46 results about "Rehabilitation engineering" patented technology

The invention relates to a walk-aiding exoskeleton robot system and a control method, which belong to the technical field of rehabilitation engineering. The system comprises a hanging support, a moving platform, joints, protecting sleeves, a sensor module, a signal acquisition module, a central processing module and a motion control module, wherein the hanging support is fixed on the moving platform, the joints are connected with the hanging support to form an exoskeleton robot, the sensor module, the signal acquisition module, the central processing module and the motion control module are sequentially connected, the sensor module is used for acquiring joint angles, the interacting force of the exoskeleton robot and the human being and the myoelectric signals of the muscles of the human body, the signal acquisition module carries out signal conditioning and digital-to-analog conversion, the central processing module carries out action generation and the reverse solution of motion, and transmits an action command to the motion control module, and the motion control module is connected with the exoskeleton robot and generates a pulse signal to control the coordinated motion of the exoskeleton robot. The invention realizes the synchronous motion of the exoskeleton robot and the human body and real-time active control.

The invention relates to an MDOF (Multi-Degree-of-Freedom) and parallel-type ectoskeleton anklebone of artificial limb, which belongs to a rehabilitation engineering technical field and comprises a thenar support plate, a humanoid leg jacket, an upper platform, a lower paltform, a first active branched chain guide, a second active branched chain guide and a third active branched chain guide, wherein, one end of the first active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the second active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the third active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; the thenar support plate is fixedly connected with the lower platform through baffles of the thenar support plate on two sides; the humanoid leg jacket is fixedly connected with the upper platform. The ectoskeleton anklebone of artificial limb of the invention has high mechanism rigidity, simple structure and good stability and can meet flexibility requirement of human anklebone.

The invention relates to a vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot belonging to the technical field of rehabilitation engineering. The vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot comprises an auxiliary movable platform and a lower limb exoskeleton mechanism, wherein the lower limb exoskeleton mechanism is connected with the auxiliary movable platform; the auxiliary movable platform comprises an auxiliary movable trolley, a control cabinet and a suspension mechanism, and the auxiliary movable trolley is connected with the control cabinet and the suspension mechanism; the lower limb exoskeleton mechanism comprises a width-adjusting mechanism and two leg exoskeletons, the two leg exoskeletons are respectively connected to both sides of the width-adjusting mechanism, and the width-adjusting mechanism is connected with the auxiliary movable platform. The invention realizes more rehabilitation training functions by enlarging the motion space of the lower limb exoskeleton mechanism, also realizes the limitation protection effect on lower limb joints of human bodies, has compact structure and stable work, and can realize the functions of assisting walk, autonomous movement, lower limb rehabilitation training, and the like.

The invention relates to a control method for a paraplegia waling-assisted power exoskeleton, and belongs to the technical field of rehabilitation engineering. The control method controls the paraplegia waling-assisted power exoskeleton, so that the paraplegia waling-assisted power exoskeleton has eight movement modes which can be selected and switched by a user, wherein the eight movement modes comprise sitting-standing, standing-sitting, standing-walking, walking-standing, walking on the flat ground at normal speed, going up and down the slope at slow speed, walking upstairs, and walking downstairs. In daily life, the wearer can select the modes according to specific environment and requirements of the wearer, and the exoskeleton and the corresponding exoskeleton control method can provide convenience for life of the patient to the maximum, and help the patient realize the value of life.

The invention relates to an injured brain function rehabilitation device based on brain-computer interaction in the technical field of rehabilitation engineering. An electrode cap is fixed on the head of a patient, the electrode cap is connected to an EEG (Electroencephalogram) collecting device through integrated cables, collected electroencephalograms are input into a recognizer for classified treatment, classified result information is further transmitted to a virtual reality renderer, the virtual reality renderer generates a three-dimensional virtual environment according to the input result information, the generated virtual environment is projected to a projection screen through a three-dimensional projector so be shown to the patient, a computer is connected with a display, the display shows operation interfaces, a horn sends corresponding sonic stimulation according to the classified result information, and meanwhile, a functional electrical stimulator is used for stimulating limited limbs of the patient by means of micro-current so as to stimulate the sense of the patient in an all-round way. The invention evaluates the rehabilitation status of the patient according to variation features of the electroencephalograms, gives corresponding encouragements at the same time, and instructs the patient to arrange the process of rehabilitation training under the condition of lacking expert guidance.

The invention relates to an ankle joint rehabilitation robot, and belongs to the field of medical care rehabilitation engineering. The ankle joint rehabilitation robot disclosed by the invention comprises a movable platform, a fixed platform and movement branched chains, wherein the movable platform is connected with the fixed platform through three movement branched chains; each movement branchedchain comprises a sliding pair and a universal pair fixed to two ends of each sliding pair; each universal pair consists of a first rotating pair and a second rotating pair; each first rotating pairis fixed to the end of the corresponding travelling pair; when each universal pair is connected to the corresponding sliding pair and the movable platform, the corresponding second rotating pair is fixed to the movable platform; when each universal pair is connected to the corresponding travelling pair and the fixed platform, the corresponding second rotating pair is fixed to the fixed platform; rotating axes of two second rotating pairs fixed to each movement branched chain are crossed at a point; and the movable platform is provided with pedals for fixing soles. The ankle joint rehabilitation robot disclosed by the invention has two rotation freedom degrees and a traveling freedom degree, can drive human body foot ankles to realize movement of forward rotation/backward rotation, and inward inversion/outward inversion, and can realize regulation of the height of rotating axes to guarantee that the rotating axes mutually coincide with the movement axis of the human body ankle joint.

The invention discloses a multi-modal brain-computer interface (BCI) method and system based on synchronic compound limb imaginary movements. The method comprises the following steps: designing seven types of multi-limb participated synchronic compound limb imaginary movements related to hands, feet and a body; irritating a subject by adopting task models of four stages, collecting electroencephalogram data and carrying out preprocessing; carrying out feature extraction and mode recognition on the preprocessed electroencephalogram data by three different cospace mode algorithms, so as to acquire an electroencephalogram feature vector of a single task; inputting the electroencephalogram feature vector of the single task into a training classifier of a support vector machine, and then predicting a spatial feature from a test set. The invention establishes a novel multi-modal BIC pattern based on the synchronic compound limb imaginary movements, the dilemmas that the species of the existing imaginary movement patterns are limited and disaccord with actual movements are got rid of, big instruction set output of information controlled by an MI (Motor imagery)-BCI system is realized, furthermore, a novel pathway is explored and a novel method is provided for promoting the practical application of a brain-computer interface in rehabilitation engineering.

The invention relates to the fields of researches of rehabilitation engineering and motion mechanism. In order to completely remain full waveband information of electroencephalographic signals and electromyographic signals and obtain complete synergistic evaluation results in time domain and frequency domain so as to improve medical auxiliary facility evaluation parameters and motion mechanism evaluation parameters, the technical scheme adopted in the invention is as follows: a synchronization likehood-based electroencephalograph and electromyography synergistic analyzing method comprises the steps of: 1, signal acquisition: 1.1 electroencephalographic signal acquisition, and1.2 electromyographic signal acquisition; and 2, data processing: 1.1 data preprocessing: respectively filtering the electroencephalo-graphic signals and the electromyographic signals by using a Butterworth three-order band-pass filter, selecting electroencephalo-graphic signal cut-off frequencies of 2Hz and 40Hz and electromyographic signal cut-off frequencies of 2Hz and 200Hz according to effective frequency band characteristics of the signals, and 1.2 carrying out a synchronization likehood analysis method. The invention is mainly applied to design and manufacture of rehabilitation devices.

The invention relates to the fields of rehabilitation engineering, neural engineering and dyskinesia mechanism research, in particular to an electroencephalogram and electromyogram synchronous acquisition and information transfer characteristic analysis method. The method includes an electroencephalogram and electromyogram synchronous acquisition step and a signal processing step, the electroencephalogram and electromyogram synchronous acquisition step includes electroencephalogram acquisition and electromyogram acquisition, and the signal processing step includes signal preprocessing and an electroencephalogram and electromyogram transfer characteristic analysis method. The method has applicability and adoptability and has significant application value in the rehabilitation medicine field.

The invention belongs to the technical field of rehabilitation engineering and virtual reality, and particularly relates to an upper limn rehabilitation training method and system based on a virtual scene. The method comprises the steps of according to an injured limb function assessment result of a user, determining an upper limb rehabilitation training mode; according to a virtual scene and a virtual target in a training area, guiding the injured limb of the user to operate the virtual target in the training area, and recognizing and acquiring movement data of the injured limb in the training area to interact with a virtual reality program; during a training process, judging whether a movement trail of the virtual target deviates from a preset movement trail or not; if yes, statisticallycounting error areas; and assessing the upper limb rehabilitation condition of the user according to a training completion condition and an error area statistical result, and making a next rehabilitation training plan. In the method, the immersion and the interestingness of the scene are stronger, the rehabilitation training plan suggested by rehabilitation medicine are fully combined, and thus the rehabilitation training effect is greatly enhanced.

The invention relates to a wearable exoskeleton hand function rehabilitation trainer and belongs to the technical field of rehabilitation engineering. The wearable exoskeleton hand function rehabilitation trainer comprises a four-finger drive mechanism, a thumb drive mechanism, a back supporting plate and finger mechanisms. The hand back supporting plate is fixedly connected with the four-finger drive mechanism, a motor is connected with the index finger through gear movement and drives the index finger to move, four fingers are connected through connecting parts at the near ends of the four fingers, and movements of other fingers are driven by the movement of the index finger. One side of the back supporting plate is connected with the thumb drive mechanism. The wearable exoskeleton hand function rehabilitation trainer can finish opposite movement of the thumb and the index finger, the movement speed of an index finger mechanism can be set according to the rehabilitation situation of a patient. In addition, a wearable function of the trainer can be achieved through connection of worn gloves and the hand. The wearable exoskeleton hand function rehabilitation trainer is simple in structure, light and convenient to operate and can be used for rehabilitation training of the patient in a community and at home by himself/herself.

The invention belongs to the technical field of medical apparatuses and instruments and rehabilitation engineering, and particularly relates to a multi-freedom-degree controllable lumbar vertebra treatment chair. The treatment chair comprises a rack mechanism, a chair mechanism, a transmission mechanism and a control device, wherein the control device is connected with the transmission mechanism through a connecting conductor bundle. The control device controls the transmission mechanism to drive the chair mechanism to carry out ascent, descent and multi-freedom-degree rotation on the rack mechanism, traction and appropriate motion of the specific parts of the lumbar vertebra of a treatment receiver are achieved, and the purpose of carrying out treatment on the lumbar vertebra of the patient with the lumbar vertebra disease is achieved. All types of motion of the treatment chair are controlled by preset programs in the control device to be completed, pilot run is carried out on a generated exercise therapy scheme before treatment is carried out, an operator holds an emergency shut-down button to ensure safety, and treatment can be started after the scheme is corrected. The treatment chair is reasonable in structure, easy to operate, applicable to non-surgical treatment of lumbar vertebra diseases, capable of effectively relieving and treating the disease parts, the course of treatment is shortened, and working difficulty and labor intensity of medical staff are reduced.

The invention relates to a rehabilitation engineering in medical sanitation, human physiological structure, pathology and pharmacology, belonging to an engineering of medical instruments for rehabilitation. According to the pharmacology of traditional Chinese medicine and the principle of mechanical and electrical Integration, a traditional Chinese medicine massage pillow conforming to the arc-line characteristic of the neck of a human body is made. The upper surface and the lower surface of the pillow are distributed with hemispheroids, the traditional Chinese medicines are put in a pillow cover interlayer, so that the medicine effect is convenient to be exerted at the temperature of 37 degrees. An external current switch is powered-on, a massager acts and massages, so that the effect of the comprehensive rehabilitation treatment is enhanced, and the rehabilitation treatment requirements at different time and places such as night sleep and noon break and the like are met.

The invention discloses a leg support structure used for gait rehabilitation training, and belongs to the technical field of rehabilitation engineering. The structure at least comprises a leg supportplate, a side plate structure, a support frame, a reinforcing rib, a leg support rod, a locking handle and a fixing rod, the leg support plate is arranged on the support frame, the reinforcing rib isfixedly connected to the support frame and the leg support plate, the fixing rod is arranged on the inner side of the reinforcing rib, and the side plate structure can rotate around the fixing rod. When the leg support structure is not used, the side plate structure rotates inwards and contacts with the leg support plate; and when the leg support structure is used, the side plate structure can rotate outwards according to the width of a patient's thigh and shank and can be locked by the locking handle. The side plate structure provided by the invention can be adjusted according to the width ofthe patient's thigh and shank so as to avoid the shaking of lower limbs of the patient during rehabilitation training caused by oversize or undersize leg supports, and to reduce the occupied space ofthe leg support structure at the same time.

The invention discloses a gait training rehabilitation robot upright bed in the technical field of rehabilitation engineering. The gait training rehabilitation robot upright bed at least comprises a bed body, an underframe, a connecting rod and a linear actuator, wherein the bed body is composed of a bed body framework and a hip sitting board, the bed body is arranged on the underframe through thelinear actuator and the connecting rod, and the linear actuator directly pushes the bed body to rotate at 0-90 degrees; the underframe at least comprises an underframe linear actuator, a cross beam and a longitudinal beam, and when the bed body rotates, the underframe linear actuator drives the cross beam to move along a sliding groove in the inner side of the longitudinal beam, thereby achievingthe adjustment of the gravity center of the upright bed. The gait training rehabilitation robot upright bed has the advantages that the bed body is simple in rotational structure and easy to process,the underframe linear actuator drives the cross beam to move to maintain the gravity center of the upright bed always in the middle of the underframe, thereby ensuring the stability of the upright bed during operation.

The invention relates to the field of sports rehabilitation engineering, in particular to a method for evaluating a gait mode of a patient with unilateral achilles tendon rupture in a rehabilitation period. The invention designs the method aiming at eliminating compensation gait, and the method is characterized in that the step lengths of a healthy side and affected side, swing phase time periodsof the healthy side and affected side, stride time periods of the healthy side and affected side, ground repulsion forces of the affected side and healthy side of the patient with unilateral achillestendon rupture is obtained according to a test of a detection instrument, the tested data is substituted into a gait mode evaluation equation of the rehabilitation period to obtain a compensation gaitvalue, relevant data on the right side of the equation are adjusted to ensure that the compensation gait value is more than or equal to 0.9 and less than or equal to 1.1, and the patient can be guided to recover. The method achieves the quantification of the exercise prescription design of the patient with the unilateral achilles tendon rupture, and is used for guiding the rehabilitation of the patient and accelerating the exercise rehabilitation effect.