19 results about "Walking balance" patented technology

The invention belongs to the field of medical rehabilitation, and provides a balance capacity detection device and method.The balance capacity detection device comprises a square pedal, pressure detection points, array type distribution film foot pressure sensors and three-dimensional force sensors; the balance capacity detection method provided by the device comprises the steps of balance capacity detection device construction, force distribution characteristic data acquisition, first plantar pressure distribution characteristic acquisition, index extraction, comprehensive evaluation, pressure change track data acquisition, second plantar pressure characteristic acquisition, index extraction, comprehensive evaluation and index fusion evaluation. Synchronous collection of static pressure center and plantar pressure data is achieved through the thin film foot pressure sensor and the three-dimensional force sensor which are distributed in an array mode, the diversity of detection data is increased, and the reliability of a detection result is improved; according to the detection method provided by the invention, multi-data comprehensive judgment is utilized, so that accurate evaluation on the static and walking balance ability of the target user is realized.

The invention relates to the technical field of exoskeleton robots, in particular to a multi-limb exoskeleton walking balance control method, device and equipment and a storage medium. The zero moment point coordinate of the wearer can be accurately calculated by acquiring the sensing information, the stable supporting polygonal area is determined, when the zero moment point is not in the stable supporting polygonal area, the balance auxiliary mode can be executed according to the phase state of the robot, the safety of the wearer is ensured, and the safety of the wearer is improved. According to the method, the phase state of the robot is obtained according to the walking state and the environment of the wearer in the sensing information, the balance state of the wearer is accurately judged, the robot can quickly make a balance strategy according to the gravity center change of the wearer, the calculation process is simple, the requirement for software and hardware of a control system is low, cost and technical difficulty are reduced, and the method is suitable for popularization and application. No matter in daily life or in a special working environment, reliable balance assistance can be provided for a wearer, and the safety and stability of actions are improved.

The application discloses a self-walking maintenance device suitable for a dumbbell-shaped arch rib, which comprises a working platform, a limiting system, a walking system, a balancing system and a braking system. The working platform is used for maintenance work of workers. The walking system is arranged at the bottom of the working platform and is attached to the arch rib at the bottom of the walking system, so as to drive the working platform to walk along the arch rib. The balancing system is arranged at the bottom of the working platform and is used for stability adjustment of the working platform, so that the working platform can be kept in a horizontal state. The braking system is used for braking of the device on the arch rib.

The utility model relates to the technical field of infant walking exercising, and discloses infant walking balance exercising equipment which comprises a circular ring base, universal wheels are installed at the bottom end of the circular ring base, an adjusting shell is fixedly connected to the top end of the circular ring base, an adjusting column is slidably connected to an inner cavity of the adjusting shell, and the adjusting column is fixedly connected with the circular ring base. And supporting rods are fixedly connected to the inner sides of the adjusting columns. A worker pulls a handle outwards to drive a square plate to move, the square plate drives a circular column to slide in a circular through groove, meanwhile, a first spring is stretched to store force, and along with the displacement of the circular column, the circular column drives a first sliding block to slide in a first sliding groove and is gradually separated from an inner cavity of the square groove along with the surface of the square plate; at the moment, a worker can adjust the adjusting column, through the arrangement of the structure, the worker can conveniently adjust the height of the balance equipment, the equipment is suitable for infants of different age groups, and the applicability of the balance equipment is further improved.

The utility model discloses a self-balancing electric wheelchair, and relates to the technical field of wheelchairs. Comprising a seat body and a walking mechanism installed on the bottom face of the seat body, a walking balance mechanism is installed between the seat body and the walking mechanism, and the walking balance mechanism comprises a buffering assembly, a gravity center height adjusting assembly and a distance adjusting mechanism. Two internal thread blocks on the sliding chute shell are far away from each other to drive one end, located at the sliding chute shell, of the limiting rod to push the sliding blocks to slide, namely, the two sliding blocks in the sliding chute shell are far away from each other to compress the buffer springs on the sliding rods at the positions, so that the elastic potential energy release stroke of the buffer springs is shortened, and the buffer strength of the buffer springs is reduced; the jolting strength of the jolting road section at one end prevents the elastic potential energy release stroke of the buffer spring from being too long, and the jolting feeling is enhanced.

The invention discloses a bionic mechanical toe, and relates to the field of bionic toes. Which comprises a foot shell and is provided with a bionic foot buffering sleeve, the bionic foot buffering sleeve is arranged outside the foot shell in a sleeving mode and comprises a simulation foot and five simulation toes which are made of elastic materials and integrally formed; the foot bottom action sensing assembly is used for detecting gravity values of the bottom of the simulation foot in front, rear, left and right areas and the inclination angle of the bottom of the simulation foot; the five toe mechanical components are respectively hinged to the foot shell and are used for driving the simulation toes to grip the ground; the toe ground gripping controller is used for judging whether the five toe assemblies are controlled to grip the ground or not through the toe mechanical assemblies according to the inclination angle; according to the difference between the gravity values of the front area and the rear area of the foot shell or the difference between the gravity values of the left area and the right area of the foot shell, the pressure generated when the corresponding simulation toes grip the ground is adjusted through the toe mechanical assemblies. Toes can be controlled to grip the ground and the pressure can be adjusted, so that the walking balance of the artificial limb is improved.

The application discloses a kind of based on pressure pain sensation's bionic flexible touch sensor and robot active protection method, it is related to bionic robot flexible sensing and safety protection field.The sensor adopts DIW integrated printing process, including flexible silica gel base, cross intersection row and column conductive grid and spherical cap micro convex pressure resistance sensing unit, no layering, full flexibility, can adapt to robot complex curved surface whole body.It is based on the critical pressure intensity of sensor material destruction as benchmark, constructs three-stage progressive quantization bionic pain sensation system, through pain sensation value driving robot executes graded protection action, core through expanding force area to eliminate structural risk from root;While constructing whole body partition density bionic skin system, fusion foot bottom pressure and gyroscope data realizes walking balance adjustment.The application gives consideration to sensing accuracy and engineering cost, greatly improves the bionic sensing ability of humanoid robot, operation safety and structure life.

A humanoid quadruped robot is composed of a robot head 1, a robot neck 2, a robot body 16, three robot arms, four robot legs, a waist joint piece 7, a thoracolumbar hip joint piece 22, a plurality of joint motors and auxiliary parts, and compared with an existing robot, the humanoid quadruped robot has the four differences that the robot head 1 is fixed to the robot neck 2, and a shell of the robot head 1 is made of a one-way light-transmitting material; one-way light transmission means that a visual device in the robot head 1 can see external scenes, external human eyes and the visual device cannot see internal parts, two positions are three robot arms, one robot arm is arranged at the chest position of the robot body 16, retracts when not used and stretches out when used, and three positions are that the robot body 16 rotates by 360 degrees at random at the waist joint position. Four machine legs with the same structure are arranged in four places, two machine legs fall to the ground and the other two machine legs are lifted up in the walking process, and the aim of walking is achieved through sequential circulation, so that walking balance and load bearing are facilitated.

The present application relates to the technical field of exoskeleton robots, in particular to a multi-limb exoskeleton walking balance control method, device, equipment and storage medium. The present application can accurately calculate the zero moment point coordinates of the wearer by acquiring sensing information, and determine a stable support polygon area. When the zero moment point is not in the stable support polygon area, the balance assistance mode can be executed according to the robot phase state, to ensure the safety of the wearer. The method obtains the phase state of the robot according to the walking state of the wearer and the environment in the sensing information, and accurately judges the balance state of the wearer, so that the robot can quickly make a balance strategy according to the change of the center of gravity of the wearer. Moreover, the calculation process is simple, the requirements of the control system hardware and software are low, the cost and technical difficulty are reduced, and reliable balance assistance can be provided for the wearer in daily life or special working environment, to improve the safety and stability of action.

The invention provides an auxiliary robot control method and system for improving the walking function of lower limbs after stroke, and relates to the field of health data processing, and the system comprises a data collection module which is used for collecting multi-modal test data of a patient, comprising key head cortex point location test data, bilateral joint coordination test data and walking balance obstacle test data; the function analysis module is used for determining lower limb dysfunction characteristics of the patient according to the multi-modal test data of the patient; the data acquisition module is also used for acquiring lower limb characteristics of the patient; the decision making module is used for determining walking function rehabilitation training parameters including training frequency, period duration, walking speed and gait tracks according to the lower limb dysfunction characteristics of the patient, the lower limb characteristics and the sample database; the training control module is used for controlling the auxiliary robot to assist the patient in lower limb walking function training according to the walking function rehabilitation training parameters, and the advantage of improving the lower limb walking function rehabilitation training effect after stroke is achieved.

The present invention relates to a gait stability detection method and application for personnel working in special environments, constructs a stop-and-brake difficulty coefficient model, quantifies the influence of various factors on the balance of walking in special environments, and accurately determines the imbalance risk of personnel working in special environments during walking in special environments. During the training process, the present invention can select the optimal gait, pace, and step length of personnel working in special environments during their movement, thereby improving the stability of personnel working in special environments during their movement. The present invention evaluates various gait recoveries, provides an optimal recovery method, and uses the optimal recovery method to train personnel working in special environments, thereby improving the ability of personnel working in special environments to restore stability; in the case where personnel working in special environments need multiple steps of braking, the optimal recovery method prompt is output, ensuring that personnel working in special environments restore their gait as soon as possible.

The humanoid quadruped robot is composed of a robot head 1, a robot neck 2, a robot body 16, three robot arms, four robot legs, a waist joint piece 7, a thoracolumbar hip joint piece 22, a plurality of joint motors and auxiliary parts, and compared with an existing robot, the humanoid quadruped robot has the four differences that the robot head 1 is fixed to the robot neck 2, and a shell of the robot head 1 is made of a one-way light-transmitting material; one-way light transmission means that a visual device in the robot head 1 can see external scenes, external human eyes and the visual device cannot see internal parts, two positions are three robot arms, one robot arm is arranged at the chest position of the robot body 16, retracts when not used and stretches out when used, and three positions are that the robot body 16 rotates by 360 degrees at random at the waist joint position. Four machine legs with the same structure are arranged in four places, two machine legs fall to the ground and the other two machine legs are lifted up in the walking process, and the aim of walking is achieved through sequential circulation, so that walking balance and load bearing are facilitated.

The invention discloses a human body walking balance training test system and a dynamic balance interference method. Relates to the field of human walking dynamic balance testing and training. The method and the system for testing and training the dynamic balance ability of human body walking cannot be interfered by various conditions such as external force pushing over, slipping and stumbling when the human body falls down due to unstable walking. The device comprises a servo motor, a tension sensor, a steel wire rope, a pulley mechanism, a treadmill, a motion capture camera and an experiment platform support. The servo motor is installed above the experiment platform support, an output shaft of the servo motor is connected with one end of the steel wire rope, the other end of the steel wire rope is connected with a waist winding belt and a foot winding belt of a human body, and the servo motor drives the steel wire rope to apply interference force to the waist and the legs of the human body through the waist winding belt and the foot winding belt; external force in different directions can be applied to a human body in the walking process of the human body, so that instability conditions such as pushing over, slipping and stumbling are simulated to solve problems. The method is applied to the field of human body balance ability detection.

The invention discloses a walking control method and system for an overhead line walking device. A corresponding walking mode is matched according to a plurality of walking areas, a real-time relative distance and a walking assembly of the overhead line walking device. Further, a walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the deflection direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically regulated and controlled according to the walking balance system till the walking assembly gets close to the shockproof hammer; the lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shockproof hammer, the sagging form of the electric wire and the spatial position of the walking assembly, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly; based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the electric wire is triggered, and accurate control of the targeted walking logic of the overhead line walking device relative to the electric wire is achieved.

The invention relates to the technical field of medical instruments, in particular to a BE-FAST-based cerebral apoplexy early-stage self-detection system, which comprises interactive control equipment, an identity verification device, a detection device and an equipment end, the interactive control equipment provides an operation interface and is used for inputting a control instruction, activating the detection device after the control instruction passes verification of the identity verification device, receiving monitoring data of the detection device in real time and sending an evaluation result to the equipment end, the detection device comprises a facial expression muscle detection assembly, an eye movement detection assembly, a hearing test assembly, an arm balance degree detection assembly and a walking balance degree detection assembly, and the detection device operates and obtains monitoring data for stroke risk assessment by receiving a control command sent by the interactive equipment. By integrating high-sensitivity sensors, key parameters are accurately obtained and analyzed, the accuracy is improved, the detection process is greatly simplified, and non-professionals can perform self-detection at home or in a community environment.

The invention discloses a walking control system and engineering machinery, and relates to the technical field of engineering machinery, the walking control system comprises a main pump, a walking balance valve, a walking motor assembly, a communication valve group and an oil tank, the walking motor assembly comprises a first motor and a second motor which are connected in series, and the main pump is connected with an oil inlet of the walking balance valve; the walking balance valve is connected with the first motor and the second motor, the main pump is used for supplying oil to the first motor and the second motor, an oil outlet of the walking balance valve is connected with the oil tank, and the oil tank is used for oil return of the first motor and the second motor; the walking balance valve is further connected with the communicating valve set, the communicating valve set comprises a shuttle valve and a communicating branch, a load balancing valve body is arranged on the communicating branch, two oil inlets of the shuttle valve are connected with the communicating valve set respectively, and the communicating branch is connected between an oil outlet of the shuttle valve and the communicating valve set. The walking control system solves the problem of non-uniform pressure distribution of the front and rear motors connected in series.

The application discloses an overhead line walking device walking control method and system, which matches corresponding walking modes according to multiple walking areas, real-time relative distances and walking components of the overhead line walking device. Further, the walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the deflection direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shock absorber. The lifting distance of the walking component is defined according to multiple dynamic images, the model of the shock absorber, the drooping form of the wire and the spatial position of the walking component, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the overhead line walking device is triggered relative to the wire based on the lifting balance system and the walking balance system, so that the precise control of the overhead line walking device relative to the wire is realized.

The invention discloses a ship rust removal robot with a walking balance loop. The ship rust removal robot comprises a robot body. Two front wheels are rotationally arranged at the front end of the robot body, and rear wheels are rotationally arranged at the rear end of the robot body; the rear wheel is connected with a power motor; a walking adjusting mechanism is arranged between the two front wheels; the front end of the robot body is connected with a rust removal device through a mechanical arm; the walking adjusting mechanism comprises an adjusting seat, a linkage rod hinged to the middle of the adjusting seat and two sets of direction adjusting assemblies arranged on the adjusting seat. Each direction adjusting assembly comprises a first connecting shaft, a second connecting shaft, a connecting rod, a linkage frame, a direction adjusting air cylinder and a buffering air cylinder. And therefore, the effects of better rust removal effect and higher rust removal efficiency are achieved.

The present invention relates to an AGV walking device of an automatic bobbin-dropping robot for a texturing machine, comprising a main platform, a side support frame, auxiliary wheels, a steering wheel, a balancing wheel, a geomagnetic sensor and a radar, wherein the side support frame is arranged on the side of the main platform, the main platform and the side support frame are respectively provided with auxiliary wheels, a steering wheel and a balancing wheel, the walking device comprises a front end and a rear end, the radar is respectively arranged at the front end and the rear end, the geomagnetic sensor is arranged around the walking device, and the steering wheel is respectively arranged at the front end and the rear end. The present invention effectively ensures the walking balance of the AGV walking mechanism, can realize the AGV's on-the-spot U-turn, and saves the AGV's turning space; when the AGV walks in a straight line, it quickly senses obstacles in front to ensure safe passage, and can adjust the main platform's inclination angle in real time to meet the normal operation of other devices on the platform.