685 results about "Motion Mode" patented technology

Aspects presented herein may enable a UE (e.g., a vehicle, an autonomous vehicle, an on-board unit (OBU) of a vehicle, an advanced driver assistance systems (ADAS) of a vehicle) to calculate and output safety margins for objects around the UE or a vehicle. In one aspect, a UE receives or transmits a request to provide safety margin visualization assistance. The UE obtains, in response to the request, an indication of a safety margin associated with an object based on a distance between the UE and the object and at least one of: a size of the object, a speed of the object, a location of the object, a type of the object, a direction of the object, or a movement pattern of the object. The UE outputs the safety margin associated with the object.

The invention discloses a foot drop assisting method based on a flexible ankle joint exoskeleton, and belongs to the field of rehabilitation medical assistance. According to the method, an unhealthy side ankle joint angle is input into a self-adaptive oscillator to learn related parameters in the self-adaptive oscillator, and an affected side ankle joint angle is predicted; meanwhile, a CNP model is adopted to predict the ankle joint angle of the shank on the affected side according to the gait phase estimated by the self-adaptive oscillator, two prediction results of the ankle joint angle of the shank on the affected side are subjected to weighted fusion to finally obtain the expected angle of the ankle joint on the affected side, and the fused ankle joint angle prediction output is more stable and continuous. And a weighted fusion result is smoothed. According to the method, the normal walking mode based on the unhealthy side ankle joint angle of the patient can be dynamically learned online in real time, and personalized affected side ankle joint angle reference tracks at each moment are generated for different patients, so that the abnormal motion mode of the patient is inhibited, and the patient is guided to reach the normal gait in the rehabilitation training process.

A resistance training machine, a method of providing custom workouts, and a method of providing feedback on user form and user balance are disclosed. The resistance training machine includes a left and right motor, a left and right pulley system, a left and right cable, a machine controller, and an HMI. Advantageously, the resistance training machine can provide isotonic exercises, isokinetic exercises, and feedback on form and balance for a user. The first method includes a user calibrating one or more exercises, selecting an exercise, selecting an exercise mode, and performing the exercise. For each exercise, a motor may ramp up to and ramp down from a selected velocity or force level. The second method includes a user performing an exercise, a machine controller receiving position data, torque data, and force data throughout the exercise, the machine controller generating user feedback, and an HMI displaying the feedback to the user.

A wearable device includes an accelerometer, at least three electrodes to detect electromyography signal, a communication circuitry, and a processor circuitry. A user wears a primary and a secondary wearable device on two limbs. When the user performs a two-hand gesture, the wearable devices detect a primary and a secondary movement pattern. The primary device recognizes the two-hand gesture from the primary and secondary movement pattern.

Methods, devices, media, and other embodiments are described for generating, modifying, and outputting pseudorandom animations that can be synchronized to audio data. In one embodiment, a computer animation model made up of comprising one or more control points is accessed by one or more processors, which associate motion patterns with a first control point of the one or more control points, and associate one or more speed harmonics with the first control point. A set of motion states is identify with a motion state for the combinations of possibilities, and a probability value is assigned to each motion state of the set of motion states. The probability value can be used to probabilistically determine a particular motion state to be part of displayed animation for the computer animation model.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a rehabilitation instrument motion mode control method and system, and the method comprises the steps: obtaining motion angle data and confrontation moment data of a user; determining whether the deviation between the actual motion track and a preset path exceeds a preset threshold value, determining whether the moment actively emitted by the user presents a continuous attenuation trend, and judging whether the motion performance of the user declines; if it is judged that the athletic performance of the user is reduced, diagnostic mechanical stimulation is applied; collecting mechanical response data; according to the mechanical response data, judging whether a counterforce source is active force reduction or non-autonomous muscle stretching reflex; if yes, the mode of the rehabilitation instrument is switched into a vibration assisting mode and a low-speed movement mode; and if the active force is reduced, switching the mode of the rehabilitation instrument to a force compensation mode. The intelligent rehabilitation instrument has the advantages that the movement mode of the rehabilitation instrument is intelligently adjusted, and the pertinence, safety and effectiveness of rehabilitation training are improved.

The invention provides a cleaning robot multi-mode motion control system, method and equipment and a medium, and belongs to the technical field of intelligent robot control. The system comprises a multi-modal data acquisition module used for performing multi-source synchronous acquisition on an environment image, distance information, a voice signal and a collision signal and outputting original sensing data; the data fusion and processing module is used for receiving the original sensing data, sequentially executing space-time alignment correction, multi-source feature fusion and instruction semantic analysis, and outputting an environment sensing result and a structured control instruction; the motion planning and decision-making module is used for executing global path planning, dynamic obstacle trajectory prediction and motion parameter decision-making based on the environment perception result and the structured control instruction, and outputting a motion control instruction containing a motion mode, a speed and an angle; and the motion control execution module is used for receiving the motion control instruction, converting the motion control instruction into an execution mechanism driving signal, realizing closed-loop control through real-time state feedback and outputting a motion execution result.

A space 6R multiple metamorphic mechanism comprises two connecting rods and motion branch chains used for connecting the front ends and the rear ends of the two connecting rods. The two motion branch chains are respectively two triangular rods which are connected through a revolute pair B and a revolute pair E; the two ends of the front side movement branch chain are connected with the front ends of the two connecting rods through rotating pairs D and F correspondingly. The two ends of the rear side movement branch chain are connected with the rear ends of the two connecting rods through rotating pairs A and C correspondingly. And two sides of the revolute pairs B, E, D and F are provided with mechanical limiters. When the mechanism is unfolded and folded to the mechanical limiting fit of the two sides of the revolute pairs B, E and D, the mechanism moves to the first configuration bifurcation point, and at the moment, the mechanism has the two movement tendencies of unfolding and folding and translation at the same time. When the theta is continuously driven to rotate anticlockwise, the mechanism enters a translational motion mode; and when the rotating pair A anticlockwise rotates to theta = 180 degrees, the mechanism has two movement tendencies of translation and rotation at the same time. Therefore, three different motion modes of unfolding and folding, translation and rotation and mode switching can be achieved through one mechanism.

The invention discloses a motion control method based on an empty-wall cross-medium robot and a related device. The method comprises the following steps: constructing a kinetic equation and a mixed control matrix of the empty-wall cross-medium robot in different modes; actual motion parameters and target parameters of the empty-wall cross-medium robot are obtained, calculation operation is conducted through the controller according to the target parameters and the actual motion parameters, control parameters of the controller are adjusted through the kinetic equation, and a control signal is generated; and state mapping is carried out according to the control signals through the mixed control matrix, and the motor driving state of the empty-wall cross-medium robot is output. According to the invention, the motion stability of the empty-wall cross-medium robot in a complex scene can be improved, and flexible switching control of the motion modes of the robot on the ground, in the air and on the wall surface is realized.

The invention discloses a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode, which comprises a base, and a first motion branch chain, a second motion branch chain and a third motion branch chain are connected to the base; the robot further comprises a fourth movement branch chain, and the first movement branch chain, the second movement branch chain and the third movement branch chain are all connected with the fourth movement branch chain. According to the bionic joint, the movement modes of the bionic joint can be changed through the driving motor, the output component is in the locked state, locking driving is not needed, and the output component can be kept in the locked state.

The invention is suitable for the technical field of medical instruments, and provides a pneumatic global self-adaptive ankle-foot artificial limb which comprises a rear sole and a front sole which are connected through a front and rear foot connecting piece. The pressure response assemblies are located at the bottoms of the rear sole and the front sole, and pressure changes after bearing; and the ankle self-adaption assembly is connected with the pressure response assembly through a valve communication assembly and drives the ankle to do eversion, centering and introversion motions based on pressure changes. According to the embodiment of the invention, an ankle joint inward and outward turning automatic adjusting mechanism directly driven by plantar pressure change can enable the artificial limb to adapt to complex terrains such as uneven road surfaces and lateral slopes in real time, an inward and outward turning motion mode of a physiological ankle joint in the walking process is simulated, and the gait of a user is smoother and more natural; the pure pneumatic control structure is relatively simple and light, and an external power supply pressure driving pump or a complex sensor is not needed.

The invention discloses a multi-source cooperative rocker arm-tracked robot composite mechanical structure for earthquake search and rescue, and belongs to the technical field of intelligent rescue equipment. A rocker arm-crawler belt-wheel three-dimensional motion structure system is innovatively designed, a multi-degree-of-freedom rocker arm structure driven by a steering engine is adopted in the middle of the robot, and a double-crawler belt differential driving module driven by a motor is arranged at the bottom of the robot; a swing arm balance wheel set is arranged on the front portion to assist climbing operation. According to the composite structure, a posture stability control algorithm is established through a mass center dynamic model, and intelligent switching of three motion modes of wheel type high-speed maneuvering, crawler belt obstacle crossing and rocker arm climbing can be achieved. Tests show that the structure can enable the robot to stably cross a 100 mm vertical obstacle, good posture stability is kept in unstructured terrains such as gravel and rubble, and meanwhile the environment is sensed through various sensors. Compared with a traditional single motion structure, the multi-dimensional maneuvering ability in the complex post-disaster environment is achieved through mechanical structure innovation, and the terrain adaptability of rescue equipment is effectively improved.

The invention discloses a method and a device for testing motility and wear resistance of socks, and relates to the technical field of wear resistance detection of socks. The method comprises the following steps: S1, collecting user parameters and gait parameters of different motion types, constructing a gait model, calculating a pressure distribution evaluation value, and carrying out data preprocessing; s2, new material socks are installed, the stress path and the friction environment of the socks under the real movement condition are controlled and reproduced through the rhythms of different movement modes, the friction force, the sliding track and the local shearing condition are synchronously recorded, and a wear track is formed; s3, obtaining a sock sole image, performing visual identification and wear region extraction, and outputting a quantitative wear index; and S4, evaluating the wear resistance of the new material socks, carrying out suitability matching analysis, taking optimization measures, and outputting an evaluation report. The problem that due to the fact that different movement types have completely different gait cycles and movement postures, wear of the socks is difficult to test is solved.

The invention provides a power roller motion control method and device and a power roller, and relates to the technical field of fitness equipment, and the power roller motion control method comprises the steps of inputting basic data, obtaining a motion mode of the power roller, comparing the obtained motion mode with a motion mode preset based on the basic data, and determining the motion mode of the power roller. If the obtained motion mode deviates from the preset motion mode, the motion mode is adjusted in real time. The preset exercise mode is selected through input basic data and then compared with the obtained exercise mode, then the exercise mode is adjusted in real time, due to the fact that the core strength of a beginner is insufficient, the control method adjusts the exercise mode in real time, then the core strength of the beginner is matched with the exercise mode, starting is easier, and the exercise efficiency is improved. And injury caused by improper use is avoided.

The invention discloses a bionic robot with walking, jumping and taking-off functions and a movement method, and belongs to the technical field of robots. The robot comprises a control system, a flapping wing mechanism and two leg mechanisms. Each leg mechanism comprises a driving device I, an execution connecting rod mechanism and a buffer foot part, the buffer foot part is connected with the execution connecting rod mechanism, and the execution connecting rod mechanism is driven by the driving device I; the flapping wing mechanism comprises a driving device II, a transmission mechanism, wings and an empennage; the execution link mechanism is connected with the transmission mechanism, the wings and the empennage are respectively connected with the transmission mechanism, the transmission mechanism is driven by the driving device II, the control system is used for controlling the driving device I and the driving device II, and the motion modes comprise walking, jumping and flying. The multi-mode bird-simulating robot has a multi-mode bird-simulating motion function, can autonomously realize mode switching from land motion to air flight, and remarkably improves the motion performance of the robot.

The locking-mode driving-free spherical surface moving parallel robot comprises a fixed platform and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the movable platform; the first kinematic chain comprises a first revolute pair R11, a second connecting rod, a second revolute pair R12, a third connecting rod, a third revolute pair R13, a fourth connecting rod assembly, a fourth revolute pair R14, a fifth connecting rod and a fifth revolute pair R15 which are connected in sequence, the fifth revolute pair R15 and the first revolute pair R11 are both connected with the fixed platform, and the fourth connecting rod assembly is further connected with a fifth ball pair S14; the fifth ball pair S14 is further connected with the movable platform. The robot does not need to be driven when being in a locked state, and under a set configuration, control driving and auxiliary driving are carried out, and the movable platform can be switched between a locking motion mode and a moving motion mode.

The invention relates to the technical field of motor driving, and discloses a motor driving direction correction method and device based on encoder feedback, and the method comprises the steps: respectively collecting first angle data of a first driving wheel and second angle data of a second driving wheel; calculating a direction deviation feature vector based on the first angle data and the second angle data, and performing time-varying dynamic mode decomposition on the direction deviation feature vector to obtain a motion mode feature; determining a motion mode identifier according to the motion mode characteristics and selecting a corresponding local controller to calculate a target control quantity; according to the method, different motion modes such as a straight-going steady state, conventional turning, climbing load and sharp-turn obstacle avoidance can be accurately identified, the dynamic influence relation between the two driving wheels is quantified, the problem of performance deterioration of a traditional single controller during working condition change is avoided, and the control precision of the motor driver is improved. And the accuracy of correcting the driving direction of the motor is improved.

The present disclosure provides a method and a device of controlling motion of a robot, a robot and a storage medium, wherein the robot is a wheel-foot composite robot including at least one environmental sensing sensor, and the method includes: controlling the environment sensing sensor to acquire surrounding environmental information; determining a target motion mode of the wheel-foot composite robot based the surrounding environmental information; and controlling the motion of the wheel-foot composite robot based on the target motion mode.

The embodiment of the invention provides a method for controlling an industrial robot, the industrial robot and a computer readable medium. In the method, a motion pattern for the industrial robot is determined based on a first voice input. One or more motion parameters in the determined motion pattern are determined based on the second speech input. And controlling the industrial robot to move in the determined motion mode according to the one or more motion parameters. According to the embodiment of the invention, by firstly determining the motion mode and then determining the motion parameters in the motion mode, more accurate movement of the industrial robot can be realized through voice control, so that the user experience of robot control is improved.

The invention relates to the technical field of surgical robot endoscope control, in particular to a surgical robot endoscope control method based on a hierarchical quadratic programming framework, and the method comprises the steps: determining the operation mode of the current surgical robot endoscope, the operation mode including a pivot motion mode, a path navigation mode and a dynamic tracking mode; according to the operation mode, a corresponding mechanical arm motion constraint model is determined based on a hierarchical quadratic programming method; the mechanical arm motion constraint model is solved based on output information of the position sensor and the force sensor, and the control speed of the robot joint is obtained; and controlling the robot joints to move based on the control speed, and finally completing endoscope control of the surgical robot. According to the invention, the endoscope control safety can be improved and the control complexity can be reduced.

The invention discloses a parallel robot with a locking mode and a one-dimensional space spiral motion mode. The parallel robot comprises a base, and a first motion branch chain, a second motion branch chain and a third motion branch chain are connected to the base; the first movement branch chain, the second movement branch chain and the third movement branch chain are all connected with the fourth movement branch chain; the first motion branch chain comprises an eleventh revolute pair R11, a second connecting rod, a twelfth revolute pair R12, a third connecting rod assembly, a thirteenth revolute pair R13, a fourth connecting rod and a fourteenth revolute pair R14 which are connected in sequence; the eleventh revolute pair R11 and the fourteenth revolute pair R14 are connected with the base; the axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 are not intersected at one point at the same time. According to the robot, the folding and unfolding unit can keep the posture rigidity under the specific configuration without being driven in the specific working configuration.

The invention relates to a bimorphic self-adaptive driving device of a legged robot, and belongs to the technical field of driving devices.The bimorphic self-adaptive driving device comprises a bottom plate, a connecting disc used for mounting the robot is fixedly mounted at the top of the bottom plate, a jacking mechanism used for jacking the bottom plate is arranged in the bottom plate, and mounting frames are symmetrically arranged at the bottom of the bottom plate; a connecting frame is fixedly mounted at the bottom of the mounting frame, a concave frame is arranged in the mounting frame, and a turnover mechanism used for adjusting the angle of the concave frame is arranged in the connecting frame; when walking on a flat road surface, the robot can move in any direction in a plane through the assembled Mecanum wheels, when the road surface condition is bad, the turnover mechanism turns over and turns into another mode, the five-section type module driving design is adopted to simulate the movement of a snake, each section is provided with an independent driving device and an independent control system, and therefore the driving efficiency of the snake is greatly improved. The robot can flexibly control the motion posture of each module, so that different motion modes are realized, and the flexibility is improved.

The multi-mode parallel robot comprises a base and a movable platform, and the movable platform is connected with the base through a first kinematic chain, a second kinematic chain and a third kinematic chain; the first kinematic chain comprises an eighteenth ball pair S18, a seventh connecting rod, a seventeenth sliding pair P17 and a first kinematic branch chain assembly which are connected in sequence, the first kinematic branch chain assembly is further connected with the base, and the eighteenth ball pair S18 is further connected with the movable platform. After the movement modes of the robot are changed, a certain movement range of two rotations and one movement is changed, the adaptability of the robot to different machining operations is improved, and the robot can be suitable for machining of a part with a larger dimension by changing the movement modes.

The invention discloses a multi-motion-mode high-temperature liquid metal environment micro-motion abrasion experiment device, which comprises a rack for supporting, a plurality of motion modes, a plurality of motion modes and a plurality of motion modes, the melting kettle unit is arranged on one side of the rack and is used for melting the metal solid into a liquid state under a preset condition; the melting kettle unit is arranged on the other side of the rack, and the experiment kettle unit is used for constructing a micro-motion abrasion experiment of a sample in a liquid metal environment; and the connecting pipeline unit is used for guiding the molten liquid metal in the melting kettle unit into the experimental kettle unit.

An accessibility diagnosis system is provided for a motion stabilization device for stabilization of a cosmetic applicator. The system includes a mobile user device that includes a touch sensitive display and a motion sensor, the mobile user device including processing circuitry configured to: display a request to a user for an input of a specific drawing motion or a specific movement of the mobile user device, and collect information indicating a movement pattern of the user's hands based on the results of the user's input in response to the request; and a server device that is connected to the mobile user device via a network, the server device including processing circuitry configured to receive the collected information from the mobile user device, determine an amount of motion stabilization required to be set for the motion stabilization device based on the collected information, and output the determined amount of motion stabilization.

The present application provides a method for processing a motion mode and a wearable device. The method is applied to the wearable device and includes: after receiving a first instruction, determining whether the wearable device has loaded map data of a first sports venue, where the first instruction is used to instruct the user to perform a target motion, and the first sports venue is the sports venue where the user is located when performing the target motion; after determining that the wearable device has loaded the map data of the first sports venue, obtaining motion data and positioning data, where the motion data is used to characterize the motion characteristics of the user when performing the target motion, and the positioning data is used to characterize the motion position of the user when performing the target motion and the location of the wearable device; based on the motion data, the positioning data, and the map data of the first sports venue, displaying statistical data of the user performing the target motion. Thereby, it helps to guide the user to conduct a review and analysis of the target motion, and is beneficial for the user to understand their own exercise habits, exercise conditions, and the stability of their own performance, etc.

The invention discloses a wheel-foot composite robot and a motion control method thereof, a terminal and a storage medium, and the motion control method of the wheel-foot composite robot enables the wheel-foot composite robot to have remarkable robustness and dynamic stability in a complex environment by performing self-adaptive control on a four-foot form and a two-wheel form under a unified control framework. The method specifically comprises the following steps: identifying a current motion form, and performing real-time integral estimation on an error between an expected state and an actual state by using a robust adaptive model predictive control algorithm in a four-foot form to obtain an equivalent external disturbance vector for control solution, thereby realizing online disturbance compensation and adaptive torque distribution. The robot has stronger anti-interference capability on load change and ground disturbance in a four-foot form, and can keep stable gaits and accurate attitude control under a relatively high load condition.

A method includes: determining a motion pattern of a user after an initiation of a walking activity; detecting one or more false steps and a gait abnormality associated with the user, based on the motion pattern; detecting an arm swing angle of the user and a leg swing angle of the user, based on the motion pattern and the walking activity; estimating a first variation in the arm swing angle and a second variation in the leg swing angle in the walking activity; calculating, using a machine learning (ML) model of a plurality of ML models, a compensation value associated with the one or more false steps, based on a combination of the first variation and the second variation, and a height of the user; and determining a step count of the user, based on the calculated compensation value and an initial step count of the user.

The invention provides a video generation method and device, equipment and a medium. A specific embodiment of the method comprises the following steps: providing a preset interface in a first interface; after a first trigger operation for the preset interface is detected, switching the first interface to a second interface; determining an original image and a reference video through the second interface; the original image comprises a first object of a preset category; the reference video comprises a second moving object of the preset category; and in response to a second trigger operation for the second interface, generating a target video corresponding to the original image based on the reference video, and enabling the first object in the target video to move according to the motion mode of the second object. According to the embodiment, the action migration of the preset category object is efficiently completed, the video generation effect is improved, and the user experience is improved.

The invention relates to a reconfigurable mobile series-parallel in-place machining robot with double working modes and a working method of the reconfigurable mobile series-parallel in-place machining robot. The robot is designed to be a combination of an outer parallel module and an inner parallel module. The outer parallel module comprises an outer rack, a first branch chain, a second branch chain, a third branch chain, an outer movable platform, an outer rack negative pressure adsorption mechanism and an outer movable platform negative pressure adsorption mechanism; the inner parallel module comprises an inner rack, an inner first closed-loop motion branch chain and an inner second closed-loop motion branch chain. By means of the modular design, the robot can change the motion capacity and function by reconfiguring or combining different modules, execute a three-degree-of-freedom motion mode of three-translation or a five-degree-of-freedom motion mode of two-rotation and three-translation, and flexibly switch between a moving motion mode and a machining motion mode according to task requirements. The robot can adapt to different working environments, task requirements and component shapes, high-precision in-place machining can be conducted on the surfaces of large complex components, and meanwhile the stable operation state is kept.