102 results about "Normal gait" patented technology

An allowable range of a frictional force component, such as a horizontal component of a translation floor reaction force, applied to a legged mobile robot 1 is set, and a provisional movement with a current time gait of the robot 1 is determined so as to satisfy a condition concerning the allowable range and a dynamical equilibrium condition that a moment produced about a point of application of a provisional desired floor reaction force substantially agrees with a provisional desired floor reaction force moment. The provisional movement is determined by adjusting movements in two movement modes which are different in ratio between the translation floor reaction force and the floor reaction force moment. Based on the final state of the provisional movement, the current time gait is determined by correcting the provisional movement and at least one of the point of application of the provisional desired floor reaction force and the provisional desired floor reaction force moment in such a manner that the current time gait is connected to or brought close to a normal gait. The correction is performed when the frictional force component is unlikely to exceed the allowable range.

The present invention provides an ankle-foot orthosis (1) that comprises a strut (2) extending over the front of the lower leg and anterior of the lateral ankle, a foot plate (3) extending beneath the sole of the foot and a fastening means for the fastening the orthosis (1) to the leg. The strut comprises a bifurcation zone (9) and two strut branches (2′, 2″) arranged to extend on the outside of the lower leg on each side of the tibia. Thus the present invention provides an orthosis (1) with high resistance against wear and tear, high wear comfort for the patient and an orthosis (1) enabling an almost normal gait.

An apparatus and related method for controlling a load on a human ankle joint during normal gait while preserving motion. The approach is intended to treat osteoarthritis and pain of the ankle without substantially resisting an angular displacement associated with full mobility of the ankle joint.

Embodiments of the invention provide knee prostheses which more faithfully and closely replicate the function, anatomy and physiology of the normal human knee yielding a number of advantages. Among other things, such prostheses can provide an increased range of motion and function more normally particularly in extension, deep flexion and during normal gait. Knee prostheses according to various aspects of the invention recognize that during movement of the knee, particularly during flexion, the kinematics of the bones of the knee are a result of achieving equilibrium of the forces that cause motion of the knee. In addition, the shape of the articular surfaces acting in combination with forces imposed by various muscles, ligaments and tendons, determines the direction of the large contact forces.

A prosthetic foot (190) incorporates a foot keel (192) and a resilient calf shank (193) with its lower end connected to the foot keel to form an ankle joint of the prosthetic foot. The calf shank extends upward from the foot keel by way of an anterior facing convexly curved portion (195) of the shank, and is secured to the foot keel by way of a coupling element (194). The lower end of the shank is reversely curved (196) and housed by a reversely curved portion of the coupling element. A posterior calf device (191) has a cable (204) which is untensioned in a normal gait cycle but tensioned by a force loading on the prosthesis greater than 120% of body weight of the user to limit, e.g. stop, further anterior motion of the upper end of the shank.

The invention relates to a dual-mode passive ankle power-assisted exoskeleton, and belongs to the technical field of wearable power-assisted machinery. The dual-mode passive ankle power-assisted exoskeleton solves the technical problems that the walking gait of a wearer is unnatural due to the fact that an existing exoskeleton exerts additional load on a human body due to the own weight and an elastic element of the exoskeleton exerts resistance to movement of an ankle joint. The dual-mode passive ankle power-assisted exoskeleton comprises a calf mechanism, a mode switching device, a calf length adjusting rod, a spring, a rope, a pre-tightening mechanism, a tension sensor, an ankle joint mechanism and a sole support plate. The mode switching device is arranged on the calf mechanism, and the calf mechanism is connected with the ankle joint mechanism through the calf length adjusting rod. The sole support plate is disposed under the ankle joint mechanism. The spring is connected with themode switching device and the pre-tightening mechanism through the rope, and the pre-tightening mechanism is disposed on the ankle joint mechanism. The dual-mode passive ankle power-assisted exoskeleton can provide assistant power for an ankle, reduces the metabolic energy consumption of the human body, and does not affect the normal gait of the wearer.

A method of producing a natural gait by a patient using an ambulatory device having a patient positioned in the middle of the ambulatory device to allow for an upright trunk, minimizing abnormal lower extremities kinematics and weight bearing on arms. By having hinged corners with an adjustable friction the device allows reciprocal arm swing when unlocked. The use of four wheels permits a continuous stepping motion that does not disrupt normal gait kinematics. Having an adjustable height allows the ambulatory device to have an optimal height for placement of patient hands that minimizes weight bearing on arms.

The invention provides a six-rod assisted walking mechanism simulating the human gaits, which comprises a vehicle body, driving wheels and universal wheels at the bottom of the vehicle body, and a driving wheel motor arranged on the vehicle body and connected with the driving wheels. A six-rod mechanism with single freedom of motion and a rod mechanism driving device are respectively arranged at the left and the right sides of the vehicle body; the rod mechanism driving device consists of a rod driving motor, a driving sprocket, a driven sprocket and a chain; the six-rod mechanism with single freedom of motion is provided with a short crank rod, a long crank rod, a connecting rod I, a connecting rod II, a thigh rod and a shank rod. When the cranks are driven to rotate by the rod driving motor, the six-rod mechanism moves according to a specific rule, rendering the constraining parts on the thigh rod and shank rod to constrain the thigh and shank of the patient so as to enable the patient to move in accordance with the rules of natural human gaits. At the same time, the driving wheels drive the vehicle body to move at a walking speed, enabling the patients with extremity dysfunction to walk according to the normal gait tracks. The assisted walking device simulating the human gaits has the advantages of simple structure, excellent controllability and low cost.

The invention relates to a method for determining abnormal gait comprising the following steps: (a) measuring ground reaction force generated during walking by a plurality of sensors arranged on the left-foot and the right-foot respectively; (b) applying measurements from each of the plurality of sensors to a predetermined fuzzy membership function to transform the measurements into the first fuzzy values; (c) applying the first fuzzy values to a predetermined fuzzy logic to generate the second fuzzy values for a plurality of gait phases; and (d) comparing the second fuzzy values with pre-stored data of normal gait to determine whether it is abnormal gait or not. Therefore, it is possible to determine abnormal gait more accurately even with fewer sensors.

The invention discloses a rehabilitation training robot capable of achieving a normal gait pattern. The robot comprises a weight reduction supporting system, a left leg movement auxiliary system and a right leg movement auxiliary system. The left and right leg movement auxiliary systems are connected with the left side and the right side of the weight reduction supporting system. The weight reduction supporting system is connected with the upper part of the human body through a binding belt and other components for reducing the partial weight of a user needing rehabilitation training. The feet of the user are connected with pedals of the movement auxiliary systems. The pedals guide the feet to move and then drive the lower limbs to move to complete rehabilitation training movement. Each movement auxiliary system comprises a composite mechanism composed of a cam mechanism and a seven-rod mechanism, the normal gait track of the human body can be accurately produced, a motor can produce the normal human body gait track speed only by achieving constant-speed driving, the requirements for the position and the speed are met, the problem that an existing design track speed is difficult to achieve is solved, control system design is reduced, the rehabilitation effect is enhanced, the manufacturing cost is reduced, and the rehabilitation training robot is suitable for being used and popularized in ordinary families.

The invention discloses a wearable intelligent insole with the health consultation function. The wearable intelligent insole with the health consultation function comprises an insole base layer, flexible pressure sensors, a control circuit, a signal transmission circuit and a power supply device, wherein the flexible pressure sensors, the control circuit, the signal transmission circuit and the power supply device are arranged in the insole base layer. The flexible pressure sensors are put on corresponding positions of a tiptoe, a first metatarsophalangeal joint, a fourth metatarsophalangeal joint and a heel respectively, the signal output ends of the flexible pressure sensors are connected with the input end of the control circuit, the output end of the control circuit is connected with the input end of the signal transmission circuit, and the power supply device is connected with the control circuit for supplying power to the flexible pressure sensors. A main chip of the control circuit is integrated with the multi-ary-and-multi-scale-symbolic-entropy data analysis method, and the movement condition, the gait characteristics and the healthy condition of the human body are analyzed according to multiple pressure signals of the foot sole. According to the wearable intelligent insole with the health consultation function, signals of the abnormal gait and the healthy normal gait can be analyzed, processed and identified, and limitation of small data points is met; meanwhile, the coupling relationship between pressure signals of different parts of the foot sole is achieved, the accuracy and the efficiency of gait identification are improved, and the human health is conveniently and remotely monitored.

The invention relates to a lower limb prostheses gait testing system, consisting of a simulation leg, a power source, a transmission device and a measurement and control system; the measurement and control system comprises a four-corner displacement sensor, a data collecting module, a motion control card and a computer processing system; wherein, the computer processing system is fixed on an external box body on the ground surface by a bracket; the four-corner displacement sensor is respectively arranged at two hip joints and two knee joints and used for collecting and simulating the joint angle change of the gait, and transmits the collected signal to the computer processing system by a data collecting module; furthermore, by the software of the control system and the collecting system, the collected gait joint angle data in the whole gait period when human walks normally is used as the control signal; the power source is controlled by a motion control card; the output of the power source drives the motion of the simulation leg by the transmission device, thus realizing the simulation of the normal human walking gait. The system of the invention can basically simulate the normal gait of the human body, can provides feasible testing platform for the objective evaluation of the prostheses performance.

The invention relates to an active intention control-based portable ankle joint rehabilitation robot comprising a leg protection fixing mechanism, a walking-assisting mechanism connected to the leg protection fixing mechanism, a foot plate mechanism arranged on the leg protection fixing mechanism to be connected with the walking-assisting mechanism, and a gait correction mechanism connected to thefoot plate mechanism. A pressure sensor and a microprocessor are integrated on the foot plate mechanism. With a plantar pressure sensing system, a plantar pressure signal of a testee can be processedduring the test and active motion intention of the testee can be captured; the active motion intention is converted into a control instruction and the walking-assisting mechanism can be controlled and ankle dorsal flexure and plantar flexion rehabilitation and normal gait walk can be assisted for the testee; and the gait correction mechanism can be controlled and ankle inward turn and outward turn rehabilitation training can be completed. Reliable foundation is laid for the rehabilitation evaluation system and the training system; and the active intention control-based portable ankle joint rehabilitation robot has high overall control precision and great real-time control capability.

The invention discloses a gait analysis method for auxiliary screening of injury of anterior cruciate ligament. The method comprises the following steps: based on the gait characteristics of the extracted knee joint angle and displacement, carrying out neural network modeling and identification on gait system dynamics of healthy normal persons and patients with injury of anterior cruciate ligament; establishing a constant neural network; constructing a dynamic estimator by utilizing the constant neural network; and based on the difference between gait modes of the healthy normal persons and the patients with injury of anterior cruciate ligament in gait system dynamics, distinguishing the abnormal gait caused by the injury of anterior cruciate ligament from the normal gait of the healthy persons according to the minimum error principle, thereby realizing auxiliary screening detection of the injury of anterior cruciate ligament. According to the invention, the gait characteristic data of the knee joint angle and displacement is acquired through an optical sensor, so that the abnormal gait caused by the injury of anterior cruciate ligament and the normal gait of the healthy persons can be conveniently, simply and non-intrusively distinguished; and compared with the screening means, such as magnetic resonance imaging and arthroscopic surgery, the method disclosed by the invention can realize non-invasive screening and can save time and cost.

The invention discloses a gait analysis method capable of carrying out auxiliary screening on knee osteoarthritis. The gait analysis method comprises the following steps: on the basis of the gait characteristic data of an extracted knee joint angle and displacement, dynamically carrying out neural network modeling and identification on the gait system of healthy normal people and the gait system of knee osteoarthritis patients; establishing a constant value neural network; and utilizing the constant value neural network to construct a dynamic estimator, distinguishing abnormal gaits caused by the knee osteoarthritis and the normal gaits of general healthy crowd according to a minimum error principle on the basis of differences between the gait modes of the healthy normal people and the knee osteoarthritis patients on an aspect of gait system dynamics to realize the auxiliary screening detection of the knee osteoarthritis. An optical sensor obtains the gait characteristic data, and the abnormal gaits caused by the knee osteoarthritis and the normal gaits of the general healthy crowd can be conveniently and simply distinguished in a non-intrusive way. Compared with screening means including magnetic resonance imaging, arthroscopic surgeries and the like, the gait analysis method can realize the noninvasive screening of the knee osteoarthritis and saves time and cost.

The invention discloses a power-assisted lower limb exoskeleton device. The power-assisted lower limb exoskeleton device comprises a waistband, thigh binding bands and shank binding bands, wherein thewaistband, the thigh binding bands and the shank binding bands are sequentially arranged from top to bottom, hip joint devices are arranged between the waistband and the thigh binding bands, knee joint devices are arranged between the thigh binding bands and the shank binding bands, the waistband is connected with the hip joint devices through a waist support, the hip joint devices are connectedwith the knee joint devices through a thigh support, and the knee joint devices are connected with the shank binding bands through a shank support. According to the power-assisted lower limb exoskeleton device, the power-assisted lower limb exoskeleton device is designed according to gait characteristics of a human body, the energy generated by the hip movement and the knee movement is stored through the hip joint devices and the knee joint devices correspondingly, then the whole device and the human body gait work in a cooperating mode through cooperation between a hip and knees, the energy capable of being generated in the normal gait of the human body can be fully stored and released, so that the energy utilization rate is improved, the power-assisted lower limb exoskeleton device is worn on the human body through the waistband and the binding bands, and the wearing applicability is greatly improved.

An Ankle-Foot Orthosis, or AFO, has a vertical portion and a horizontal portion joined together. The horizontal portion is fixed to a shoe, which is selected by a user, by separating at least part of the sole such that the horizontal portion can be adhered near or between a midsole of the sole of a shoe. The horizontal portion provides the necessary structure needed to connect a shoe to the vertical portion of the AFO such that a user suffering with a weakness or deformity can walk with a more normal gait. In an alternate embodiment, the AFO is removable from a shoe such that it can be replaced onto the same or a different shoe.

The invention discloses a method for controlling movement of knee joints of lower prostheses of human bodies, and particularly relates to a method for controlling adaptive iterative learning when human bodies with double-rigid-body and two-degrees-of-freedom lower prostheses walk on flat grounds. The method includes firstly, analyzing normal gait features of the human bodies and control requirements of the lower prostheses of the human bodies; secondly, kinetically analyzing the normal gait features of the human bodies and the control requirements of the lower prostheses of the human bodies by the aid of Newton-Euler algorithms and building a movement system model of the double-rigidity-body and two-degrees-of-freedom lower prostheses; thirdly, applying an algorithm for controlling adaptive iterative learning to the movement system model. Flow of the algorithm for controlling adaptive iterative learning includes describing problems; analyzing convergence; solving the boundedness of a first expression; solving the progressive increase property of a second expression; solving the progressive increase property of the first expression. The method has the advantages that knee joint movement tracking errors can be stably reduced within a certain time, and accordingly an excellent tracking effect can be realized.