20 results about "Right hip joint" patented technology

A wearable exercise device may obtain a left hip joint angle and a right hip joint angle of a user using at least one angle sensor, process the left hip joint angle and the right hip joint angle to correct a direct current (DC) component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control a driving module such that a torque based on the determined target torque value is output by the driving module.

The application relates to an apparatus for assisting a human torso, comprising a torso link (1) connected to the upper back of a user by a back strap (2), two thigh links (3) each coupled to the left and right thigh of the user by a leg strap (4), two hip joint hinges (5) each placed in alignment with the left and right hip joints of the user and configured to rotatably connect the torso link (1) and the two thigh links (3), and a torque generator (6) coupled to the two hip joint hinges (5) by Bowden cables (7) and configured to generate an assisting torque to reduce the moment load of the user.

The invention relates to the technical field of exoskeleton robots, and discloses a waist assistance control method and system for an exoskeleton robot, and the method comprises the steps: constructing an exoskeleton robot system which comprises at least one inertial measurement unit (IMU) arranged at the waist back or hip joint of a human body, the sensor is used for measuring attitude angles and angular velocities of human waist and back; the encoders are arranged in a left hip joint driving unit and a right hip joint driving unit of the exoskeleton robot and are used for measuring hip joint angles and angular speeds; the at least one pressure sensor is arranged on the sole of the human body and used for measuring the pressure value of the sole of the human body; and the myoelectricity sensor is arranged on an arm or an upper arm of a human body. Through the dynamic weight fusion decision of the multi-source sensor information, accurate recognition and self-adaptive assistance of the human waist motion intention are achieved, and the response accuracy and control intelligence of the exoskeleton robot in a complex operation scene are effectively improved.

The application provides a lower limb rehabilitation exoskeleton robot control method and system, which comprises the following steps: collecting joint torque, lower limb joint angle, joint angular velocity and plantar pressure data of a patient to calculate a rehabilitation state evaluation index; collecting the angle difference of left and right hip joints, identifying the current gait type and the expected trajectory under the corresponding gait based on the gait phase variable, and optimizing the expected trajectory based on the rehabilitation state evaluation index to obtain a target optimized trajectory; calculating the nominal torque based on the acceleration of the trajectory and the parameters of the dynamics model, designing a sliding surface through the implementation of monitoring trajectory tracking error, generating a compensation torque, and calculating a control torque vector. By identifying the gait type and generating a personalized trajectory, and then decomposing the nominal torque and the compensation torque through the U-K controller, high-precision tracking is realized while the model uncertainty disturbance is inhibited, and the naturalness of human-machine cooperation and the safety of rehabilitation training are significantly improved.

The application discloses a front and back tilting fall protection system, and belongs to the technical field of exoskeleton robots. The system comprises a posture detection module, a gravity center calculation unit, a risk prediction unit, a double-motor collaborative driving unit and a safety locking mechanism. To solve the problem of system redundancy caused by the configuration of independent anti-falling motors in traditional exoskeletons, the left and right hip joint motors are reused as anti-falling actuators. The risk prediction unit predicts and calculates the front tilting or back tilting risk index based on the overall gravity center movement trend. When the risk index exceeds the first threshold value, the bilateral hip joint motors cooperatively output reverse extension or flexion torque; when the risk index exceeds the second threshold value or a cooperative failure occurs, the safety locking mechanism is triggered to be powered off to release the wedge-shaped locking block, and a rack on the waist support frame is formed into a mechanical self-locking. The application does not need to additionally configure protection motors, significantly reduces the system complexity and overall machine quality, and realizes bidirectional anti-falling protection with light weight, low delay and high reliability.

This invention relates to the field of exoskeleton robot technology and discloses a method and system for controlling the lumbar support of an exoskeleton robot. The method and system include: constructing an exoskeleton robot system comprising: at least one inertial measurement unit (IMU) located at the lower back or hip joint of the human body for measuring the posture angles and angular velocities of the lower back; at least two encoders located within the left and right hip joint drive units of the exoskeleton robot for measuring hip joint angles and angular velocities; at least one pressure sensor located on the sole of the human foot for measuring the plantar pressure value; and at least one electromyography (EMG) sensor located on the arm or upper arm. This invention achieves accurate recognition and adaptive assistance of the human lumbar movement intention through dynamic weighted fusion decision-making of multi-source sensor information, effectively improving the response accuracy and control intelligence of the exoskeleton robot in complex work scenarios.

The utility model discloses an exoskeleton wearing equipment driving system in the field of exoskeleton driving, which comprises four driving mechanisms respectively positioned at a left hip joint, a right hip joint, a left knee joint and a right knee joint, each driving mechanism comprises a driving motor, and an output shaft of each driving motor and an input end of a reduction gear set are coaxially arranged. The output end of the reduction gear set is coaxially provided with a rotating shaft, the periphery of the rotating shaft is sleeved with a large gear, the end of the rotating shaft is provided with an action executing piece, the large gear is meshed with a small gear, the small gear and the rotary encoder are coaxially arranged, the reduction gear set is arranged in a protective shell, the driving motor is arranged on the protective shell, and the protective shell is fixed to the outer supporting plate through a fastener. A partition plate is arranged on the inward side of the outer supporting plate corresponding to the outer side of the large gear and the outer side of the small gear, an inner supporting plate is arranged on the outward side of the partition plate, a crossed roller bearing is arranged on the inner supporting plate, and the action executing piece is connected with an inner ring of the crossed roller bearing through a fastener. The utility model has the characteristics of compact structure and high precision.

A wearable bottom garment for preventing hip dislocation includes a first strap extending from the upper side of the left hip joint to the lower side of the right hip joint, and a second strap extending from the upper side of the right hip joint to the lower side of the left hip joint, wherein the first strap presses the upper side of the left hip joint from top to bottom, and presses the lower side of the right hip joint from bottom to top, and the second strap presses the upper side of the right hip joint from top to bottom, and presses the lower side of the left hip joint from bottom to top.

The present invention provides an exoskeleton gait detection method and wearable device based on multi-point calibration. The method includes continuously acquiring the angle values ​​of the user's left and right hip joints during movement. Based on the acquired left and right hip joint angle values, two waveforms are used to represent the gait of the left and right hip joints, respectively. The user's gait cycle is divided based on the gait waveform of the left hip joint and the gait waveform of the right hip joint. A preset number of gait cycles are recorded. The gait waveform of the left hip joint and the gait waveform of the right hip joint containing the recorded gait cycles are fitted to form a fitted waveform to complete exoskeleton gait detection. The method proposed in the present invention achieves motion detection through multi-point calibration, eliminating the need for prediction algorithms based on scene judgment, pattern recognition, etc. in the prior art. The total amount of data required to be collected is small, the computational complexity is low, and false alarms are less likely to occur. At the same time, it has the advantages of low cost and high real-time performance.

The application discloses a garment image segmentation method and device based on human skeleton joints and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: inputting a target image into a pre-trained human pose estimation model and a semantic segmentation model respectively, obtaining a skeleton joint graph of an image character in the target image output by the human pose estimation model, and obtaining a segmentation mask of a worn garment of the image character output by the semantic segmentation model; determining a body shape feature of the image character according to the skeleton joint graph; taking a left-right hip joint connection line in the skeleton joint graph as a segmentation reference line, and adjusting the segmentation reference line to obtain a cutting path according to an adjustment rule corresponding to the body shape feature; and cutting the segmentation mask according to the cutting path to segment the worn garment, so that the upper and lower parts of a dress conforming to a human structure are obtained, and the segmentation visualization effect of an integrated garment of a virtual character is improved.

The invention discloses an exoskeleton hip joint cooperative movement energy storage amplification mechanism for material moving. The exoskeleton hip joint cooperative movement energy storage amplification mechanism is composed of a hip installation fixing piece, an energy storage swimming assembly and a hip joint flexion and extension winding roller assembly. According to the energy storage swimming assembly, a passive energy storage release element serves as a core, and is connected to left and right hip joint flexion and extension winding roller assemblies through matching of steel wires and movable and static pulleys, so that energy storage and release in the thigh flexion and extension process are completed. In the operation process, when the two legs are bent at the same time, the steel wires on the two sides drive the winding idler wheels and the movable pulleys to compress the energy storage element at the same time to achieve bidirectional energy storage, and the energy storage element is forced to move towards the middle of the hip installation fixing piece; when a single leg is bent, single-side energy storage and one-way swimming of an energy storage element can be completed, and in the alternate gait walking process, two-side energy storage release conversion along with changes of the supporting direction is achieved, and cooperative auxiliary assistance of free movement of the swing phase is achieved. The mechanism is compact and light, and can be used as an important component of an exoskeleton system.

A femoral trial kit and method for assessing acetabular cup orientation during left and right hip joint surgery is described. The kit includes a trial femoral head having an inner wall defining a cavity extending along a head axis and a visual alignment guide on an outer surface of the trial femoral head; and a trial femoral neck having a tapered portion at a free end, the tapered portion being receivable within the cavity. One of the tapered portion and the inner wall has first and second anti-rotation features, the first and second anti-rotation features being angled, and the other of the tapered portion and the inner wall has a third anti-rotation feature. The trial femoral head is attachable to the trial femoral neck in a first angular configuration corresponding to the right hip joint with the third anti-rotation feature and the first anti-rotation feature engaged, and the trial femoral head is attachable to the trial femoral neck in a second angular configuration corresponding to the left hip joint, wherein the third anti-rotation feature and the second anti-rotation feature are engaged.

A femoral trialling kit and method for assessing acetabular cup orientation during a left hip joint surgical procedure and a right hip joint surgical procedure are described. The kit includes a trial femoral head having an inner wall defining a cavity extending along a head axis and a visual alignment guide on an outer surface of the trial femoral head and a trial femoral neck having a taper at a free end, the taper being receivable within the cavity. One of the taper and the inner wall has a first anti-rotation feature and a second anti-rotation feature, the first anti-rotation feature and the second anti-rotation feature being inclined, and the other of the taper and the inner wall has a third anti-rotation feature. The trial femoral head is attachable to the trial femoral neck in a first angular configuration corresponding to a right hip joint, in which the third anti-rotation feature and the first anti-rotation feature engage, and a second angular configuration corresponding to a left hip joint, wherein the third anti-rotation feature and the second anti-rotation feature engage.

The invention provides an intelligent mirror multi-dimensional health assessment system, and relates to the technical field of health assessment, and the system comprises an acquisition module which is used for carrying out human body skeletonization processing on an acquired continuous three-dimensional image sequence of user motion and position information of user limbs in a space, extracting three-dimensional space coordinate data of key joints of a user body, and transmitting the three-dimensional space coordinate data to a processing module; obtaining a real-time skeleton model of user motion; and the pointing module is used for establishing a first reference vector pointing to the central points of the left and right shoulder joints and a second reference vector pointing to the central points of the left and right hip joints by taking the central point of the trunk of the user as a space base point based on the real-time skeleton model, so as to determine a main reference plane of the movement of the user. According to the method, through extraction of motion skeleton data, construction of a reference and dynamic feature plane, calculation and evaluation of key indexes, generation of motion attitude correction parameters and visual calibration guidance, evaluation and real-time optimization of motion quality are realized, the motion effect is improved, and the damage risk is reduced.

The present invention provides an exoskeleton-based high-speed motion assistance method, device, and equipment. The method includes obtaining the real-time angle values ​​of the left and right hip joints of a user during high-speed motion. If the angle value of one hip joint of the user exceeds the range of the current latest angle threshold, the angular velocity of the user's hip joint on that side is continuously obtained. When the direction of the angular velocity of the user's hip joint on that side changes, the time point at which the direction of the angular velocity of the user's hip joint on that side changes is recorded as a calibration point, and the force applied to the user by the exoskeleton to assist motion is initiated at the calibration point. The method proposed by the present invention can assist the human body in high-speed motion, has extremely high timeliness and flexibility, effectively improves the coordination and stability of the user's movements during high-speed motion, reduces the burden of motion on the user, and ensures the safety of the user during high-speed motion.

The invention provides a lower limb rehabilitation exoskeleton robot control method and system. The method comprises the following steps that the joint torque, the lower limb joint angle, the joint angular velocity and plantar pressure data of a patient are collected to calculate rehabilitation state evaluation indexes; the angle difference value of the left hip joint and the right hip joint is collected, the current gait type and the expected trajectory under the corresponding gait are recognized based on the gait phase variable, and the expected trajectory is optimized based on the rehabilitation state evaluation index to obtain a target optimized trajectory; and calculating a nominal torque based on the kinetic model parameters and the acceleration of the trajectory, designing a sliding mode surface by implementing a monitoring trajectory tracking error, generating a compensation torque, and calculating to obtain a control torque vector. The gait type is recognized, the personalized trajectory is generated, and the nominal torque and the compensation torque are decomposed through the U-K controller, so that the uncertainty disturbance of the model is inhibited while high-precision tracking is realized, and the naturalness of man-machine coordination and the safety of rehabilitation training are remarkably improved.

The invention discloses a four-footed bionic robot waist and hip joint integrated driving device which comprises a waist joint assembly, a left hip joint assembly, a right hip joint assembly, a five-degree-of-freedom series connection structure of a waist roller, a waist yaw, a hip yaw, a hip roller and a hip pitching, the left hip joint assembly and the right hip joint assembly are symmetrically arranged, the adjacent waist and hip joints have the yaw degree of freedom, and the hip and knee adjacent joints have the pitching degree of freedom. The yaw axis, the rolling axis and the pitch axis of the hip joint intersect at one point, and the waist rolling motor, the waist yaw motor, the hip yaw motor and the hip rolling motor are connected through flange end face bolts and can be independently detached without damaging the assembly relation of other assemblies. The distance between the left hip joint and the right hip joint is smaller than the waist width. The two-degree-of-freedom motion of the waist joint and the three-degree-of-freedom motion of the hip joint of the four-footed bionic robot can be achieved, and the joint motors can be independently detached. The assembly manufacturability and maintainability of the robot are improved while high integration of the waist and hip joints is achieved.

The invention discloses a clothing image segmentation method and equipment based on human skeleton joint points, and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: respectively inputting a target image into a pre-trained human body posture estimation model and a semantic segmentation model, obtaining a skeleton joint graph of an image character in the target image output by the human body posture estimation model, and obtaining a segmentation mask of a garment worn by the image character output by the semantic segmentation model; determining the body shape characteristics of the image figure according to the skeleton joint point graph; taking a connecting line of left and right hip joint points in the skeleton joint point graph as a segmentation reference line, and adjusting the segmentation reference line according to an adjustment rule corresponding to the body shape characteristics to obtain a cutting path; and cutting the segmentation mask according to the cutting path so as to segment the wearing clothes, thereby obtaining the upper and lower parts of the one-piece dress conforming to the human body structure, and improving the segmentation visualization effect of the virtual character integrated clothes.

This invention provides a resistance training method and device based on a single resistance device. The method involves connecting the user's left and right hip joints to the same resistance device, and continuously detecting the movement direction of the user's left and right hip joints through the resistance device. If the movement direction of one hip joint is detected to be the same as a preset movement direction, the resistance device applies resistance to that side of the user's hip joint to impede its movement until the movement direction of that side of the hip joint changes. This invention eliminates the need for traditional weight-bearing methods, providing flexible and controllable resistance to assist the user's training. It requires only one resistance device, offering a simple and convenient resistance training method while significantly reducing the risk of injury and providing reliable safety assurance for users during exercise training.

A wearable exercise device may: obtain a left hip joint angle and a right hip joint angle of a user by using at least one angle sensor; process the left hip joint angle and the right hip joint angle to correct DC components of the left hip joint angle and the right hip joint angle; determine a first torque value on the basis of the processed left hip joint angle; determine a second torque value on the basis of the processed right hip joint angle; determine, on the basis of movement information of the user, one of the first torque value and the second torque value as a target torque value; and control a driving module such that torque based on the determined target torque value is output by the driving module.