16 results about "Shoulder movement" patented technology

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The invention belongs to a biological signal identification and data processing technology, and relates to a multi-sensor fusion action identification system for shoulder rehabilitation evaluation. Comprising a flexible strain sensor, an inertial measurement unit, a multi-channel data acquisition module, a data preprocessing module and an action recognition module, the flexible strain sensor comprises a plurality of sensing areas and connecting areas which are distributed around the rotator cuff area; the multichannel data acquisition module acquires multichannel sensing signals, and the multichannel sensing signals are preprocessed by the data preprocessing module. The action recognition module adopts a multi-modal feature fusion algorithm based on a bidirectional cross-modal interactive attention and time period specificity adaptive weight mechanism to realize dynamic correlation modeling between a strain sensing signal and inertial measurement data in a unified time sequence space, and cross-modal time sequence features are fused; capturing the global and local dependency relationship of the shoulder movement, and recognizing various rehabilitation actions. The method effectively overcomes the static limitation of the prior art, and remarkably improves the precision and robustness of shoulder rehabilitation evaluation.

The application belongs to biological signal recognition and data processing technology, and is a multi-sensor fusion motion recognition system for shoulder rehabilitation evaluation. The system comprises a flexible strain sensor, an inertial measurement unit, a multi-channel data acquisition module, a data preprocessing module and a motion recognition module. The flexible strain sensor comprises a plurality of sensing areas and connecting areas distributed around the rotator cuff area. The multi-channel data acquisition module acquires multi-channel sensing signals, which are preprocessed by the data preprocessing module. The motion recognition module adopts a multi-modal feature fusion algorithm based on bidirectional cross-modal interaction attention and time period-specific adaptive weight mechanism to realize dynamic correlation modeling between strain sensing signals and inertial measurement data in a unified time sequence space, fuse cross-modal time sequence features, capture global and local dependency of shoulder movement, and recognize multi-class rehabilitation actions. The application effectively overcomes the static limitation of the prior art and significantly improves the accuracy and robustness of shoulder rehabilitation evaluation.

The invention belongs to the technical field of educational appliances, and particularly relates to a piano playing posture auxiliary corrector which specifically comprises a lifting supporting mechanism, a seat plate, a supporting cushion mechanism, a leg supporting mechanism, a side supporting mechanism, a swing mechanism, an elbow supporting mechanism and a sitting posture detection mechanism. The cushion supporting mechanism is fixedly mounted above the seat plate, and an adjusting controller for controlling the lifting supporting mechanism, the cushion supporting mechanism and the leg supporting mechanism is fixedly mounted on the side face of the lifting supporting mechanism. Shoulder movement changes of a learner are monitored through the sitting posture detection mechanism, torque rotating shafts on the two sides are pulled when the upper limbs swing in the playing process, the movement state of the upper limbs is detected through the number of rotation turns, the speed and the direction of a rotation angle sensor, and when irregular postures such as unknown stooping and humpback occur, the posture of the learner can be corrected. A player is prompted to correct in time, a correct playing posture is kept, and a correct posture memory is formed.

To provide a vehicle door control device that can control the vehicle doors based on user actions. [Solution] The vehicle door control device 1 detects the shoulder movements of a user 43 who is in the vicinity of the vehicle 2, and determines whether the user 43 intends to use the vehicle 2 based on the detection results. The vehicle door control device 1 also estimates which of the doors on the vehicle 2 the user 43 is expected to open. If the vehicle door control device 1 determines that the user intends to use the door, it executes control to open the target door.

This utility model discloses an upper limb exoskeleton, relating to the field of industrial assistive device structural design technology. The upper limb exoskeleton includes: a shoulder restraint, a waist restraint, an upper arm fixation, a shoulder rotation mechanism, and an assist mechanism. The lower side of the shoulder restraint is connected to the waist restraint, and an assist mechanism is provided below the shoulder restraint. The lower end of the assist mechanism is fixedly connected to the waist restraint, and the upper side of the assist mechanism is fixedly connected to the shoulder rotation mechanism, which is connected to the upper arm fixation. This upper limb exoskeleton provides support and fixation for the user's upper body through the shoulder and waist restraints. To achieve a lightweight design, assist mechanisms are provided on both sides of the shoulder restraint. The rotation of the shoulder rotation mechanism causes the internal tension springs of the assist mechanism to elastically deform and return to their original position, providing mechanical assistance for shoulder movement and ensuring the stability of the assist mechanism. It is adaptable to users of different body types, ensuring flexible movement with multiple degrees of freedom.

The application discloses a shoulder movement estimation method based on glenohumeral joint positioning and electromyography cooperation, and relates to the technical field of robot-assisted rehabilitation, and comprises the following steps: collecting surface electromyography signals and kinematics data; according to the surface electromyography signals and the kinematics data, solving a dynamic glenohumeral joint position in real time by minimizing distance residual based on anatomical constraints and step residual for ensuring continuity; determining muscle activation according to the surface electromyography signals; the muscle activation constitutes a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; and estimating an upper arm angle according to elements in the command matrix. The method can realize high-precision, low-cost and long-term stable estimation of shoulder joint movement, and provides reliable technical support for robot-assisted rehabilitation.

The application relates to the field of analog teaching and intelligent military training and examination technology, and discloses a live ammunition throwing examination system and method, a terminal and a storage medium, which comprise the following modules: a data acquisition module, which is used for acquiring upper limb measurement and joint movement data in real time; a physiological inertia modeling module, which is used for constructing a dynamics model and solving a rotational inertia estimation value representing a physical starting time delay; a phase monitoring and analyzing module, which is used for tracking a joint angular velocity wave crest and generating a phase difference observation value; and a power chain phase self-alignment guiding module, which is used for performing nonlinear dynamic time domain modulation on a standard shadow path according to the rotational inertia and a phase difference deviation. Through the establishment of a closed-loop feedback control mechanism based on physiological lag, the application solves the problem of power chain fracture caused by physiological response time delay of a trainee, realizes accurate physical alignment of the action timing of a hip joint and a shoulder joint, and effectively improves the scientific nature and safety of throwing training.

The invention discloses a shoulder motion estimation method based on glenohumeral joint positioning and myoelectricity cooperation, and relates to the technical field of robot-assisted rehabilitation, and the method comprises the steps: collecting a surface electromyogram signal and kinematics data; according to the surface electromyogram signal and the kinematics data, the dynamic glenohumeral joint position is solved in real time by minimizing a distance residual error based on anatomical constraint and a step residual error used for ensuring continuity; determining muscle activation from the surface electromyogram signal; the muscle activation forms a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; an upper arm angle is estimated from elements in the command matrix. According to the method, high-precision, low-cost and long-term stable estimation of shoulder joint movement can be realized, and reliable technical support is provided for robot-assisted rehabilitation.

Shoulder strengthening systems can provide multidirectional and dynamic resistance to shoulder movement of a user. A shoulder strengthening system can include a frame, a joint pivotably coupled to the frame, a resistance mechanism coupled to the joint, and a shaft coupled to the joint. Resistance mechanisms can include a first hydraulic member and a second hydraulic member. The first hydraulic member can be configured to restrict relative motion of the joint about a first axis and the second hydraulic member can be configured to restrict relative motion of the joint about a second axis. The shaft and the joint of a shoulder strengthening system can be configured to move together relative to the frame about the first and second axes.

An upper limb exoskeleton rehabilitation assisting robot relates to the technical field of rehabilitation medical instruments and comprises a hand supporting module used for supporting the hand of a user or allowing the user to hold the hand; the forearm supporting module is connected to the hand supporting module and is provided with a wrist movement joint corresponding to the wrist joint of the human body; the upper arm connecting module is connected with the forearm supporting module through an elbow movement joint corresponding to the elbow joint of the human body; the shoulder connecting module is connected with the upper arm connecting module through a shoulder movement joint corresponding to the shoulder joint of the human body; the wrist movement joint, the elbow movement joint and the shoulder movement joint are each provided with an actuating unit, and the actuating units are configured to independently drive the corresponding joints or cooperatively drive the multiple joints to achieve linkage. Through the modularized multi-joint structure and the driving system capable of being independently or cooperatively controlled, effective assistance for movement of shoulders, elbows, wrists and forearms of the human body is achieved, and the adaptability, naturalness and flexibility of rehabilitation training are improved.

The utility model discloses a cervical vertebra lamina reinforcing device. The reinforcing device comprises an upper fixing piece, a lower fixing piece and a connecting rod, the upper fixing piece is arranged above the lower fixing piece, one end of the connecting rod is rotationally connected with the upper fixing piece, the other end of the connecting rod penetrates through the lower fixing piece and is connected with a fixing belt, and the fixing belt is detachably connected with a human body. The lower fixing part comprises two shaping plates and an air bag part located between the two shaping plates, the shaping plate located at the upper position is fixedly connected with the connecting rod, the shaping plate located at the lower position is slidably connected with the connecting rod, and the distance between the two shaping plates is adjusted by adjusting the inflation degree of the air bag part. One end of the connecting rod is fixed to the back of the human body, and then the other end of the connecting rod is connected with the upper fixing piece to achieve auxiliary head supporting, and the fixed height position is determined; the lower fixing piece with the built-in air bag piece is controlled to stretch, so that the lower shaping plate makes contact with the shoulders to achieve auxiliary fixing of the connecting rod, the acting force of shoulder movement is buffered, and the use feeling is improved.

An exoskeleton comprising: a dorsal structure (10) connected to an arm structure (30) by a scapular structure (20) having a shoulder actuator (24) for moving the arm structure relative to the dorsal structure. The scapular structure includes a first joint (21) fixed to an upper portion (11) of the dorsal structure (10), and a carriage (23) connected to a portion of the first joint (21) for sliding relative to the first joint (21) in a direction substantially perpendicular to the first joint axis (A1). The shoulder actuator (24) is mounted on the carriage (23) by a second joint (25) having a second joint axis (A2) substantially parallel to the first joint axis (A1). The exoskeleton includes a first elastic element (27) for returning the carriage to a predetermined resting position and a second elastic element (28) for returning the carriage (23) to the first joint (21).SUMMARY FIGURE : Fig. 1.

The invention relates to the technical field of simulation teaching and intelligent military training and assessment, and discloses a live ammunition throwing assessment system and method, a terminal and a storage medium, and the system comprises a data collection module which is used for obtaining upper limb measurement and joint movement data in real time; the physiological inertia modeling module is used for constructing a dynamic model and resolving a rotational inertia estimated value representing physical starting time delay; the phase monitoring and analyzing module is used for tracking a joint angular velocity wave crest and generating a phase difference observation value; and the power chain phase self-alignment guiding module is used for executing nonlinear dynamic time domain modulation on the standard shadow path according to the rotational inertia and the phase difference deviation. By establishing a closed-loop feedback control mechanism based on physiological hysteresis, the problem of power chain breakage caused by physiological response time delay of a trainee is solved; accurate physical alignment of motion time sequences of the hip joint and the shoulder joint is achieved, and scientificity and safety of throwing training are effectively improved.

A kind of robot shoulder movement control mechanism and robot, its robot shoulder movement control mechanism includes control component installation platform and two shoulder movement control frames, two shoulder movement control frames are rotatably installed in control component installation platform two sides, rotation axis is perpendicular to control component installation platform, and two shoulder movement control frames are symmetric and interval arrangement, the shoulder movement control frame includes rotator frame and shoulder arm load support, shoulder arm load support is rotatably connected with rotator frame by a group of connecting rod support, shoulder arm load support is vertically arranged, first driving device is installed on control component installation platform, for driving the rotation of shoulder movement control frame as a whole on control component installation platform, second driving device is connected to all rotator frame, for driving shoulder arm load support moves up and down.The shoulder of the present application itself has freedom of movement, can complete shake shoulder and expand chest and other actions, and motion control is simple and stable.

Shoulder strengthening systems can provide multidirectional and dynamic resistance to shoulder movement of a user. A shoulder strengthening system can include a frame, a joint pivotably coupled to the frame, a resistance mechanism coupled to the joint, and a shaft coupled to the joint. Resistance mechanisms can include a first hydraulic member and a second hydraulic member. The first hydraulic member can be configured to restrict relative motion of the joint about a first axis and the second hydraulic member can be configured to restrict relative motion of the joint about a second axis. The shaft and the joint of a shoulder strengthening system can be configured to move together relative to the frame about the first and second axes.