8 results about "Standing balance" patented technology

The invention discloses a wearable plantar pressure and three-dimensional gait analysis system, and relates to the technical field of gait analysis, the system comprises a wearable in-shoe plantar pressure analysis subsystem and a three-dimensional gait analysis subsystem; the wearable in-shoe plantar pressure analysis subsystem comprises a pressure sensor module, a pressure integration module, an intelligent transmission module, a detection software module, a power supply module, an instantaneous pressure and balance detection module, a standing balance detection module, a balance and gait detection module and a cloud server; the three-dimensional gait analysis subsystem comprises a hardware unit and a software unit; according to the invention, a wearable plantar pressure and three-dimensional gait analysis collaborative system is constructed, bidirectional verification compensation is realized by means of data fusion of two subsystems, and traditional single-dimensional limitation is broken; pressure sensing and a double-view reconstruction technology are fused, data are dynamically captured, and bidirectional error correction is carried out; the limitation of traditional equipment is solved, the evaluation accuracy and robustness are improved, and a quantitative basis is provided for clinical diagnosis, rehabilitation and the like.

The present invention discloses an intelligent walking-assisting rehabilitation training robot, which relates to the technical field of medical devices and includes a human-computer interaction unit, a pelvic auxiliary motion mechanism, a lifting mechanism, a control unit, and a chassis moving mechanism. The chassis moving mechanism can achieve omnidirectional movement. The pelvic auxiliary motion mechanism is installed on the lifting mechanism and is used for patients to perform lower limb rehabilitation training under the guidance of a doctor or accompanied by family members, realizing the horizontal rotation, horizontal swing, and lateral rotation of the human pelvis, and achieving the effect of exercising the patient's control of the pelvis to achieve lower limb balance. The intelligent walking-assisting rehabilitation training robot provided by the present invention can provide motion damping, auxiliary support, obstacle avoidance, and auxiliary walking, provide three training methods for patients, namely standing balance training, walking static training, and walking dynamic training, and can display the training effect in real time through the human-computer interaction unit, so as to select corresponding training methods for patients in different rehabilitation stages and improve the rehabilitation training efficiency.

The utility model discloses an improved standing balance rehabilitation training device which comprises a horizontal base, two sets of parallel resistance springs are vertically and fixedly arranged on the horizontal base, the upper end of each resistance spring is fixedly connected with a supporting pipe, and the upper portions of the two supporting pipes are fixedly connected with a table top and a handrail. A leg supporting frame is arranged between the lower middle portions of the two supporting pipes and comprises a cross beam, the cross beam is connected with the supporting pipes through guide sleeves, and jackscrews are arranged on the guide sleeves and used for fastening or loosening the guide sleeves and the supporting pipes. A rotating shaft is fixedly arranged on the outer wall of the guide sleeve in the radial direction of the guide sleeve, the cross beam is rotationally connected with the rotating shaft, a square head is arranged at the tail end of the rotating shaft, a check ring is installed on the square head in a matched mode, a threaded hole is formed in the tail end face of the rotating shaft, and a matched bolt with a rotary knob is installed in the threaded hole. According to the device, the connection reliability of the standing balance rehabilitation training device in the front-back and left-right shaking process is obviously improved.

The invention discloses a waist restraint frame for a standing balance rehabilitation training device, which comprises two waist adjusting sleeves, a waist cross beam, a left cross beam, a right cross beam and a fixing rod, the two ends of the waist cross beam are connected with the two waist adjusting sleeves respectively, a buffer spring is arranged in the middle of the waist cross beam, the front ends of the left cross beam and the right cross beam are fixedly connected with the two waist adjusting sleeves respectively, and the tail ends of the left cross beam and the right cross beam are suspended. The left end and the right end of the fixing rod are arranged on the left cross beam and the right cross beam in a sleeving mode through lantern rings respectively and limited through pluggable second limiting pins arranged on the left cross beam and the right cross beam, and the lantern rings and the cross beams are prevented from falling off. The flexibility and the use reliability of the device are remarkably improved.

The embodiments of the present application relate to the field of robotics, and in particular to a robot standing balance control method and system. The method comprises the following steps: first, dynamically modeling the robot, establishing a connecting rod model, a table car model, and a virtual spring damping model; then, based on the connecting rod model, the table car model, and the virtual spring damping model, obtaining an expression for the robot's center of mass adjustment; finally, based on the expression for the robot's center of mass adjustment and the robot composite control system, adjusting the robot's center of mass and ankle joint posture. The robot standing balance control method provided in the present application realizes real-time adjustment of the robot's center of mass by establishing a virtual spring damping model; and through the robot composite control system, alleviates the problem that the robot is susceptible to external disturbances during the standing stability stage, further improving the robot's standing stability.

The invention belongs to the technical field of robots, and particularly relates to a robot control model training method and device, a computer readable storage medium and electronic equipment. The method comprises the steps that the actual position of a capture point of a robot is determined, and the expected position of the capture point of the robot is determined; determining a capture point balance reward of the robot according to the actual position of the capture point and the expected position of the capture point; the actual position of a leg joint of the robot is determined, and the expected position of the leg joint of the robot is determined; determining a leg joint reference reward of the robot according to the actual position of the leg joint and the expected position of the leg joint; and performing reinforcement learning training on a robot control model based on the capture point balance reward and the leg joint reference reward. According to the method and the device, rewards based on capture point positions and rewards based on leg joint positions are further introduced, so that the standing balance of the lower limbs of the robot can be effectively improved.

This utility model relates to the field of medical device technology, specifically disclosing a standing bed for rehabilitation training, including a bed frame and straps, and a crossbar assembly disposed on both sides of the bed frame and above the straps. The crossbar assembly includes a crossbar and a height adjustment structure connected to the crossbar, and a foot pedal is fixedly installed at one end of the bed bottom; an upper limb training component includes an extension rod and an arc rod. The extension rod is telescopically installed at the bottom of the bed frame, with one end extending away from the bed frame and having a foot pedal. The arc rod is rotatably connected to the extension rod, and training components are connected to both ends of the arc rod, and the positions of the two training components are interchangeable; an angle adjustment and limiting structure is also provided at the connection between the arc rod and the extension rod. The angle adjustment and limiting structure includes an adjusting component for adjusting the angle of the arc rod and a limiting component for limiting the rotation range of the arc rod, integrating standing balance and upper limb training functions, and is suitable for users of different heights and rehabilitation stages.

The utility model relates to the field of balance plates, in particular to a standing type balance plate which comprises an arc-shaped panel, arc-shaped plates, elastic ropes and a hollow shaft, the number of the arc-shaped plates is multiple, the arc-shaped plates and the arc-shaped panel are provided with center holes and rope penetrating holes, the hollow shaft penetrates through the center holes of all the arc-shaped plates, and the arc-shaped plates are connected in a mirror symmetry mode. A double-thread screw is in clearance fit with the interior of the hollow shaft, arc-shaped panels are connected to the arc-shaped plates on the outermost sides, sleeves are installed in center holes of the arc-shaped panels, the arc-shaped panels are sleeved with the double-thread screw, nuts are connected to the double-thread screw, the nuts are in clearance fit with the sleeves, and an elastic rope penetrates through rope penetrating holes of all the arc-shaped panels and the arc-shaped plates. And two ends of the elastic rope are provided with line locking devices. The product is a three-dimensional balance plate formed by longitudinally splicing and combining a plurality of arc-shaped plates, and is suitable for standing office scenes, leisure and relaxation at home, massage pressure reduction, fitness training, rehabilitation exercise, getting rid of hyperactivity disorder, training of ankle strength and training of coordination.