21 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.

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.

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.

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.

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 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 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.

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.

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.

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.

This invention relates to the field of positioning and navigation technology, specifically to a high-precision positioning method for smart wearable devices in complex environments. The method includes: collecting the wearer's motion data and acquiring satellite signal strength; determining the thrust fluctuation value and thrust reversal anomaly degree for each cycle based on the motion data within each cycle; using the thrust fluctuation value and thrust reversal anomaly degree of the current cycle to determine whether the current cycle is a normal walking state; if it is determined to be a normal walking state, obtaining a step length reference value based on the distribution characteristics of thrust fluctuation values ​​in historical normal walking cycles; determining the environmental health score for the current cycle based on the satellite signal strength corresponding to the current cycle and the number of satellites searched by the smart wearable device; if the environmental health score is lower than a preset safety threshold, updating the wearer's position based on the step length reference value and real-time azimuth angle. This invention improves the positioning accuracy of smart wearable devices in complex environments.

The invention provides a gait evaluation method and device and electronic equipment, and relates to the technical field of gait analysis. The method comprises the following steps: acquiring gait data of a dyskinesia person in a plurality of adjacent walking cycles; the gait data comprises a gait time phase parameter set and a posture angle parameter set of the dyskinesia person; determining a gait time phase parameter subset and a posture angle parameter subset respectively corresponding to the plurality of gait evaluation dimensions from a gait time phase parameter set and a posture angle parameter set included in the gait data; based on the gait time phase parameter subsets and the posture angle parameter subsets corresponding to the gait evaluation dimensions, gait evaluation of the multiple gait evaluation dimensions is carried out on the dyskinesia person, and multiple gait evaluation values are obtained; and based on the plurality of gait evaluation values and the gait evaluation weight values respectively corresponding to the plurality of gait evaluation values, determining a comprehensive gait evaluation value of the dyskinesia person. In this way, the gait data of the dyskinesia person is comprehensively quantified, and the accuracy of gait evaluation is improved.

This invention discloses a modular, spliced ​​gait pressure analysis channel, belonging to the field of plantar pressure distribution measurement technology. It includes a dynamic measurement area and a static measurement area. The dynamic measurement area comprises multiple sets of measurement units, adjacent of which are spliced ​​together by docking components to form a gait channel of a certain length, performing walking movements for one or more walking cycles. The static measurement area comprises a set of measurement units, which are docked with the measurement units in the dynamic measurement area via docking components. Each measurement unit includes a base shell and multiple sets of matrix-arranged pressure sensing modules. This invention facilitates rapid modular splicing of the measurement units, simplifying transportation and installation, saving costs, and allowing adjustment of the gait channel length to better suit the subject's measurement needs, thereby obtaining more accurate measurement data.

The application discloses a cutting device with corner material recycling function for concrete block production and relates to the technical field of concrete block production. The cutting device comprises a moving slide rail, a moving seat arranged in the moving slide rail, line marking assemblies arranged on the front sides of two fixing frames, a plurality of slide rods, a plurality of line marking heads, two clamping plates, a cutting rope fixedly connected between every two corresponding hanging rings, a first upper scraping plate fixedly connected to the bottom of the front connecting frame, and the like. The line marking function of the cutting device on the surface of the concrete blank is mainly to facilitate subsequent cutting of the concrete blank, so that the cutting depth and cutting quality can be obviously observed by the naked eyes of the workers, the observation is facilitated, the working efficiency is improved, and the scraping precision is ensured. After the fixed frame completes a walking cycle, the residues in the collecting box are cleaned, and the continuity and efficiency of the production process are ensured.

The invention is suitable for the technical field of vehicles, and provides a loader working condition identification method and device, electronic equipment and a storage medium. The method comprises the steps that the rotating speed and torque of a walking motor of the loader within preset time are obtained; according to the rotating speed, the walking cycle period of the loader is determined; according to the torque, the shoveling cycle period of the loader is determined; according to the walking cycle period and the shoveling cycle period, the carrying-shoveling ratio of the loader is determined; and determining the working condition of the loader based on the shovel carrying ratio. According to the invention, the operation condition of the loader can be accurately identified.

The application provides a gait evaluation method and device and electronic equipment, 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 includes 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.