36 results about "Walking cycle" patented technology

The invention belongs to the field of medical health, and provides a preliminary sarcopenia screening method based on paired foot pressure data, which comprises the following steps: firstly, acquiring foot pressure signals of left and right feet of a subject in a walking process to obtain corresponding foot pressure characteristics of the left and right feet; fusing by adopting a multiplicative combination mode to obtain total pressure characteristics of each walking stage in each walking period; then, a GMM model is adopted to create a plantar pressure mode, plantar pressure mode features are obtained, attention mechanism fusion is adopted to obtain single-cycle fusion pressure mode features and multi-cycle fusion pressure mode features, and time sequence features are obtained through learning of an improved GRU module; and finally, sending the corresponding multi-cycle fusion pressure mode features and the time sequence features into a multi-layer perceptron, and outputting the prediction probability of the sarcopenia. The method fully considers the independence of the left and right foot pressure signal features, introduces the joint relation of the two features, more comprehensively learns the gait features, and effectively improves the accuracy of primary screening of sarcopenia.

To analyze a posture of a subject during walking easily and inexpensively.SOLUTION: A walking posture analysis device 100 includes: an acceleration data acquisition unit 110; a walking cycle determination unit 130 which divides the acquired acceleration data into a first walking cycle associated with one foot of the subject and a second walking cycle associated with the other foot, and determines whether the first walking cycle and the second walking cycle are the walking cycle associated with the right foot; and a walking posture analysis unit 140 which uses a previously calculated multiple regression model to calculate right-side joint angle data being the angle data of the joint of the right half of the body in the walking cycle from the acceleration data in the walking cycle associated with the right foot, and calculate left-side joint angle data being the angle data of the joint of the left half of the body in the walking cycle from the acceleration data in the walking cycle associated with the left foot.SELECTED DRAWING: Figure 1

A motion visualization system 1 includes a skeleton recognition program 2 obtaining joint coordinates of a target person, a pitch extraction program 6 extracting a walk cycle of the target person based on the joint coordinates, and a storage unit 106 storing a skeleton normalization program 3 transforming coordinates of the joint coordinates in a reference coordinate system where a direction in which a predetermined portion of the target person moves is set as an axis of a traveling direction in one walk cycle extracted and transforming the joint coordinates based on information on the target person.

The invention provides a self-generating wearable motion sensing device convenient for collecting motion information. The self-generating wearable motion sensing device comprises two hinged torsion arms, a rotating shaft of the one-way rotating disc assembly and a hinged shaft of the two torsion arms are coaxially arranged, a plurality of protruding parts are arranged in the circumferential direction of the one-way rotating disc assembly, and a plurality of piezoelectric triggering units are arranged on the rotating disc in the circumferential direction. The piezoelectric module comprises a piezoelectric cantilever, one end of the piezoelectric cantilever is fixed with one torsion arm, and the other end of the piezoelectric cantilever is matched with the piezoelectric trigger unit; the friction electricity module is connected with the other torsion arm and comprises two films, the two films are oppositely arranged, and the protruding part can be matched with the first film, so that the two films are close to or away from each other. According to the invention, the piezoelectric module is matched with the piezoelectric trigger unit, and the triboelectric module is matched with the lug boss, so that the legs are matched with the piezoelectric trigger unit and the triboelectric module respectively in two stages included in one walking period, and motion signals in different stages in the walking period are collected respectively; therefore, the accuracy of signal acquisition is improved.

The invention discloses hip joint posture correction assistive equipment, and relates to the technical field of medical instruments. A correction unit; a rotating mechanism; the sensor is used for detecting knee joint angle sequence signals of inward offset of the knee joint at different moments in each walking period in real time; the processor is used for extracting standing phase knee joint angle sequence signals corresponding to a plurality of moments in a standing phase in each walking period from the knee joint angle sequence signals if the knee joint angle sequence signals of knee joint inward deviation at different moments in a plurality of continuous walking periods are received within a period of time; according to the standing phase knee joint angle sequence signals corresponding to the multiple moments in each walking period, the correction time needed for correcting the hip joint or the knee joint is determined, and a rotation instruction is generated; and the controller is used for starting the rotation structure to operate according to the rotation instruction, and stopping the rotation structure to operate after the correction time is up.

A training method is provided to train changing muscle contribution in a human subject while the human subject is performing a complex movement. Feedback is provided in a simple understandable fashion by one or more data points calculated based on electromyography signals obtained over e.g. a stance phase of a walking cycle. The training method showed a significantly increased training effect in subjects performing these complex movements where these subjects were able to change the muscle activation given a specific goal. The training could be setup of a single muscle or multiple muscles. The data point feedback could be a measure for the single muscle or some relative measure for the multiple muscles. The training method results in improved coordination strategies and could be useful for retraining purposes as well as intervention methods for musculoskeletal pathologies or movement disorders.

The application discloses a hip joint posture correction auxiliary equipment, and relates to the technical field of medical devices, which comprises a fixing part, a correction part, a rotating mechanism, a sensor, a processor and a controller. The sensor is used for detecting the knee joint angle sequence signal of the inward deviation of the knee joint at different time points in each walking cycle in real time. The processor is used for extracting the standing phase knee joint angle sequence signal corresponding to multiple time points in each walking cycle in a standing phase from the knee joint angle sequence signal if the knee joint angle sequence signal of the inward deviation of the knee joint at different time points in multiple continuous walking cycles is received in a period of time, and determining the correction time required for correcting the hip joint or the knee joint by using the standing phase knee joint angle sequence signal corresponding to multiple time points in each walking cycle, and generating a rotating instruction. The controller is used for starting the rotating structure to operate according to the rotating instruction, and stopping the rotating mechanism from operating after the correction time is reached.

To provide a motion visualization system that can compare multiple measurement data.SOLUTION: A motion visualization system 1 includes a skeletal recognition program 2 for acquiring the joint coordinates of a subject, a pitch extraction program 6 for extracting the walking cycle of the subject on the basis of the joint coordinates, and in one extracted walking cycle, a storage unit 106 for converting the coordinates of the joint coordinates into the reference coordinate system that the direction in which a predetermined part of the subject moves is used as an axis of the traveling direction and for storing a skeletal normalization program 3 for converting the joint coordinates on the basis of the information of the subject.SELECTED DRAWING: Figure 1

The application relates to an exoskeleton robot gait planning method, device, system and storage medium. The method comprises the following steps: acquiring angle data of a human body wearing an exoskeleton robot in a current walking cycle; the angle data is output by a motor encoder at a joint position of the exoskeleton robot; performing time domain to frequency domain conversion on the angle data to obtain frequency domain data; determining a gait planning function based on a gait fitting function, gait fitting parameters and the frequency domain data, and outputting the gait planning function; and the gait planning function is used for gait planning of the exoskeleton robot. The method can effectively improve the matching degree of the motion trajectory of the exoskeleton robot and the motion trajectory of the human body.

To provide a device, a method, and a program which can easily and inexpensively calculate various useful evaluation scores based on a joint angle of a subject during walking.SOLUTION: A walking evaluation score calculation device includes: an acceleration data acquisition unit 110; a joint angle data calculation unit 140 which calculates right and left joint angle data 173 in one walking cycle from the acquired acceleration data; a joint score calculation unit 151 which calculates right and left joint scores 174 in the one walking cycle on the basis of the calculated right and left joint angle data 173 in the one walking cycle and reference data 178; and an evaluation score calculation processing unit 152 which calculates a walking evaluation score 175 on the basis of the calculated right and left joint scores 174.SELECTED DRAWING: Figure 1

The invention belongs to the field of orthopedic rehabilitation instruments, and particularly relates to an insole for flatfoot dynamic orthopedic, which comprises an insole body and an elastic support piece, wherein the insole body is provided with a supporting layer, and the supporting layer is sequentially provided with a plurality of front clamping grooves, an elastic contraction structure and a plurality of rear clamping grooves from the front end to the rear end; the two ends of the elastic supporting piece are connected to the multiple front clamping grooves and the multiple rear clamping grooves in a clamped mode respectively to adjust the arching height of the elastic supporting piece so as to adapt to the change of the arch shape, and the elastic contraction structure contracts along with the elastic supporting piece to assist in supporting the elastic supporting piece. Progressive correction can be achieved by adjusting the position of the clamping groove according to the foot arch development stage of a child, dynamic mechanical guidance is continuously provided in the walking period, key muscle groups such as pelma internal muscles and tibialis posterior muscles are effectively activated, and muscle function reconstruction and neuromuscular control ability improvement are promoted.

The application belongs to the technical field of exoskeleton robots, and particularly relates to a single-motor flexible walking aid exoskeleton, which comprises a binding assembly, a driving device and a linkage device. In the application, the forward and reverse rotation of a single motor and the cooperation between a left knee clamp and a right knee clamp are controlled by a control unit according to the joint motion state of a human body, so as to drive a forward winding wheel set and a reverse winding wheel set to rotate respectively, rotate and recover a left leg driving line and a right leg driving line corresponding to a left leg and a right leg respectively, and then respectively pull the left knee clamp and the right knee clamp, so that the double legs of the driving exoskeleton complete the whole gait walking cycle. In this way, only a single motor can be used to control two legs at the same time, the mechanical structure of the exoskeleton is simplified, and the manufacturing and maintenance costs are reduced.

The invention is suitable for the technical field of risk prediction, and particularly relates to a health risk prediction method and equipment based on behavior data, and the method comprises the steps: obtaining foot information in each walking period in real time; acquiring ridge movement information in each walking period in real time; analyzing according to the plurality of pieces of ridge movement information and the plurality of pieces of foot information to obtain a potential energy data chain; analyzing according to the historical tumble event to obtain a tumble threshold value; analyzing according to the falling threshold and the potential energy data chain to obtain a predicted falling period; and the control device controls a prediction reminding device to give out a fall risk early warning based on the predicted fall period. According to the health risk prediction method based on behavior data provided by the invention, before the infant may fall down, parents can be timely and effectively reminded to provide supporting force in advance so as to prevent the infant from falling down.

The application discloses a gait evaluation method and device, electronic equipment and storage medium, and relates to the technical field of gait analysis. In the application, gait data of a person with motor dysfunction in adjacent multiple walking cycles is obtained; the gait data comprises a gait phase parameter set and a posture angle parameter set of the person with motor dysfunction; from the gait phase parameter set and the posture angle parameter set included in the gait data, a gait phase parameter subset and a posture angle parameter subset corresponding to each of multiple gait evaluation dimensions are determined; based on the gait phase parameter subset and the posture angle parameter subset corresponding to each of the multiple gait evaluation dimensions, gait evaluation of the person with motor dysfunction is performed in the multiple gait evaluation dimensions to obtain multiple gait evaluation values; and based on the multiple gait evaluation values and gait evaluation weight values corresponding to the multiple gait evaluation values respectively, a comprehensive gait evaluation value of the person with motor dysfunction is determined. In this way, the gait data of the person with motor dysfunction is comprehensively quantified, and the accuracy of gait evaluation is improved.

The present invention provides a method for evaluating the gait influence of an absorbent article, which evaluates the degree of influence of wearing the absorbent article on gait, comprising the following steps (A) to (C). (A) a step of causing a person to walk at least three walking cycles without wearing the absorbent article to be evaluated, and monitoring the normal gait; (B) a step of causing a person to walk at least three walking cycles while wearing the absorbent article to be evaluated, and monitoring the gait while wearing the article; and (C) a step of comparing the normal gait with the gait while wearing the article.

The invention provides a gait cycle phase recognition method and system based on an extreme gradient lifting algorithm, and belongs to the technical field of health detection. Comprising the following steps: respectively preprocessing corresponding three-axis gravitational acceleration components, pressure values and step width data in a sole movement process; and carrying out gait recognition on the preprocessed data based on an extreme gradient lifting algorithm, visualizing a classification result through a normalized confusion matrix, dividing a flat ground walking period into a plurality of motion stages with obvious characteristics, determining starting and ending moments of each motion stage by identifying amplitude change inflection points of pressure signals, and carrying out gait recognition. And the recognition of the gait cycle phase is realized. According to the method, on the basis of ensuring the data acquisition quality, accurate recognition of the gait cycle phase can be realized, and a guidance basis is provided for health analysis of a tester.

Provided is an information processing device including an acquisition unit configured to acquire load information based on a load applied to a load measurement device from a sole of a user and a feature amount extracting unit configured to extract a feature amount indicating a walking environment from time series data in at least one walking cycle included in the load information.

An automatic scanning system for tunnel walls constructed by open-type TBM, to realize the automatic, accurate, rapid and omnidirectional scanning of tunnel wall. The system comprises a three-dimensional laser scanner, a walking unit, a circumferential track, several connecting rods and a remote-control unit; wherein the three-dimensional laser scanner is fixed on the walking unit. The walking unit is provided on the circumferential track and configured to walk on the circumferential track at a set speed and a set number of walking cycles according to a control instruction. The circumferential track is fixed on the main beam of open-type TBM through the connecting rods and located between the roof bolter and cylinder of gripper shoe. The remote-control unit is configured to issue the control instruction and control the three-dimensional laser scanner to scan the tunnel wall and transmit the scanning data using set scanning parameters.

To provide walking training to trainees regardless of their walking ability. [Solution] A walking training system comprising a walking training control device that displays images simulating the walking movements of the trainee's lower limbs on a display device, and a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the walking cycle of the displayed walking movements.

To provide a walking movement assisting technology capable of reducing discomfort of a user when actually walking and realizing stable walking.SOLUTION: A controller for a walking movement assisting device comprises: means for acquiring present phase information capable of specifying a present phase in one walking cycle of a target leg of a user; and control processing means for controlling drive of a drive mechanism by a motor on the basis of the present phase information. The control processing means can, on the basis of the present phase information, execute plantar flexion control that makes the drive mechanism rotate in a plantar flexion direction and dorsal flexion control that makes the drive mechanism rotate in a dorsal flexion direction, and executes free control for setting the drive mechanism to a free state in one or both of a first section which is at least a portion during the present phase information showing a phase corresponding to a sole grounding phase during the one walking cycle and a second section which is at least a portion during the present phase information showing a phase corresponding to a swing phase during the one walking cycle.SELECTED DRAWING: Figure 1

The invention discloses a concrete block production cutting device with a leftover material recycling function, and relates to the technical field of concrete block production, the concrete block production cutting device comprises a moving sliding rail, a moving seat is arranged in the moving sliding rail, and the front sides of two fixing frames are both provided with scribing assemblies; the scribing assembly comprises a plurality of sliding rods, a plurality of scribing heads and two clamping plates, a cutting rope is fixedly connected between every two corresponding hanging rings, and a first upper scraping plate is fixedly connected to the bottom of the front connecting frame; according to the cutting device with the leftover material recycling function for concrete block production, the effect of scribing on the surface of a concrete blank is mainly to facilitate subsequent cutting of the concrete blank, a worker can clearly see the cutting depth and the cutting quality with naked eyes, observation is convenient, the working efficiency is improved, the scraping precision is also ensured, and the working efficiency is improved. And after the fixed frame finishes one walking period, the residues in the collecting box are cleaned up, so that the continuity and high efficiency of the production process are ensured.

The utility model relates to the technical field of riding vehicles, and discloses a riding dog walking vehicle which comprises a vehicle frame, a rear wheel is arranged at the rear end of the vehicle frame, a chain transmission system is arranged between the vehicle frame and the rear wheel, and the rear wheel is driven to rotate by treading pedals of the chain transmission system. A dog walking unit is arranged at the front end of the frame and comprises a frame, a rotating seat is arranged at the rear end of the frame and perpendicularly and rotatably connected with the frame, a support extending upwards is arranged at the rear end of the frame, a riding handrail is arranged on the support, and a left side wheel and a right side wheel are arranged on the two sides of the frame respectively. The front end of the frame is provided with an inclined upwarp part; the riding dog walking vehicle solves the problems that an owner feels tired when walking a dog by pulling a rope, and the exercise amount of the dog is difficult to meet the daily requirement.

The invention provides a limb movement rehabilitation treatment device, which belongs to the technical field of medical auxiliary equipment, and comprises two groups of limb movement pressure applying assemblies, each limb movement pressure applying assembly comprises a contraction ring, a connecting frame, a gear ring, a rack and a driving gear assembly; the two contraction rings sleeve the outer sides of the thighs and the shanks; the back of the arc-shaped toothed plate is slidably arranged on the outer side face of the other end of the opening of the contraction ring. The driving gear assembly is erected at the other end of the opening of the contraction ring and meshed with the arc-shaped toothed plate; one end of each connecting frame is fixedly connected with the outer side of the contraction ring, and the other ends of the two connecting frames are connected through a connecting spring; the gear ring is slidably embedded in the connecting frame and is in transmission connection with the driving gear assembly through the gear transmission assembly. By means of the device, when a trainee conducts walking training and in the middle and later stages of the supporting phase in the walking period, electrical stimulation and external force pressure applying are conducted on a shank muscle group and a thigh muscle group to simulate the muscle contraction process, and certain supporting is provided.

To further enhance accuracy in a PDR method.SOLUTION: An information processing apparatus, which processes output from an acceleration sensor on a portable terminal, includes: an analysis section that segments a walking period during which a pedestrian walks into a plurality of step periods on the basis of a change in acceleration indicated by a series of acceleration data samples; and a determination section that determines a traveling direction in each step period by determining a principal direction that is a direction of dominant acceleration in a set of acceleration data samples corresponding to the step period, and selecting one of forward and backward directions in the principal direction. The determination section, when determining the traveling direction in the last step period in the walking period, selects one of forward and backward directions in the principal direction on the basis of acceleration indicated by samples belonging to an alternative step period that is earlier than the last step period instead of samples belonging to the last step period.SELECTED DRAWING: Figure 12A

To provide a simple and inexpensive device, a method, and a program capable of proposing an appropriate exercise menu to a subject on the basis of various evaluation scores calculated on the basis of a joint angle of the subject during walking.SOLUTION: An exercise support device 100 comprises: an acceleration data acquisition unit 110; a joint angle data calculation unit 140 which calculates right and left joint angle data 173 in one walking cycle from the acquired acceleration data; an evaluation score calculation unit 150 which calculates a right-left difference evaluation score, walking posture evaluation score, joint movement evaluation score and muscle strength evaluation score from the calculated right and left joint angle data 173 in the one walking cycle; and an exercise menu presentation unit 160 which selects an exercise menu according to the calculated evaluation scores and presents the selected exercise menu to the subject.SELECTED DRAWING: Figure 1

To estimate walking motions of a subject when there are people other than the subject within an imaging range.SOLUTION: An evaluation system includes: an input reception part receiving walking image data; a subject identifying part for identifying a subject to be evaluated by using a plurality of images when two or more people are included in a plurality of images included in the walking image data; a walking phase determination part which divides each of the plurality of images for each of the plurality of walking phases included in one walking cycle of the subject; a joint feature amount extraction part extracting a feature amount about the subject's joint from the plurality of images; a part evaluation part which outputs a part evaluation result for each walking phase of the respective plurality of target parts obtained by evaluating movement for every walking phase to be a plurality of predetermined target parts of the subject body including at least a trunk by using a feature amount; and a total evaluation part which outputs a total evaluation result evaluating a walking motion at least in one walking cycle by using the part evaluation result for every walking phase of the target part.SELECTED DRAWING: Figure 1

To provide a walking assist device capable of estimating a target walking period by quickly responding to a change in walking motion of a pedestrian.SOLUTION: A walking assist device 1 mounted on a leg part of a pedestrian to assist the walking motion of the pedestrian includes: an actuator 16 for giving an assist force to the walking motion of the pedestrian; a walking motion detection part 18 for detecting the walking motion of the pedestrian; a walking period estimation part 211 for estimating a target walking period of the pedestrian on the basis of the detected walking motion of the pedestrian; a control target value generation part 212 for generating a control target value of the actuator 16 on the basis of the estimated target walking period; and a drive control part 20 for controlling the drive of the actuator 16 on the basis of the generated control target value.SELECTED DRAWING: Figure 8

To provide a discrimination device capable of discriminating a walking situation concerning an arbitrary object person.SOLUTION: A discrimination device comprises: a data acquisition unit which acquires sensor data measured corresponding to the movement of feet; a calculation unit which calculates a relative change value indicating relative change from an advancing axis for each walking cycle using time series data of the acquired sensor data; a discrimination unit which discriminates the walking situation using time series data of the relative change value in an object period; and an output unit which outputs walking information including the discriminated walking situation.SELECTED DRAWING: Figure 33

This application provides a method and apparatus for generating collaborative handling motions of a humanoid robot with two arms, including: acquiring the phase deviation angle of the same-side hand and foot, the peak value of the object's angular velocity around the horizontal axis, and the instantaneous joint torque during the humanoid robot's walking cycle; determining an estimated value of the moment of inertia of the object being handled based on the instantaneous joint torque and the peak value of the object's angular velocity around the horizontal axis; determining the inertia level of the object being handled by comparing the estimated value of the moment of inertia with a preset threshold; determining a corresponding phase correction strategy for different inertia levels of the objects being handled; adjusting the phase deviation angle of the same-side hand and foot using the phase correction strategy; and correcting the phase correction strategy based on the monitoring results of the peak value of the object's angular velocity around the horizontal axis and the amplitude of the torso pitch oscillation, until the phase deviation angle of the same-side hand and foot converges to a preset range.

The invention relates to the technical field of medical auxiliary instruments, in particular to an orthopedic lower limb brace which comprises a thigh protector, a shank protector and a foot protector, the shank protector is located between the thigh protector and the foot protector, the foot protector is located below the shank protector, a first circular shell is fixedly connected to the lower portion of one side of the shank protector, and a second circular shell is fixedly connected to the lower portion of the other side of the shank protector. A fixing shaft is fixedly connected to the axis of the interior of the first circular shell, a limiting ring is rotatably connected to the surface of the fixing shaft, a first movable groove is formed in the bottom of the first circular shell, and a first swing arm is fixedly connected to one side of the foot protector; through cooperation of the ratchet wheel and the elastic abutting piece and grounding sliding of the sliding rod, the mode of the lower limb brace can be automatically switched according to the walking period of a user, rigid limiting is kept when the feet of the user leave the ground, flexible adjustment is conducted when the feet of the user make contact with the ground and stand, and therefore the natural degree and safety in the walking process are improved.