10 results about "Right hip joint" patented technology

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.

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.

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 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 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.