419 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.

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 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 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 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.

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 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 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 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 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.

The invention discloses a fin-paddle composite multi-motion-mode bionic robotic fish, and relates to the technical field of bionic fish structures. The problems that an existing bionic robotic fish is poor in maneuverability and cannot adapt to complex underwater tasks due to the single motion mode are solved. The fish comprises a streamline fish body composed of a fish head, a fish body and a fish tail. A tail swing propulsion system and a pair of multi-mode pectoral fin assemblies are integrated. The tail system adopts a driving motor to drive a cylindrical cam, rotary motion is converted into reciprocating swing of a fishtail through a transmission mechanism, and efficient main propulsive force is provided. According to the multi-mode pectoral fin assembly, the propeller unit is integrated on the pectoral fin body with the adjustable pitch angle, and fusion of pectoral fin gliding and propeller maneuvering is achieved. Through cooperative control of the electric control system, flexible switching of cruising, gliding, maneuvering and composite motion modes of cruising, gliding, maneuvering and the composite motion modes is achieved, and the comprehensive maneuverability, environmental adaptability and task execution capacity of the bionic robotic fish are remarkably improved.

A slimming machine comprises a base, a swing mechanism and a pedal, the swing mechanism comprises a main frame, the pedal is connected to the upper end of the main frame, connecting arms extending downwards are arranged on the two sides of the main frame, two supporting arms are arranged on the base, the connecting arms are located on one sides of the supporting arms, and the upper ends of the connecting arms are rotationally connected with the upper ends of the supporting arms through pin shafts. Locking mechanisms are arranged between the lower ends of the connecting arms and the lower ends of the supporting arms. The main frame of the swing mechanism of the slimming machine is rotationally connected with the supporting arm of the base through the connecting arm, and the main frame of the swing mechanism can obliquely swing front and back relative to the base. After a user stands on the pedal, the user can shake back and forth in an independent force exerting mode, and the exercise purpose is achieved. Compared with the prior art, the body slimmer has the advantages that the swing mechanism of the body slimmer can swing back and forth relative to the base, the motion modes of the body slimmer can be increased, and the functions of the body slimmer are enriched.

The invention, which relates to the technical field of medical training, discloses a multi-sensory feedback fusion stroke rehabilitation exoskeleton robot training system comprising an exoskeleton robot main body, a multi-sensory feedback module, and a motion state monitoring module. By integrating a multi-sensory feedback module, a visual, auditory, tactile and motion state monitoring module and a central control module, multi-dimensional sensory stimulation and real-time data acquisition are realized when a patient is trained, and the central control module adapts parameters in the module according to the real-time motion precision of the patient and personalization. The strength and the type of multi-sensory feedback are dynamically adjusted, meanwhile, motion parameters of an exoskeleton robot body are controlled, a dynamic adjustment mechanism ensures pertinence and effectiveness of training, forward feedback is provided to strengthen a correct motion mode when the motion precision of a patient is high, and correction prompt is provided and assistance or resistance of the robot is adjusted when the motion deviation is large. Therefore, nerve function remodeling and motor ability recovery are effectively promoted.

The metamorphic ball pair structure comprises a ball seat and a ball head, a ball socket is formed in the ball seat in a concave mode, the ball head is connected into the ball socket in a ball pair mode, at least two restraining hole grooves are formed in the socket wall of the ball socket at intervals, and a restraining rod which can be selectively inserted into at least one restraining hole groove is connected to the ball head. The restraining rod can be arranged in the restraining hole groove in a sliding or rotating mode, and freedom degree restraining of the ball head in the specific direction is achieved through sliding or rotating of the restraining rod in the restraining hole groove. The corresponding degree of freedom can be switched according to working condition requirements, and the motion mode of the robot is adjusted, so that more complex operation is achieved, and different working scenes are coped with.

A motion control method for a robot includes obtaining environment information of a current environment of the robot and a current motion parameter of a joint of the robot; determining an environment type of the current environment; determining a current posture of the robot based on the current motion parameter of the joint; determining position information of the robot in the current environment; switching a current motion mode of the robot to a target motion mode corresponding to the environment type in response to the current posture and the position information satisfying a motion mode switching condition; and configuring a target motion parameter for the joint of the robot based on the target motion mode corresponding to the environment type, the target motion parameter being configured for switching a part of the robot in contact with a ground to a ground contact part in the target motion mode.

The invention discloses a personalized customized video object replacement method capable of maintaining layout and motion modes, which comprises the following steps of: 1) acquiring a reference image of a target object and preprocessing the reference image to obtain text description and a target object mask so as to construct an image data set; 2) finely adjusting the video diffusion model, and optimizing text embedding and attention layer weight of the model, so that the model learns to generate a video containing a target object; 3) inputting a to-be-edited original video into the model to obtain space attention features and motion features required in an object replacement process; and 4) under the guidance of the spatial attention features and the motion features, sampling by the fine-tuned video diffusion model to generate a video after object replacement. According to the method, different parameters of the model are optimized in a combined manner, the visual features of the target object are effectively reserved, and meanwhile, motion feature guidance and space attention feature injection are combined in the object replacement process, so that the video after object replacement better retains the original video space layout and motion mode.

A multi-claw clamping game machine table comprises a show window defining a game space, a plurality of actuating units arranged in the game space at intervals in the transverse direction, and a control unit in information connection with the actuating units and used for selectively controlling at least one of the actuating units. The game space is divided into a plurality of sub-areas corresponding to the actuating units respectively, and each actuating unit comprises a crown block module arranged at the top of the corresponding sub-area and a clamping jaw mechanism connected to the crown block module; and the driving module is connected to the crown block module and is used for controlling the clamping jaw mechanism to move on the crown block module. Wherein at least one difference parameter exists between the actuating units, so that the actuating units generate different moving states when being operated, and therefore, the clamping jaw mechanism can generate different motion modes to form more diversified game modes when a player uses the control unit to operate to play a game.

The invention relates to the technical field of dynamic response testing, in particular to a dynamic response testing method for an underwater model of a deep sea oil delivery hose. The method comprises the following steps: designing an experimental model of the deep sea oil delivery hose according to a similarity rate, calculating seabed boundary constraint conditions of the bottom end of the hose in an experiment, and equivalently representing the supporting effect of a vertical pipe on the hose in the horizontal direction and the vertical direction by adopting a spring stiffness model; based on technical parameters and sea conditions of the FPSO, hydrodynamic software is adopted to calculate and generate a six-degree-of-freedom movement time history of the robot; the six-degree-of-freedom movement process of the robot platform is input into a robot control system for loading testing; a camera is used for collecting images used for recording all the whole shooting and testing processes. According to the invention, the motion mode of the semi-submersible FPSO can be accurately loaded and reasonably simulated, and the high accuracy of the test result is ensured by optimizing the boundary condition of the hose model.

Disclosed embodiments provide bot detection in a virtual environment that is based on avatar motion. The motion of an avatar within a virtual environment such as a metaverse is tracked. The tracked motion is separated into multiple movement segments. The movement segments are compared to a collection of movement patterns in a movement pattern database that are indicative of bots. A similarity metric is determined between the tracked motion and the database of bot motions. In response to the similarity metric exceeding a predetermined threshold, a list of at least one mitigation action is obtained, and the at least one mitigation action in the list is executed, thereby mitigating the adverse effects of bots in a virtual digital environment.

Images of 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 relates to the technical field of robot control, and provides a robot multi-terrain adaptive control system based on ROS and Gazebo, and the robot multi-terrain adaptive control system comprises a Gazebo simulation platform and an ROS environment. The Gazebo simulation platform is used for simulating the terrain environment where the robot is located to obtain a robot URDF model which comprises an environment model of terrain features; the ROS environment is used for selecting a motion mode of the robot after analyzing the environment model, preliminarily selecting motion parameters and an initial gravity center of the robot according to the selected motion mode and topographic features, and controlling the robot to start to move according to the preliminarily selected motion mode, motion parameters and initial gravity center; during the period, ZMP positions and foot end positions of a plurality of time steps in the future are planned according to the gravity center position and a preset ZMP coefficient, a landing compensation value of the robot is calculated based on motion parameters and topographic features of the robot, and error correction is conducted on the robot according to the size of the landing compensation value.

The invention provides a dexterous hand teleoperation method, device and system based on a data glove, and is applied to the technical field of smart power grids. The method is applied to the electronic equipment, the electronic equipment is in communication connection with a data glove and a dexterous hand which are worn on the hand of an operator, and the method comprises the steps that action data, collected by the data glove, of the hand of the operator are obtained, and the action data comprise first joint freedom degrees corresponding to all joints of each finger; based on a preset human hand prior knowledge base, performing coupling mapping processing on the action data to obtain adjusted action data conforming to a human hand natural movement mode; performing smoothing and state prediction on the adjusted action data by adopting a Kalman filtering algorithm to obtain a target action sequence; and according to the target action sequence, generating a joint space control instruction for the dexterous hand to drive the dexterous hand to reproduce the action of the hand of the operator. The method is used for improving the intelligent level and the natural fluency and collaboration of the actions of the dexterous hand.

The invention discloses an intelligent inspection robot, an intelligent inspection method, electronic equipment and a medium. The intelligent inspection robot comprises a GNSS module, an IMU module and an industrial personal computer; the GNSS module is used for determining the current position coordinates of the robot according to satellite signals received by the moving station and the base station respectively; the IMU module is used for acquiring motion information of the robot; and the industrial personal computer is used for generating current navigation data of the robot according to the current position coordinates, the motion information, a preset initial track and obstacle information returned by the rear-end server, and controlling a motion mechanism of the robot according to the current navigation data to realize automatic cruise. By adopting the technical scheme, the motion trail of the robot can be intelligently planned, so that the intelligent inspection robot can perform automatic inspection in an optimal motion mode, and the intelligent inspection efficiency is effectively improved.

This disclosure proposes a multimodal motion switching control method and device for a mining intelligent assistive exoskeleton, relating to the field of mining safety equipment technology. The method includes: collecting multimodal sensing data from the wearer, extracting temporal features and inputting them into a lightweight classifier to identify motion patterns and output confidence scores; when the confidence score continuously exceeds a threshold, a mode switching intention is determined; the control subroutine corresponding to the current motion mode is invoked to obtain impedance parameters and the desired trajectory; based on the impedance parameters, the desired trajectory, and the current trajectory, interpolation fusion is performed using a hybrid transition strategy to generate smooth transition joint control commands to control the exoskeleton. This disclosure enables real-time and accurate identification of motion intentions in confined underground environments, smooth and compliant switching between multiple modes, effectively reducing switching impact, ensuring motion continuity and human-machine collaboration safety, and improving the adaptability and overall operational safety of the exoskeleton in confined environments.

The application discloses a wheel-leg mechanism and relates to the technical field of wheel-leg vehicles.The wheel-leg mechanism comprises a wheel group mechanism, a thigh assembly, a shank assembly, a connecting rod transmission assembly and a linear driving mechanism, one end of the shank assembly is connected with the wheel group mechanism, the other end of the shank assembly is hingedly connected with the thigh assembly, the thigh assembly and the shank assembly are respectively connected with the linear driving mechanism through the connecting rod transmission assembly, and the linear driving mechanism and the connecting rod transmission assembly are respectively connected with a vehicle body.The wheel-leg mechanism has the advantages of small size, compact structure, suitability for both wheel type and leg type movement modes, realization of small end inertia and large movement range, arrangement of most of the weight mechanism on the upper end and the middle of the thigh, simple structure and space saving.

Disclosed is an electronic device comprising a communication circuit, a processor, and a memory. The electronic device may acquire ambient noise information and motion information by using a head-mounted device communicatively connected thereto, and determine a threshold value on the basis of the ambient noise information and / or the motion information. The electronic device may perform an operation corresponding to a command pattern when a similarity between a stored command pattern and a non-verbal input including at least one of a humming pattern or a motion pattern acquired from an external device exceeds a threshold value during activation of a non-verbal mode.