2590 results about "Lower limb" patented technology

The invention relates to the technical field of medical rehabilitation, and discloses a lower limb weight-bearing gait rehabilitation training system which comprises a data acquisition module, a data processing and analysis module, a patient individualized modeling module, an intelligent decision and control module, a rehabilitation execution module and a man-machine interaction and medical information interface module which are in communication connection through a network. The data acquisition module is used for acquiring multi-modal data of a patient in real time, and the multi-modal data comprises static sign data, dynamic physiological parameters, kinematics and dynamics parameters and non-motion physiological and psychological state data; and the data processing and analysis module is used for carrying out preprocessing, feature extraction and deep analysis on the original data, and outputting a structured patient individualized feature vector and an evaluation result. According to the invention, a patient three-dimensional skeletal muscle digital twinborn model is constructed through the patient individualized modeling module, and in combination with a continuous learning intelligent model library, body sign differences of different patients can be accurately adapted.

The invention discloses a lower limb exoskeleton rehabilitation robot joint torque prediction method and device based on an electromyographic signal, and the method comprises the steps: firstly collecting the electromyographic, joint angle, angular velocity and joint torque data of a user, and carrying out the modeling of four muscles related to a knee joint through a neuromusculoskeletal model; and identifying physiological parameters used in the model by using a sparrow optimization algorithm, and outputting an optimal solution to obtain an estimated torque. Then, the real torque and the estimated torque are endowed with the weights of # imgabs0 # respectively, and a fusion torque is obtained; and training a neural network model by using the collected data and the fusion moment, and meanwhile, enabling the neuromusculoskeletal model to participate in the training process of the neural network model by adopting a method of bringing the neuromusculoskeletal model into a loss function, so that the constraint of the model is increased. And finally, storing the trained model for subsequent calling. The method has the advantages of high precision and strong generalization, and model training can converge more quickly under the condition of less data volume.

The invention provides an artificial intelligence auxiliary diagnosis method and system for a knee joint, and the method comprises the steps: synchronously collecting a multi-angle dynamic X-ray image and six-degree-of-freedom contact force distribution data in an articular cavity, dynamically tracking a patella sliding track, and generating a mechanical phase track; a personalized knee joint model is constructed in combination with the biological parameters of the lower limbs of the patient, the mechanical phase trajectory and the contact force data vector are superposed to generate a dynamic mechanical fingerprint, and then the dynamic mechanical fingerprint is mapped into a biomechanical attribute map; electromyographic signal time-frequency characteristics and tibia rotation angles in the movement process are collected, an electromyographic activation mode is constructed, and the electromyographic activation mode and a biomechanical attribute map are subjected to characteristic fusion to form a joint dynamics comprehensive contour; analyzing a stress wave conduction path by using a joint anomaly dynamic propagation model to identify a compensatory injury mode; a diagnosis map is generated according to the recognition result, a preset biomechanical constraint condition is matched to correct the diagnosis map, and an individualized rehabilitation strategy is formulated. The treatment effect is improved, and the recovery speed of a patient is increased.

The invention relates to a humanoid robot lower limb structure and a robot. The lower limb structure comprises a hip unit, a thigh unit, a shank unit and a foot unit. The hip unit comprises a hip seat body, a first joint structure, a thigh swing drive, a thigh rotation drive and a thigh side-sway drive; the first joint structure comprises a first movable seat and a second movable seat; the thigh swing drive is mounted on the inner side of the hip seat body, and an output rotating shaft of the thigh swing drive is connected with the first movable seat; the thigh rotation drive is fixedly connected with the second movable seat, and an output rotating shaft of the thigh rotation drive is connected with the upper end of the thigh unit; the thigh side-sway drive is fixedly connected with the first movable seat, and an output rotating shaft of the thigh side-sway drive is connected with the second movable seat; the axial direction of a rotating shaft driven by thigh swing is parallel to the first direction; the axial direction of a rotating shaft of the thigh side-sway drive is perpendicular to the first direction; the axial direction of the rotating shaft of the thigh rotation drive is perpendicular to the first direction and the axial direction of the rotating shaft of the thigh side-sway drive.

The invention provides a two-stage registration method and device suitable for a full-length image of a lower limb, a terminal and a medium. The method comprises the steps of obtaining a to-be-registered CT image and a label of the lower limb, and a target X-ray image and a label of the lower limb; inputting the to-be-registered CT image and the label, and the target X-ray film image and the label into an affine transformation network to generate an affine transformation matrix for performing rough registration on the to-be-registered CT image; and inputting the CT image and the label output in the coarse registration stage, and the target X-ray film image and the label into a deformation field registration network to generate a deformation field for fine registration based on the coarse registration result of the CT image to be registered. According to the method, the deep learning technology is utilized, a brand-new 2D / 3D medical image registration algorithm is constructed, and full-automatic cross-modal registration of lower limb full-length horizontal position CT and standing position X-ray films is achieved for the first time. The research result of the invention can provide effective assistance for preoperative accurate planning, assist the design work of an HTO operation guide plate, and improve the clinical curative effect of early and middle knee OA.

A floor mounted lower limb restraint airbag device includes: an airbag installed at a lower side of a floor of a vehicle cabin, configured to rupture the floor by being supplied with gas from an inflator during a vehicle head-on collision, and configured to be expanded and deployed toward at least knee regions of a passenger seated in a vehicle seat; and a tension member coupling an upper portion of the airbag with a support section provided at a lower side of the floor, the tension member rupturing the floor and deploying accompanying expansion and deployment of the airbag, and the tension member pulling the upper portion of the airbag at a vehicle rear side and relatively toward a vehicle lower side in a case in which at least the knee regions of the passenger, who begins to move toward a vehicle front side under inertia, are restrained by the airbag.

The invention discloses an intelligent training method for preventing lower limb thrombus and a related device, and the method comprises the steps: inputting the physiological parameters of a patient, the initial exercise ability evaluation information and the personalized rehabilitation target information into a DQN multi-mode fusion model, and generating an ankle pump exercise training scheme meeting the rehabilitation demands of the patient; monitoring ankle pump motion execution information of the patient in real time through wearable equipment; according to the ankle pump motion training scheme and the ankle pump motion execution information of the patient, a lower limb thrombus training effect evaluation result of the patient is calculated, and the lower limb thrombus training effect evaluation result comprises the blood circulation improvement degree, the joint motion range and the gait characteristics; according to a lower limb thrombus training effect evaluation result of the patient, predicting lower limb thrombus potential recovery disorder and a falling risk level of the patient, and starting a grading alarm program according to the potential recovery disorder and the falling risk level. The training effect is comprehensively evaluated through the multi-modal data fusion training method, and the lower limb thrombus rehabilitation efficiency is improved.

The invention relates to a lower limb diagnosis training system, and belongs to the field of medical diagnosis and rehabilitation training. The system comprises a detection part used for collecting data information related to the lower limbs of a patient; and the control unit is used for analyzing and processing the data information so as to calculate and obtain a diagnosis result. The control unit can calculate a neural function index based on the electroneurographic signal parameters, calculate a joint activity index based on the joint activity, calculate a muscle strength index based on the muscle strength evaluation value, and further calculate an initial lower limb function comprehensive score; the initial lower limb function comprehensive score is used as an initial diagnosis result to output a control signal of a numerical range of a combination of traction forces in multiple directions, so that electromyographic signal parameters and blood flow parameters acquired by a detection part in real time in the training process of a patient can be used by a control unit for correcting the initial lower limb function comprehensive score; and obtaining a dynamic lower limb function comprehensive score for adjusting the specific numerical value of each traction force distribution.

The invention discloses a multifunctional leg sleeve for auxiliary treatment of lower limb lymphedema, which comprises a leg sleeve body, a pressure sensing unit, a temperature and humidity sensing unit, an air bag pressure unit, a heating unit, an electrical stimulation unit, an impedance measuring unit and a portable force-electricity-heat cooperative intervention controller, the leg sleeve is characterized in that the pressure sensor and the temperature and humidity sensor monitor internal environment parameters of the leg sleeve body, drive the air bag pressure unit to perform self-adaptive pressurization, and drive the heating element and the electrical stimulation electrode to perform intelligent heating medicine application and muscle stimulation at the same time; the main control unit is driven to adjust the pressure, the temperature and the stimulation intensity of the air bag pressurizing unit, the heating unit and the electrical stimulation unit; in the wearing period, the device uploads data to a mobile phone and a cloud server terminal for data analysis, optimal pressure, temperature and electrical stimulation regulation prescriptions are provided for a user, and a good treatment effect is achieved.

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

A method for detecting foot and lower limb health changes includes collecting a first and second temperature reading at each time point over a time window, from a first and second plantar location on a user's body. The method further includes determining a temperature offset and applying the temperature offset to the first and second series of temperature readings to yield a first and second series of offset temperature data. Irrelevant offset temperature data is identified and removed from the first and second series of offset temperature data to yield a first and second series of processed temperature data. A temperature difference at each time point in the time window is determined by comparing the temperature readings or processed temperature data and a foot health change flag is generated if the average of the temperature differences over the time period exceeds a foot health change threshold.

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the method has the requirements of light weight and low control complexity.

The invention relates to the technical field of intelligent wearable devices, and discloses a multi-modal sensing and motion state recognition method and device for an intelligent wearable device, and the method comprises the steps: carrying out the anatomical coordinate transformation of original motion data collected by a wrist wearable device, and obtaining an acceleration sequence and an angular velocity sequence; performing sliding window segmentation and multi-scale wavelet packet decomposition to obtain a potential conversion period window set and corresponding multi-scale time-frequency features; constructing a conversion period feature vector for describing a conversion relation between the wrist movement and the whole body movement; inputting the conversion period feature vector into a hierarchical conversion identification model for processing to obtain a conversion type label and a conversion confidence coefficient; body part association mapping and lower limb action state inference are executed, a lower limb state sequence and a whole body action conversion type in the conversion process are obtained, real-time efficient recognition of action conversion is achieved, limitation of a single model is avoided, and the high recognition rate under low calculation complexity is kept.

The invention belongs to the field of computer vision, and discloses a method, a system, equipment and a medium for recognizing whole-body actions of a three-dimensional skeleton human body based on a multi-style topological matrix and refined skeleton features, and the method comprises the following steps: firstly, acquiring skeleton action sequence data containing multi-frame three-dimensional coordinates of human body articulation points; constructing a multi-style topological structure composed of three local adjacent matrixes of the head, the trunk and the lower limbs and a global adjacent matrix; after spatio-temporal feature extraction is carried out through a graph convolutional network, refining processing is carried out on output features to generate local and global feature representations, and corresponding prediction probability distribution is calculated; and training the network by using a combined loss function of global and local prediction probability distribution joint optimization, and finally outputting an action classification result. According to the method, the joint relation is captured through effective skeleton topological representation, local and global feature refined learning is combined, and the three-dimensional skeleton human body action recognition performance is improved.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention discloses a double-clutch variable-stiffness knee joint exoskeleton, and relates to the technical field of wearable lower limb exoskeletons.The double-clutch variable-stiffness knee joint exoskeleton comprises a gait sensing module arranged outside and a limb connecting arm module used for being connected with a human body, and an energy storage module is installed on one side of the limb connecting arm module; a sensor module is mounted on the other side of the limb connecting arm module; the limb connecting arm module comprises a limb connecting arm assembly I used for being connected with the thigh of the human body and a limb connecting arm assembly II used for being connected with the shank of the human body, the limb connecting arm assembly I and the limb connecting arm assembly II are each provided with a clutch unit, and the core speed increaser is installed between the limb connecting arm assembly I and the limb connecting arm assembly II. The energy storage module and the sensor module are arranged on the two sides of the core speed increaser, and the core speed increaser is connected with the energy storage module. The device has the advantages of compact structure, variable rigidity bandwidth and good motion adaptability, can realize high energy recovery efficiency in a multi-gait mode, and reduces the metabolic consumption of a human body.

A prosthetic foot includes a base spring, a top spring assembly, a connector assembly, and a heel cushion. The top spring assembly includes first and second spring members, and first and second bond connections. The second spring member extends parallel with and spaced apart from the first spring member. The first bond connection is between distal ends of the first and second spring members, and the second bond connection is between a distal end of the second spring member and a top surface of the base spring. The top spring assembly has a first portion arranged horizontally, and a second portion arranged vertically. The connector is connected to a proximal end of the top spring assembly to connect the prosthetic foot to a lower limb prosthesis. The heel cushion is mounted to the base spring at a location spaced forward of a heel end of the base spring.

The invention provides a sports action correcting and monitoring system based on image recognition and big data, relates to the technical field of artificial intelligence, and integrates multi-source data, eliminates space-time differences and improves the accuracy and reliability of an analysis result through a data synchronization and fusion module by using a big data processing technology; the biomechanical solving module calculates a lower limb joint torque vector in real time based on a Lagrange equation, and real-time monitoring of the joint torque is achieved; the load optimization module adopts an Adam optimization algorithm, optimizes the stride width and the knee joint buckling angle through a gradient descent method, minimizes the maximum value of the joint torque, reduces the joint load of an athlete, and prevents potential injury; the feedback display module transmits the optimized action parameters to the wearable device in real time, the athlete is guided to adjust the action in real time, and the high efficiency and safety of training are ensured.

The invention discloses a wearable device for lower limb rewarming, and relates to the technical field of medical instruments. The wearable device for rewarming the lower limbs comprises an outer constraint sleeve, an inner constraint sleeve and a mounting box, a heat preservation pipe is arranged between the outer wall of the outer constraint sleeve and the outer wall of the inner constraint sleeve, notches are formed in one side of the outer constraint sleeve and one side of the inner constraint sleeve, a zipper is arranged at the positions, located at the notches, of the outer wall of the outer constraint sleeve, and a puller is arranged on the zipper; a water tank is fixedly connected into the mounting box, a water outlet pipe is connected to the inner wall of one side of the water tank in a penetrating mode, and a water pump is arranged in the mounting box. Through driving of the water pump, purified water enters the heat exchange structure through the conversion pipe to be heated and then enters the heat preservation pipe through the hot water conveying pipe, a closed hot water circulation channel is formed, continuous supply of hot water and rewarming of the lower limbs are effectively guaranteed in a water heating mode, blood circulation is effectively promoted, and postoperation hypothermia is avoided.

The gait assistance mechanism according to one example of the present invention may comprise one or more tendons connecting an upper limb, a trunk, and a lower limb of a wearer and a fixing part fixing the one or more tendons to the body of the wearer, and the one or more tendons may comprise a driving tendon connecting the lower limb and the upper limb on the same side of the wearer.

The invention relates to the technical field of wearable exoskeleton assistance, in particular to a lower limb exoskeleton knee joint assistance control method and system. The lower limb exoskeleton comprises a pair of swing arms respectively connected with thighs and shanks and an actuator, and the method comprises the following steps: processing data of a motion parameter sensor, acquiring detection data input by the motion parameter sensor arranged on the lower limb exoskeleton, and processing the detection data to extract motion features; gait phase detection is conducted, the current gait phase is determined according to the motion characteristics, the gait phase comprises a supporting phase and a swinging phase, the supporting phase corresponds to the state that the lower limb touches the ground, and the swinging phase corresponds to the state that the lower limb leaves the ground; activity identification: motion features are extracted in the supporting phase to determine activity types, and the activity types comprise at least one of flat walking, upward walking, downward walking, running, squatting, backward walking and unknown; according to the control strategy, the corresponding control strategy is selected according to the gait phase and the activity type so as to control an actuator.

The invention relates to the field of pelvic floor muscle recovery treatment, in particular to a female pelvic floor muscle recovery treatment device and an adjusting structure thereof.The female pelvic floor muscle recovery treatment device comprises a movable base, a control box is arranged on the surface of the movable base, a hydraulic rod is installed on one side of the control box, and a recovery supporting plate is installed at the top of the hydraulic rod; a massage repairing device capable of massaging female pelvic floor muscles is installed on the upper surface of the repairing supporting plate, a movable structure is installed in the repairing supporting plate, and a lifting adjusting structure capable of freely moving is arranged above the repairing supporting plate. The top of the lifting adjusting structure is provided with an abdomen repairing structure capable of repairing female abdomen muscle tissue, and the matrix type layout of the massage vibrators can stimulate pelvic floor muscle groups in a partitioned mode, so that the biological feedback effect is enhanced. The leg repairing structure drives a sliding ball to move in an arc groove through an electric telescopic rod, switching between resistance training and passive stretching is achieved, and lower limb venous thrombosis is effectively prevented.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

The invention provides a horizontal limb joint rehabilitation physiotherapy device, and relates to the field of limb joint rehabilitation physiotherapy. A horizontal limb joint rehabilitation physical therapy device comprises a fixing plate which serves as a supporting structure for horizontal limb joint rehabilitation physical therapy, supporting seats which are evenly distributed are installed at the bottom of the fixing plate, and first ball cage type universal joints used for driving an upper limb assembly and a lower limb assembly to rotate are installed on the two sides of the fixing plate and the two sides of one end of the fixing plate; the two driving assemblies are arranged at the two ends of the top of the base correspondingly and used for driving the upper limb assembly and the lower limb assembly; and the ankle joint assembly is mounted at one end of the lower limb assembly and drives the ankle back to stretch and the plantar flexion through a servo motor. The upper limbs and the lower limbs can be driven to conduct rehabilitation training through the driving assembly, and meanwhile rehabilitation training can be conveniently conducted on one sides of the upper limbs and one sides of the lower limbs through cooperation of a first electromagnet, a first magnet, a second electromagnet and a second magnet.

The invention belongs to the technical field of lower limb exoskeleton control, and particularly relates to a flexible lower limb exoskeleton assistance control method based on multi-source information fusion. The method comprises the following steps: firstly, acquiring plantar pressure, hip joint acceleration and angular velocity and knee joint acceleration and angular velocity, and fusing the hip joint acceleration and angular velocity and the knee joint acceleration and angular velocity respectively to obtain hip and knee joint angles; performing normalization processing on hip and knee joint angles and plantar pressure to form a multi-source information matrix; inputting the multi-source information matrix into a gait phase recognition model for gait phase recognition to obtain a gait phase; then, according to the gait phase, the joint angle and the joint torque, a Bowden line playing a power assisting role is judged; calculating expected Bowden line change lengths under the assistance of hip and knee joints respectively; and finally, converting the expected change length of the Bowden cable under the assistance of the hip and knee joints into expected rotation angles of hip and knee joint motors, and controlling the hip and knee joint motors by adopting fuzzy PID control according to the rotation angles. The method solves the problems that in lower limb exoskeleton control, the gait phase recognition accuracy is low, and precise power-assisted control is difficult to carry out.

The invention discloses a lower limb exoskeleton control system and method based on phase recognition and model prediction control. The system comprises a kinematics modeling module, a gait database module, a data processing and feature extraction module, a gait phase recognition module, a dynamics modeling module, a model prediction controller and an actuator control unit. By recognizing the gait phase and dynamically adjusting and controlling the target, precise assistance of the natural gait of the wearer is achieved. The system calculates the trajectory of the ankle joint relative to the hip joint in real time based on a kinematic model, and constructs a database in combination with gait data collected under multiple working conditions to provide an expected trajectory and reference parameters for control. In the dynamic modeling process, motor driving torque and man-machine interaction torque are introduced, a system dynamic model is established in a unified mode, and control characteristics under different gait phases are reflected.

The present application relates to the field of medical devices, and provides a back plate adjustable exoskeleton, comprising: a column structure and a control module, the column structure is slidably connected with a back plate mechanism, and a lower limb exoskeleton connected with the back plate mechanism, and the back plate mechanism is provided with a back plate which can move up and down relative to the back plate mechanism; further comprising: a binding device arranged on the lower limb exoskeleton and a foot bottom exoskeleton, the foot bottom exoskeleton is provided with a pressure sensor. When the human body wears the exoskeleton and changes from a sitting posture to a standing posture, the back plate mechanism adjusts the back plate mechanism along the column structure to the height matched with the user according to different body shapes of the user; and when the user changes the posture in the walking process in the standing posture, the foot bottom exoskeleton detects the change of the foot bottom pressure, so that the control module can control the up and down movement of the back plate relative to the back plate mechanism according to the foot bottom pressure to adjust the human body posture.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

The invention provides an ankle foot orthosis parameter adjusting method based on a digital model, and the method comprises the steps: constructing a first fusion model which comprises a lower limb three-dimensional model of a target user and an initial orthosis three-dimensional model of an initial orthosis, and the target user has a lower limb abnormal symptom; a first parameter value, corresponding to the target walking parameter, of the target user wearing the initial ankle foot orthosis in the walking process is detected and obtained; orthosis parameter adjustment is conducted on the first fusion model according to the first parameter value, and a second fusion model is obtained; performing walking parameter prediction based on a second fusion model to obtain a second parameter value corresponding to the target walking parameter; and determining a target orthosis parameter according to the second parameter value. By implementing the method disclosed by the invention, on-line adjustment of related parameters of the ankle foot orthosis and accurate evaluation of the orthopedic effect after adjustment can be realized based on the digital model, so that the adaptation efficiency of the orthosis is improved while the adaptation cost of the orthosis is reduced.