs, the said system provides off-axis movement training integrated with the sagittal plane movements. The invented off-axis training apparatus and system can be used to help human subjects improve off-axis and sagittal plane neuromuscular control, reduce the incidence of lower limb injuries and facilitate post-injury rehabilitation.

The invention provides a flexible lower limb exoskeleton and walking aid co-fusion rehabilitation assistance method and device. The method comprises the following steps: sensing movement information of a user through sensors disposed on an exoskeleton suit and a walking aid, achieving coordination and co-fusion rehabilitation assistance of the exoskeleton suit and the walking aid through information fusion processing and prediction, and stimulating the training enthusiasm of the user. The exoskeleton suit and the walking aid are fused for rehabilitation assistance, so that limb fatigue of theuser is relieved while the user is assisted in stable walking training. Anti-falling feedback control of motion information of the exoskeleton suit and the walking aid is integrated, and the safety inthe using process is guaranteed from the two aspects of the exoskeleton suit and the walking aid.

The invention provides a lower limb rehabilitation exercise training device. The lower limb rehabilitation exercise training device comprises a frame, and is characterized in that two pedals are arranged on the two sides of the bottom of the frame; a pair of parallel racks distributed in the vertical direction are arranged on the lower portion of each pedal, wherein the two ends of the two racks are connected together through limiting plates, the two ends of the limiting plates are connected with sliding rods, the sliding rods penetrate in sliding tracks, the sliding tracks are installed on the frame, the upper rack is fixedly connected with the pedal, and an incomplete gear is arranged between the two racks; the incomplete gears on the two sides are connected with a double-shaft power motor. The lower limb rehabilitation exercise training device is simple in structure and good in training effect, and a patient can perform rehabilitation training by himself or herself at home without the help of relatives of the patient or doctors.

The invention discloses a multifunctional walk training vehicle for rehabilitation. The walk training vehicle includes a radio, a base, a supporting column and a massage ball, wherein the base is horizontally installed at the top of the supporting column, the end, away from a first driving motor, of the top of the base is provided with a first mounting frame, and the end, close to the first driving motor, of the top of a protective rod is provided with a fixed gasbag through a mounting base; the end, away from the first mounting frame, of the top of the base is provided with a second mountingframe, and a seat cushion and a backrest mounting base are hinged to the top end of the side, close to the first mounting frame, of the second mounting frame separately. Through installation of a motor, a massage disc and the massage ball, the motor drives the massage disc to rotate, so that the massage ball can be driven to roll constantly in the massage disc to achieve a purpose of massaging theback of a patient; through installation of the radio and a headset, the patient can listen to the radio during walk training to expel tediousness during walk training, and the rehabilitation of the patient is facilitated.

The invention relates to the technical field of medical instruments, particularly discloses a neural rehabilitation exercise training device. The neural rehabilitation exercise training device comprises a supporting seat, telescopic supporting legs are arranged at four corners of the lower surface of the supporting seat; two rear vertical rods are correspondingly arranged on the side, close to thetelescopic supporting legs, of the rear side of the lower surface of the supporting base; two front vertical rods are arranged at the positions, corresponding to the two rear vertical rods, of the front side of the lower surface of the supporting seat; a motor box is connected to the lower ends of the rear vertical rods; a guide plate is installed on one side face of the motor box, reset springsare connected to the side faces of the lower ends of the front vertical rods; and a limb auxiliary mechanism is arranged in the middle of the inner side of the supporting seat. The limb auxiliary mechanism is matched with the adjustable supporting seat to form rehabilitation training equipment for the lower limbs of a patient, the equipment can be adjusted in height and convenient to wear, auxiliary walking of the patient is achieved, automatic walking training of the lower limbs of the patient is achieved, the patient does not need to exert force, and operation is easy and convenient.

The invention relates to a balance rehabilitation training robot, which comprises a bottom plate, mounting frames are symmetrically mounted on the two sides of one end of the top of the bottom plate,a backup plate is mounted at the end, away from the mounting frames, of the top of the bottom plate, a top plate is jointly mounted at the tops of the backup plate and the two mounting frames, and U-shaped frames are symmetrically arranged at the two ends of the top of the bottom plate; a conveying belt device is arranged on the inner sides of the two sets of U-shaped frames jointly, and a swing assembly matched with the U-shaped frames is arranged at the end, close to the backup plate, of the top of the bottom plate. Through cooperative use of the lifting adjusting assembly, the top plate, the backup plate, the soft seat plate and the connecting sliding block, a patient can better utilize an auxiliary handle on the inner side of the lantern ring for walking training, if the balance senseof the patient is seriously maladjusted, the patient can sit on the soft seat plate, and the height of the soft seat plate is adjusted by controlling the height of the lantern ring; and therefore, a patient can perform leg walking rehabilitation training when sitting.

The invention discloses a free gait walking training method and device, a terminal and a computer readable storage medium, and the method comprises the steps: firstly obtaining recognition informationof a user which at least comprises one of kinematics information, mechanics information, biological information and image information; then, based on the identification information, identifying the motion gait of the affected side of the user; acquiring a motion intention of the affected side of the user based on the motion gait of the affected side; and finally, based on the motion intention ofthe affected side and an exoskeleton worn by the user, applying walking training assistance to the user based on the motion intention of the affected side. Thus, the walking training assistance is applied to a user based on the motion intention of the affected side, the gait of the user can be corrected in the walking training process, the user can autonomously move according to the motion intention of the user, and the walking training effect is improved.

The invention relates to a rehabilitation exerciser, in particular to a constant force gas dynamic type upper and lower limbs active and passive rehabilitation exercising and training instrument. The instrument is provided with a base, an air compressor, an air flue and a control valve, wherein, the base is provided with a seat, the two sides of which are respectively provided with a bracket which is provided with a rotary cylinder used as a driving device; the output shaft ends at the inner sides of the two rotary cylinders are respectively connected with an exercising and training component, and ends covers of the output shaft ends at the outer sides are respectively provided with tilt angle range regulation device used for limiting the slewing area of an output shaft. The training instrument overcomes the deficiencies that the existing mechanical counterweight training instrument can not provide constant power and passive training for the training user; at the same time, compared with electrical control products, the exercising and training instrument has the advantages of simple structure, low cost, high reliability, larger power regulation range, and the like, so as to be taken as the rehabilitation exerciser and the sports equipment for the healthy people.

A piece of training equipment, which provides power assistance for healthy people and hemiplegia patients, is characterized by comprising two components of an elastic cord suspension system and an electrically assisted training system. The two systems cooperate with each other to control the limb movement direction and provide sufficient power assistance. The equipment is of reliable safety and can provide excellent assistance for hemiplegia patients and common healthy people.

A free walking training machine includes a chassis having a left supporting frame and a right supporting frame, a left swing arm having a left axial portion extending sidewards, a right swing arm having a right axial portion extending sidewards, a left lifting mechanism, a right lifting mechanism, a first linking unit, and a second linking unit. The left lifting mechanism makes the left swing arm move upward and downward relative to the left supporting frame. The right lifting mechanism makes the right swing arm move upward and downward relative to the right supporting frame. The first and second linking mechanisms are connected between the left and right swing arms for enabling the left and right axial portions and the left and right swing arms to make linking movement and move toward contrary directions, respectively. The first and second linking mechanisms are operable independently.

The invention discloses a fixed gait walking training method, a device, a terminal and a computer readable storage medium. The method comprises the following steps of: firstly obtaining identificationinformation of a user, wherein the identification information at least comprises one of kinematics information, mechanics information, biological information and image information; then, identifyingthe motion gait of the unaffected side of the user based on the identification information; acquiring a motion intention of the affected side of the user based on the motion gait of the unaffected side of the user; and finally, applying fixed gait walking training assistance to the user based on the motion intention of the affected side of the user and the exoskeleton worn by the user, so that theuser can learn how to walk in the walking training process, the motion balance and motion rhythm of the user can be well controlled, and the walking training effect is improved.

Provided is a leg support for a rehabilitation training robot of lower extremity exoskeleton. The support is mostly composed of an inserting sleeve used for being movably connected with a movable sliding block, a support used for being movably connected with the inserting sleeve, and a binding strip used for penetrating through the support such that the leg support is connected with a person's thigh. The leg support for the rehabilitation training robot of lower extremity exoskeleton has following beneficial effects: the leg support is used for being installed on a thigh's mechanism of the robot; due to the fact that a movable groove is arranged in the thigh's mechanism and the movable groove is connected with the movable sliding block, the movable sliding block can drive the leg support to slide with passive movement of a mechanical leg so that discomfort caused by pulling and extrusion during the exercise training process of the leg support is avoided; due to the fact that a transverse cut is arranged in an inserting piece of the support, a second pin of the inserting sleeve is inserted through the transverse cut and can move up and down along a vertical inserting groove of the support; and the leg support is not easy to fall down and convenient to use.

The invention provides a device capable of drawing upper and lower limbs to move actively and passively, and belongs to the technical field of medical rehabilitation machinery. The device comprises a hauling cable, a cable shaft, a single-phase capacitance start motor, a knob, a rotary extruder, a power line, an electrifying line, a controller, guide pulleys, a guide rod and a guide shaft, wherein the single-phase capacitance start motor is fixed in a certain position of a space; the cable shaft is fixedly connected with the output shaft of the single-phase capacitance start motor, and the hauling cable is fixed on the cable shaft in a certain mode; the hauling cable is tied on the upper limb or lower limb of a human by virtue of various feasible modes; and the guide pulleys are fixed on different points in the space to realize movement training of upper and limb limbs in different directions. The device has a simple structure, is easy to popularize, and can realize active and passive movement combination of a user.

The invention discloses an airbag type human body elbow / knee exercise training system. The airbag type human body elbow / knee exercise training system comprises a flexible cylinder worn on the elbow / knee, an airbag arranged on the flexible cylinder, an inflating mechanism used for inflating the airbag and a deflating mechanism used for deflating the airbag; the airbag is capable of making the flexible cylinder stretch straightly under the inflating expansion state so that the elbow / knee joint in the flexible cylinder can be opened. Driving force for opening the elbow / knee joint is provided by the airbag, and secondary injury caused by misoperation is reduced greatly by using the flexible material; the airbag type human body elbow / knee exercise training system is simple in structure, low inmanufacturing cost, attractive in appearance, easy to adjust, convenient to operate, high in applicability, light in overall weight and convenient and free to move, allows a patient to conduct rehabilitation training in most places, overcomes defects of a traditional mechanical training instrument, has a certain massage function and can meet use requirements of different users.

The invention provides an upper limb rehabilitation training robot based on electrical nerve stimulation and a using method thereof. The requirements of different patients for training intensity can be satisfied. An electrical stimulation instrument makes a patient passively move at a small displacement, and a rehabilitation training robot guides the upper limbs of the patient to finish a completeset of large-displacement movement. The upper limb rehabilitation training robot based on electrical nerve stimulation includes a support frame, a two-degrees-of-freedom slide guide rail, a rotatingdevice, a suspending device, wrist protectors, elbow protectors, a chair and an electrical stimulation instrument. The technical effect of the robot is beyond doubt. The rehabilitation training robotcan carry out exercise training on the upper limbs in a three-dimensional space, carry out large-range auxiliary training on the multiple joints of patients and train the muscles of the upper limbs inan all-round way, so as to maximize the rehabilitation effect. The robot is simple to control, and the flexible connection will not bring secondary injury to patients. Moreover, the electrical stimulation instrument can satisfy the requirement of patients for active and passive training, and a maximum rehabilitation effect can be achieved.

The invention provides a standing up movement balance monitoring and dynamics analysis system according to the demand that it is needed to quantitatively assess the exercise rehabilitation state of to-be-rehabilitated crowd during training in the rehabilitation medicine department. Multiple sensors are adopted for monitoring foot sole force signals and kinematic signals of each limb part of the human body during standing up in real time, the balance of the human body during standing up movement is calculated and evaluated, the force moment of each joint during standing up is analyzed, and thestanding up stage of the human body during standing up is judged. A provided wearable multi-dimensional foot sole force measuring module can detect the mechanical state of foot soles of a patient in real time and is used for comparing the mechanical state with a mechanical law of the foot soles of the standard healthy human body during standing up and judging the movement posture of the human bodyduring standing up so that necessary reference information can be provided for the development of external auxiliary force rehabilitation equipment. Under the social background of the increasing aging population, technical blanks in the field are filled, the workload of physicians in the rehabilitation medicine department can be reduced, and a quantitative assessment reference is provided for standing up movement rehabilitation training.

The invention relates to rehabilitation training equipment for traditional Chinese medicine hospital, which comprises a base device, the base device comprises a bottom frame, sliding wheels are arranged at the bottom of the bottom frame, a supporting assembly is arranged on the side wall of the bottom frame, a walking training device and an arm training device are arranged on the bottom frame, thewalking training device comprises a first sleeve, the first sleeve is fixed to the bottom frame, an adjusting assembly is arranged between the two first sleeves, the first sleeves are sleeved with second sleeves, arm cushion plates are fixed to the two second sleeves, two finger training assemblies are arranged at the bottoms of the arm cushion plates, the arm training device comprises two fixingrods, the two fixing rods are both fixed to the bottom frame, fixing frames are arranged on the two fixing rods, two connecting assemblies are arranged between the fixing frame and the fixing rod, anarm training assembly is fixed to the bottom of the fixing frame, and a seat device is arranged between the walking training device and the arm training device. The training equipment is convenient for patients with different heights to carry out walking training and can carry out rehabilitation training on multiple parts of the body.