164 results about "Passive movements" patented technology

The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.

An orthosis machine for providing therapeutic and / or rehabilitative functionalities including at least one of Continuous Passive Motion, Passive Range of Motion, Active Assistive Range of Motion, Active Range of Motion, Resistive Range of Motion, proprioception training and biofeedback from a seated, supine, or recumbent position. Therapeutic and / or rehabilitative functionalities provided by the orthosis machine may be powered by the user or a motor and may be used through one or more phases of post surgical and / or general rehabilitation and physical therapy from multiple angular positions.

A mouse's auditognosis and vision memory model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

The invention discloses a wearable shoulder joint rehabilitation training device. The device has the characteristics of exercise flexibility, wearing comfort and training safety. The device is composed of a movement mechanism and a support adjustment mechanism. The support adjustment mechanism is used to adjust the position of the movement mechanism relative to the shoulder joint of the human body, and fix the entire rehabilitation training device at an appropriate position on the back of the human body. The driver of the motion mechanism is four pneumatic muscles in a vertical motion state, which can respectively control the two groups of movements of the upper arm around the shoulder joint, flexion and extension, abduction and adduction, and the compound movement of these two groups of movements. With the cooperation of the angular displacement and the tension sensor, the active and passive coordinated movement of the movement mechanism and the upper arm can also be realized. The movement mechanism drives the upper arm movement with the help of two sliders for passive movement, which overcomes the problem of upper limb movement difficulties caused by the misalignment between the movement center of the mechanism and the shoulder joint, and ensures the comfort and safety of the training during rehabilitation training .

The invention provides a two-degree-of-freedom heterodyne grating interferometer displacement measurement system and method. The system comprises a double-frequency laser device, a grating interferometer, a measuring grating, a receiver and a signal processing unit. The grating interferometer comprises a lateral displacement light splitting prism, a polarization light splitting prism, a 1 / 4 wave plate, a reflecting mirror and an optical fiber coupler. The method realizes displacement measurement based on grating diffraction, the optical Doppler effect and the optical-beat frequency principle. Laser of the double-frequency laser device is incident to the interferometer and the measuring grating and then optical signals are outputted to the signal processing unit. When the interferometer and the measuring grating perform two-degree-of-freedom linear relative movement, the system can output two linear displacements; the measurement system adopts Littrow incident conditions, a measurement target has large passive movement tolerance and two linear displacements can be measured simultaneously so that precision can reach the nanoscale and higher scale; and the measurement system has advantages of short light path, small size, compact structure, low weight and low requirement for the measuring grating and is suitable for two-degree-of-freedom high-precision long-stroke displacement measurement.

This invention relates to an activity monitoring system adapted to eliminate passive movement components caused by external forces from readout data produced by a first and a second motion sensor when attached to a subject during movement. The readout data include gravitational components, movement components caused by active movement of the subject or subject parts, and the passive movement components. A processor estimates first and second gravitational components produced by the at least first and a second motion sensors. It determines a rotation matrix based on the estimated gravitational components, the rotation matrix denoting rotation required for the first sensor to get aligned with the second sensor in orientation. It then multiplies the readout data produced by the first motion sensor with the rotation matrix when rotating the first sensor towards the second sensor. Finally, it subtracts the result of the multiplying from the readout data produced by the second motion sensor when rotating the first motion sensor towards the second motion sensor.

The invention discloses a multi-function animal weight-losing running table and a control system thereof. The running table comprises a running machine, a weight-losing support device and a recovery robot. Running training or combination training of running training and electric stimulus is performed on the experimental animal by arranging organic glass and a stimulating electrode on the running machine; and the weight-losing running table training combining running table training and weight-losing support is performed on the experimental animal by arranging the weight-losing support device on the running machine. In the process of weight-losing running table training, the recovery robot can assist hind legs of the experimental animal in doing exercise training, so that a correct or preset training task is provided for a passive training model, the movement locus of the hind legs in the positive training model is recorded and the record is used for quantitatively evaluating the exercising function. The invention also provides a medicinal animal experiment device which is mainly used for walking function recovery of the experimental animal with hurt spinal cord and providing the animal running table training needed by sports medicine.

The invention discloses an audio and video play progress control method, apparatus and system. The method comprises the following steps: obtaining the total time length T of currently played audio and video; according to the total time length T of the audio and video, generating a corresponding progress strip total length L positively correlated with the T, and displaying a progress strip on a locus in a predetermined shape according to the L; after a passive movement event of a play pointer of the progress strip is monitored, obtaining the current position of the play pointer, and determining the play time point t corresponding to the current position of the play pointer; after the passive movement event of the play pointer, obtaining the content of the audio and video started from the play time point t corresponding to the current position of the play pointer; and playing the content of the audio and video started from the play time point t corresponding to the current position of the play pointer. By using the method, apparatus and system provided by the invention, the control accuracy of the play progress of the audio and video can be improved.

A mouse's space memory holding model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

The invention provides an automatic shoulder joint rehabilitation training device which comprises a base, a seat, a fork-shaped or U-shaped cantilever, a square stand column and a shoulder joint rehabilitation exercise mechanism. The height of the fork-shaped or U-shaped cantilever is adjustable, when the rehabilitation exercise mechanism actively moves from one side of an upper arm of a patient to the other side, gear and belt transmission is adopted for passive movement, when the upper arm on one side of the patient swings up and down, the upper arms on the two sides of the patient can oppositely swing up and down through gear and belt transmission, when the upper arm on one side of the patient swings leftwards and rightwards, the upper arms on the two sides of the patient can oppositely swing leftwards and rightwards through gear and belt transmission, an external power source is not needed to provide power, and rehabilitation exercise of the upper arm on one side of the patient can be safer and more reliable.

A passive motion exercise and / or treatment apparatus is provided which includes a main support assembly for supporting at least the head and torso of a user. The main assembly includes three support members which, in one mode of operation, are disposed in a common plane. The second and third members are movably connected to the first member, which is a backrest support member, and are movable relative thereto so as to respectively provide passive movement of both the head and, and the lumbar region, of a user. Cervical side bending and rotational movements and lumbar side bending and rotational movements can all be provided. A separable leg support assembly is adjustable to support the calves of the user in a plane elevated with respect to the common plane while the apparatus provides the aforementioned passive body movements.

The invention relates to the field of engines and provides an intelligent high-pressure rotor assembly device with an elastic structure for an aeroengine. The intelligent high-pressure rotor assembly device comprises a three-DOF (Degrees of Freedom) gantry-type active movement mechanism which is used for realizing spatial X-axis, Y-axis and Z-axis translation, a five-DOF parallel-type passive movement mechanism which is used for realizing spatial X-axis and Y-axis translation and rotation around the X axis, the Y axis and the Z axis, and a rotor fixture, wherein the five-DOF parallel-type passive movement mechanism is slidably arranged on the three-DOF gantry-type active movement mechanism; the rotor fixture is fixedly arranged on a movable platform of the five-DOF parallel-type passive movement mechanism; the spatial posture of a to-be-assembled rotor is regulated by virtue of the three-DOF gantry-type active movement mechanism and the five-DOF parallel-type passive movement mechanism, so that assembly is realized. By virtue of the vertical intelligent high-pressure rotor assembly device, the engine production efficiency and the engine assembly quality can be improved.

The invention relates to a double-foot human-like robot based on a passive movement style, which is characterized in that: the robot includes a bionic elastic mechanical legs, a transmission trunk, mechanical drive arms; two convex arms are arranged respectively at the front and the back of the hip shell of the two mechanical legs, two extending sections of the convex arms are respectively and fixedly connected with one end of a driving shaft of the upper limb. The other end of driving shaft of the upper limb is connected with one end of a connecting rod, one end of which is fixedly connected with one end of a rocker. And the other end of rocker is fixedly connected with a limb half shaft arranged on the transmission trunk lateral side. The mechanical arm includes an upper limb; one end of the upper limb half shaft is connected with the upper limb with the other end respectively threaded through the upper part of the transmission trunk and is in butt joint. The butt joint position of the upper limb half shaft is provided with a connecting tube, wherein, the upper limb half shaft is fixed with the connecting tube through a screw with the other upper limb half shat loosely matched with the connecting tube. The invention adopts an active and passive combination movement style and realizes an energy optimization of the double-foot movement through a passive mechanical structural linkage limb, is wildly applicable to the research of footed robots and the development of service robots and the medical and health fields.

An active-passive rehabilitation device is disclosed providing natural and relatively unconstrained motion of the treated joint, which promotes drainage and mitigates edema in the extrema. This active-passive rehabilitation device enables the application of adjunctive therapeutic modalities such as cryotherapy units and pneumatic sequential compression devices. Electronic controls allow the active-passive rehabilitation device to be programmed to provide resistive load for Active Range of Motion or Active Resistive Range of Motion (AROM or ARROM) for prescribed therapeutic cycles. Speed, range of motion and therapeutic torque limitations are some of the parameters that may be user controlled and / or programmable. Historical data can be stored in the device and can be downloaded electronically in real-time or at discrete intervals, allowing caretakers to monitor progress and even modify load cycles via electronic communication means. The unit has a lifting provision, can be folded to accommodate storage, and has integrated stabilization and bed attachment devices.

This invention relates to an activity monitoring system adapted to eliminate passive movement components caused by external forces from readout data produced by a first and a second motion sensor when attached to a subject during movement. The readout data include gravitational components, movement components caused by active movement of the subject or subject parts, and the passive movement components. A processor estimates first and second gravitational components produced by the at least first and a second motion sensors. It determines a rotation matrix based on the estimated gravitational components, the rotation matrix denoting rotation required for the first sensor to get aligned with the second sensor in orientation. It then multiplies the readout data produced by the first motion sensor with the rotation matrix when rotating the first sensor towards the second sensor. Finally, it subtracts the result of the multiplying from the readout data produced by the second motion sensor when rotating the first motion sensor towards the second motion sensor.

A linkage crawling spine rehabilitation training device comprises an underframe, a movement angle adjusting mechanism, a linkage crawling movement mechanism, an abdomen supporting mechanism and a tailswinging movement mechanism. Through the linkage crawling movement mechanism, the left and right sequential movement side and upper and lower limb reverse movement linkage training can be realized. The leftward and rightward waist twisting movement of a patient can be driven by the tail swinging movement mechanism. The abdomen supporting mechanism can improve the movement comfort of the patient.The angle of a movement panel can be adjusted through the movement angle adjusting mechanism. The switch between active movement and passive movement is realized, and movement resistance can be adjusted during active movement. By adjusting the angle of the movement panel, kneel-crawling, climb-crawling and prone crawling can be realized, so as to ensure effective rehabilitation training of the patient.

A mechanical limbs combined robot series for recovering the limb movement function of hemiparalysis patient is an improvement on the walk learning machine, and features that a mechanical hand cradle and a mechanical foot cradle are respectively installed to the hinged rods for arm and leg in order to drive the wrist joints of arm and leg and the finger joints.

The invention discloses a multifunctional walking aid device, which comprises a foot walking system, a posture conversion mechanism and a wheel walking system. The foot system and the attitude conversion mechanism are mounted on the wheel system. The walking aid device realizes the conversion of the sitting posture and the standing posture of the user and the movement in the sitting posture and the standing posture through the posture conversion mechanism. When in the sitting position, t the rotation system is used to achieve rapid and long-distance movement of the user. When standing posture,the posture conversion mechanism assists the user to stand, avoiding the occurrence of fall. When the user stands, the foot system and the wheel system can coordinate the movement, so that the user can use the foot system to walk on the wheel system. When the user walks in the standing position, not only the active walking movement can be carried out by the user's own strength, but also the footmovement can be driven by the foot moving system, so that the passive movement can be realized.

Apparatus for passively exercising at least a portion of a human body includes an inflatable bag which exerts a force during inflation, an electrical air pump disposed in fluid communication with the bag for supplying an atmospheric air medium to inflate the bag, a solenoid valve disposed in fluid communication with the inflatable bag for discharging the atmospheric air medium to deflate the bag and a timing control circuit coupled to the pump and to the solenoid valve for cyclically inflating and deflating the bag. The control circuit includes a dual integrated circuit timer operable with an external resistor-capacitor timer control to provide such cyclical inflation and deflation of the bag. The duration of the cycle is adjusted with a variable resistor coupled to the dual timer. The apparatus can be integrated into a seat or an article of furniture.

A mouse's path training model and its intelligent behavior detection system are disclosed. A circular dark box type labyrinth is used as the behavior data acquiring unit. The mouse to be tested passes through a tubular channel with adjustable one-way gates along a pointed path and closed loop for performing the cyclic training. The signals about the active movement and passive movement caused by electric shock are acquired and processed by the data processing control unit. Said signals are transmitted via PCI bus to the Access database in control system, and then processed by the statistical software package, so controlling and monitoring the behavior of mouse at any time.

A method and system can active or passive check movement of the cars parked and anti-theft alarm, which includes vehicle modules and handheld unit, and its covers the handheld unit to receive and display car unit sent from the image data, and send the relevant instructions, It includes: handheld central control unit; handheld data storage unit; handheld procedures storage unit; display unit; handheld wireless data transmit / receive modules, and so on. Modules installed in the vehicle described in the car for the sensor signal and the implementation of various orders handheld unit, which includes: Vehicle central control unit; Vehicle data storage unit; Vehicle program storage unit; sensing unit; Vehicle wireless data transmit / receive module; camera and image processing modules, etc.. The system can used with both active or passive movement means to know the car message to dispense with the original trouble of owners after receiving the alarm signal to pay a attention every time to message of car by their sight.

The invention discloses a multifunctional body-building device comprising a couch body and at least one of an elbow and arm up-down motion mechanism, a leg up-down motion mechanism, a heel forth-back push-pull motion mechanism, a couch plate up-down motion mechanism, a couch plate forth-back motion mechanism, a couch plate left-right swing mechanism and a couch plate left-right rotating mechanism driven by a motor. The couch body comprises a couch plate and a couch frame. The invention enables people to actively select various combined motion modes of lifting and extension movements of wrists and legs or / and forth-back push-pull of feet by swinging or vibrating the couch plate in a passive state so that skeletons of the whole body, muscles and vital organs can take part in movements, the blood circulation is promoted, the sleep quality is improved, the human immunity is enhanced, and the purpose of body building is achieved. By using the product, the effects on reducing the blood sugar and the blood grease and treating the fatty liver can be achieved. The invention is suitable for families, gymnasiums, hospitals and other places and used for enabling the body to selectively make comprehensive passive movements in a dorsal position.

The invention discloses a magneto-rheological force feedback type active-passive lower limb rehabilitation training device and a control method. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device comprises a left lower limb device and a right lower limb device, wherein the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism, a knee joint mechanism and a shank supporting mechanism, and the knee joint mechanism comprises a rotary magneto-rheological damper and a knee joint driving mechanism. When passive lower limb rehabilitation training is performed, a first spiral push rod device, the knee joint driving mechanism and a second spiral push rod deviceare switched on and respectively drive thigh hip joints, knee joints and ankle joints of the human body to perform passive movements. When active lower limb rehabilitation training is performed, a first linear magneto-rheological damper, a rotary magneto-rheological damper and a second linear magneto-rheological damper are switched on and drive thigh hip joints, knee joints and ankle joints of the human body to perform active movements to increase resistance. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device meets the requirement that a rehabilitation trained person performs active-passive rehabilitation training of two legs simultaneously, and a rehabilitation period is shortened.

The invention relates to a dynamic knee joint with combined active movement and passive movement. The dynamic knee joint is characterized by comprising a thigh connecting rack, a shank connecting rack and a knee joint moving mechanism, wherein the knee joint moving mechanism comprises a knee joint connecting rack, a synchronous pulley connecting mechanism and a motor; the motor is fixedly connected with the thigh connecting rack and an output end of the motor is connected with one end of a driving shaft through a coupling; the other end of the driving shaft is fixedly connected with the thigh connecting rack through a driving shaft bearing; a knee joint shaft is fixedly supported on the knee joint connecting rack through a knee joint bearing; the two ends of the knee joint shaft are fixedly connected with the shank connecting rack; the knee joint shaft is fixedly connected with an inner ring of a one-way clutch through a knee joint shaft connecting key; and an outer ring of the one-way clutch is connected with the driving shaft through the synchronous pulley connecting mechanism. The dynamic knee joint is widely applied to the research of a flexible dynamic joint of an artificial limb and can serve the disabled.

The invention relates to a magnetic resistance type upper limb and lower limb passive and active rehabilitation training robot, and belongs to the medical field of rehabilitation mechanical equipment. The rehabilitation training robot comprises an upper limb motor module, an upper limb rotational lifting module, a flywheel structure and a lower limb magnetic resistance active and passive adjusting module. An upper limb movement mechanism comprises an upper limb motor, a handle and an industrial personal computer; a lower limb active and passive movement mechanism comprises the flywheel structure, a resistance control mechanism and a lower limb motor; the rehabilitation training robot can rotate the upper limb movement mechanism by 190 degrees so that two rehabilitation patients can conduct rehabilitation simultaneously, besides, the lifting mechanism can adjust the height of the rehabilitation training robot so as to increase range of application and comfort level for the rehabilitation patients; the lower limb active and passive movement mechanism can adjust the resistance while the patients are conducting rehabilitation; besides, the lower limb active and passive movement mechanism integrates related disciplinary knowledge such as mechanics, electronics, ergonomics, medical theories, and by controlling the motor to drive the lower limbs to continuously conduct movement, and by simulating movement mode of a normal walker, the lower limb active and passive movement mechanism helps the patients realize active and passive rehabilitation trainings so as to guarantee that the patients obtain overall rehabilitation.

The invention discloses a device, system and method for training upper and lower limbs. The system comprises the device for training upper and lower limbs, information processing equipment connected to the device for training upper and lower limbs, and display equipment connected to the information processing equipment. The system for training upper and lower limbs can realize high-interactivity active and passive cooperative rehabilitation training of upper and lower limbs under the induction of a virtual-reality three-dimensional training scene, realizes overall spatial perception closed-loop motion feedback from the eyes to the brain, then to the upper limbs and finally to the lower limbs, and is beneficial for improving the training participation degree of a patient. Meanwhile, the system has four modes including a constant-speed movement mode, a passive movement mode, a power-assisted movement mode and an active movement mode, so movement scenes are enriched. In addition, a human-computer interaction force can be estimated through the current change of a lower limb motor, and the torque feedback adjustment control of the lower limb motor is realized according to the interaction force, so active compliance control is realized.

The invention discloses a parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation, which belongs to the field of medical rehabilitation equipment. The robot consists of a parallel mechanism with a variable rod length, an operation handle, an ancon used for bearing the elbow of a patient, a bull eye universal wheel and a control system, wherein the parallel mechanism with the variable rod length is installed on a table top and is divided into a left part and a right part which are symmetric; one ends of two parts are hinged by the operation handle; the bull eye universal wheel is installed below the hinged position of the operation handle and is installed onto the ancon hinged with the operation handle; the position of the operation handle is determined according to the numerical value of two triangular bottom angles formed by a servo motor control mechanism via a computer to finish a target locus; by controlling a speed parameter, a velocity field is formed in the movement reachable space of the patient during passive movement, and the patient is guided to passively move along the set locus; during active movement, the force parameters of different points in a movement plane can be set; and a force field is formed in the movement reachable space and is used for the active movement training and the impedance movement training of the patient.

In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.

The invention discloses a method and device for activating lipid and blood glucose reduction through gastrocnemius passive movement. The device is provided with a bottom plate, a leg fixing frame is fixed to the rear end of the bottom plate, leg fixing bands and an ankle joint fixing band are arranged on the leg fixing frame, pedals are hinged to connecting positions of the bottom plate and legs, one or more pedals are arranged, and a driving device for driving the pedals to ascend or descend is arranged between each pedal and the bottom plate and comprises an air bag located between each pedal and the bottom plate, the upper and lower surfaces of the air bags are connected with the pedals and the bottom plate respectively, the air bags are connected with gas pipes, and the gas pipes are connected with a pressure-adjustment automatic charging and discharging gas pump. Compared with the prior art, the device is simple in structure and convenient to use, contracting and loosening of the gastrocnemius can be achieved, the effect of the gastrocnemius pump can be achieved, backflow of lower limb blood can be promoted, deep venous thrombosis can be effectively prevented, and circulation of lower limb blood can be improved.

The invention relates to a reset fixing frame for orthopedics, belonging to the technical field of medical apparatus and instruments for clinical bone-knitting. The reset fixing frame for orthopedics is provided with two fixed base plates and six support rods with adjustable effective lengths, wherein both ends of the support rod are respectively articulated on the two fixed base plates; each support rod is composed of a sleeve and a sliding rod inserted in the sleeve; and the sleeve and the sliding rod are respectively arranged on the fixed base plates through spherical hinges. The support rods are extended and adjusted by utilizing the sliding rods, active movement of the support rods is changed into passive movement driven by the base plates, and six actions such as compression prolongation, left-right angulation, fore-and-aft angulation, left-right translation, for-and-aft translation and rotation can be carried out according to the alignment requirement at bone stump, so that the reset fixing frame for orthopedics is accurate for positioning, simple and convenient to operate and wide in range of application.