562 results about "Motion Mode" patented technology

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.

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 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 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 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 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 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.

Detecting Onset of Motion Sickness in Virtual Reality (VR) Signals from a motion sensor on a head-mounted device (HMD) used by a player of a computer game are analyzed to determine whether motion of the player such as sway may resemble a precursor motion pattern to motion sickness, so that the player may be advised accordingly before the symptoms of motion sickness manifest themselves.

The invention discloses a CT scanning bed control method and system based on EtherCAT motion control, and the method comprises the steps: selecting a scanning mode according to a scanning demand, and calculating a motion parameter corresponding to the scanning mode; receiving the scanning mode and the motion parameter information, and converting the scanning mode and the motion parameter information into a motion mode instruction of the scanning bed through TCP protocol processing; receiving the motion mode instruction, and converting the motion mode instruction into an EtherCAT protocol format; and receiving the motion mode instruction in the EtherCAT protocol format, and controlling the scanning bed to act through the servo driver based on the motion mode instruction in the EtherCAT protocol format so as to complete a scanning task. EtherCAT full duplex communication is adopted, so that data transmission is more timely and accurate, and high-speed and stable information interaction is realized; a sine line planning model is introduced, the motion trail of the scanning bed can be accurately planned according to different scanning modes, motion errors and jitter are reduced, and the CT scanning precision is improved.

The invention relates to the technical field of wireless communication, in particular to a communication method of a wireless earphone and the wireless earphone. The method comprises the following steps: acquiring motion posture data of a user; motion mode classification is carried out on the user motion posture data, user motion mode classification data are generated, and the user motion mode classification data comprise a user high-speed motion mode and a user normal motion mode; bluetooth transmitting power collection of the wireless earphone is carried out based on the normal motion mode of the user, and basic Bluetooth transmitting power data are obtained; and performing multi-antenna receiving intelligent adjustment on the basic Bluetooth transmitting power data based on the high-speed motion mode of the user so as to generate earphone motion communication transmitting adjustment data. According to the invention, the communication quality of the earphone in the motion mode is improved by means of intelligent adjustment of Bluetooth transmitting power, rapid channel frequency modulation, self-adaptive signal relay, low-delay optimization and the like.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

The invention provides a bionic robotic fish system for realizing active and passive mode switching and a control method, and belongs to the technical field of underwater bionic robots. The robot comprises a shell, a control module, a power module, a pectoral fin module, an active driving joint module, a mode switching joint module, a tail fin and a tail handle structure, and the mode switching joint module can achieve switching between an active driving joint mode and a flexible passive joint mode; modal selection is achieved through a motion modal selection algorithm, motion control of the bionic robotic fish system is achieved through a bionic control optimization algorithm, the active driving joint module and the modal switching joint module are controlled through the modal generator, and the optimal modal and the stable navigation posture of the bionic robotic fish system are obtained. The problems that in the prior art, a bionic robotic fish system is single in structural mode, a variable stiffness mechanism is complex, and the motion mode switching function is insufficient are solved, and the motion performance and the adaptive capacity of the bionic robotic fish system in complex water area operation are improved.

The invention relates to an exoskeleton robot control method and device and an exoskeleton robot. The method comprises the following steps: determining an activity parameter according to a signal collected by a sensor; identifying a plurality of motion intentions according to the activity parameters, judging motion identifiers under the motion intentions, and determining a plurality of motion identifiers; performing state transition according to the plurality of action identifiers by utilizing a finite-state machine to obtain a target sub-state; a plurality of motion modes are preset in the finite-state machine, and each motion mode corresponds to at least one sub-state; and controlling the power unit according to the control instruction corresponding to the target sub-state. According to the method, the motion intention recognition and the finite-state machine are combined to complete the operation state transition, so that the misjudgment rate of state recognition can be reduced, and the robustness of the finite-state machine is improved; the multiple preset motion modes of the finite-state machine are divided into the sub-states, the situation of wrong assistance can be eliminated to a certain degree, misoperation of the exoskeleton robot is avoided, and the assistance control accuracy is improved.

The invention provides a cleaning device and a motion control method thereof. The cleaning device comprises a shell, a first cleaning unit, a first driving unit, a second cleaning unit, a walking unit and a second driving unit. At least part of the first cleaning unit is arranged outside the shell, the first cleaning unit comprises a cleaning disc, and the cleaning disc is provided with a central axis. At least part of the first driving unit is located in the shell, and the first driving unit is connected with the first cleaning unit and is configured to drive the first cleaning unit to rotate around the central axis. The second cleaning unit and the first cleaning unit are arranged on the same side of the shell side by side, the second cleaning unit is connected with the shell, and at least part of the second cleaning unit is arranged outside the shell. The walking unit is connected with the shell, and the second driving unit is connected with the walking unit and is configured to drive the walking unit. The cleaning device can realize a linear motion mode and a curvilinear motion mode.

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a clutch control type knee joint exoskeleton damping device and a control method. Comprising a pair of rotating assemblies which are rotationally connected; the pair of leg connecting assemblies are connected with the pair of rotating assemblies correspondingly, and the pair of leg connecting assemblies are used for being connected with the thighs and the shanks on the same side of the user correspondingly; the rotary damper is controllably coupled with the knee joint assembly; the clutch device is arranged between the rotary damper and the knee joint assembly, and the clutch device is used for switching the coupling state of the knee joint assembly and the rotary damper; and the control unit is used for judging a gait cycle phase and a motion mode according to the signal acquired by the detection unit, and controlling the clutch device to switch the coupling state of the knee joint assembly and the rotary damper according to a preset control rule. And the exoskeleton device can intelligently control the clutch device to dynamically adjust the damping state of the knee joint.

The invention discloses a universal dual-mode active-disturbance-rejection control method for an air-ground amphibious robot. The method comprises the steps that kinematics modeling is conducted on a flight end and a ground end according to the structure of the air-ground amphibious robot; carrying out ground-air double-end common disturbance pre-modeling; constructing an extended state observer; detecting a current motion mode; weighting a nonlinear least square model, compensating disturbance information, and estimating total disturbance in real time; and a bimodal active-disturbance-rejection controller is designed, disturbance is compensated in real time, and bimodal active-disturbance-rejection control over the air-ground amphibious robot is achieved. According to the method, information of all motion mode models and common disturbance of the air-ground amphibious robot are preprocessed, the improved active-disturbance-rejection control method is applied under dual modes, the adaptive capacity of the air-ground amphibious robot to external disturbance and complex environments during reconnaissance work is greatly improved, and the method has universality in control over the air-ground amphibious robots of various mechanical structures.

The invention provides a universal industrial robot control system which comprises a communication module and a universal controller unit module, and a software function module comprises a motion planning module, a teaching module, a communication data conversion module and a motion instruction programming module. The motion planning module is used for generating a path conforming to robot kinematics constraints based on a unified URDF (Uniform Resource Description Framework) model; the teaching module expands the teaching function of the control system and supports path point storage and workpiece coordinate system definition; the communication data exchange module realizes real-time two-way communication, and transmits instruction data and feedback data between the control system and the robot controller; the motion instruction programming module provides standardized instruction interfaces for point-to-point motion, straight line motion, arc motion and the like, and supports parameter self-definition, definition and execution of basic motion mode combination tasks so as to adapt to different task requirements.

The invention relates to the technical field of medical instruments and robots, and discloses an active and passive knee joint artificial limb structure and a control and reinforcement learning parameter adjusting method.The active and passive knee joint artificial limb has various working mode combinations such as complete active, complete passive and active and passive combination and meanwhile has the extremely high exercise ability upper limit and cruising ability upper limit; the invention further discloses an active and passive knee joint artificial limb control method, an active mode or a passive mode is respectively entered in different stages of human body movement gaits, and more movement modes including walking, going up and down stairs, running and the like are met. The invention further discloses a reinforcement learning parameter adjusting method of the active and passive knee joint prosthesis, gait features of the uninjured side are used as a learning target, the motion of the prosthesis joint is matched with the uninjured side as much as possible by minimizing angle errors and phase deviation, and personalized efficient customization and continuous optimization of prosthesis control parameters are achieved.

The invention relates to a surgical robot motion control method applied to a neuroendoscope, and belongs to the technical field of surgical robos.The surgical robot motion control method comprises the steps that an entry point of a target area is determined based on the long axis of the target area, kinematics parameters are established according to the motion mode of the endoscope, and a motion area in the target area is constructed; flexible operation of an end effector of the mechanical arm in a motion area is achieved through an RCM constraint algorithm of the mechanical arm; according to the method, the motion control precision is improved, the response delay is reduced, the adaptability to personalized operation requirements is enhanced, and the safety and effectiveness of the neuroendoscopic operation are guaranteed. When the mechanical arm end executor is controlled to move, the defects that in the prior art, a surgical robot motion control method applied to a neuroendoscope is low in precision, delayed in response and poor in adaptability are overcome.