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764 results about "Muscle strength" patented technology

Lower limb rehabilitation robot compliance control method based on variable admittance

The invention discloses a lower limb rehabilitation robot compliance control method based on variable admittance. The control method comprises the following contents of synchronously acquiring surfaceelectromyogram signals and motion information of an uninjured side lower limb and an affected side lower limb of a patient via a Delsys electromyogram acquisition system and motion capture equipment,in cooperation with a plantar pressure sensor, acquiring human-machine interaction force between a lower limb rehabilitation robot and the patient via a plantar pressure sensor, and acquiring lower limb motion intentions of the patient through information fusion; establishing a human body lower limb musculoskeletal model via OpenSim software, calculating out muscle strength values of related muscles of lower limb flexion and extension motions, and in combination with an affected side mirroring uninjured side method as well as a GS-LSELM algorithm, establishing an electromyogram-muscle strength identification model of the human body lower limb and identifying out a muscle strength value of the affected side lower limb; and establishing a variable admittance model based on muscle strength torque and deviation away from an expected joint trajectory of the lower limb rehabilitation robot so as to correct the expected trajectory, and calculating deviation in combination with an actual trajectory and inputting the deviation into a position controller, so as to finally achieve tracking of the expected trajectory of the patient and active compliance control of the lower limb rehabilitation robot.
Owner:YANSHAN UNIV

Lower limb rehabilitation training robot and training method thereof

The invention relates to the field of medical facility automation, in particular to a lower limb rehabilitation training robot. The lower limb rehabilitation training robot comprises a lower limb rehabilitation training mechanism and a walking trolley mechanism. The lower limb rehabilitation training mechanism comprises a waist fixing base, hip joint motors, thigh connecting rods, thigh fixing belts, knee joint motors, crus connecting rods, crus fixing belts, ankle joint motors and sole supporting bases. The waist fixing base and the thigh connecting rods, the thigh connecting rods and the crus connecting rods, and the crus connecting rods and the sole supporting bases are connected respectively through rotating pairs, and rotate relatively by a certain angle under driving of the related motors to form coordinating gait movement. The walking trolley mechanism comprises a trolley frame, wheels, a handle and a hanging belt. The lower limb rehabilitation training mechanism is used for rehabilitation training of the aspects such as muscular strength, mobility of joint and coordination after lower limb contracture of limb hemiplegic patients, the control principle is simple, wearing and operation are easy, the application range is wide, and patients can select different modes for training according to different rehabilitation stages.
Owner:崔建忠 +2

Functional compound feed special for greenhouse cultivation of litopenaeus vannamei

The invention discloses functional compound feed special for greenhouse cultivation of litopenaeus vannamei. The feed is prepared from import fishmeal, peanut meal, fermented peanut meal, bean pulp, fermented bean pulp, yeast extract, cuttlefish meal, shrimp shell meal, high protein flour, monocalcium phosphate, granulesten, fish oil, a vitaminized mineral mixture premix compound and a functional additive. The functional additive is prepared from vitamins C, bacillus subtilis, seaweed ultrafine smashing micro powder and natural astaxanthin according to proportion. The feed effectively solves the problems of stress, immunity reduction, variety quality losses and the like caused by greenhouse large-scale intensive cultivation of the litopenaeus vannamei and meanwhile has the advantages of being balanced in nutrition, low in cost, green, environmentally-friendly and the like. Main umami substances in muscles of the litopenaeus vannamei fed through the feed are obviously improved, the total amino acid, necessary total essential amino acid and the like are improved in a certain extent, indexes such as the muscle strength, the freshness and the taste are obviously improved, the shrimp body color is close to that of wild shrimps, the immunity of juvenile shrimps and adult shrimps is obviously improved, and the survival rate is high. The feed is suitable for being used in greenhouse high-density large-scale cultivation of the litopenaeus vannamei.
Owner:YANTAI DALE FEED CO LTD
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