1523 results about "Walking gait" patented technology

A method of gait data collection, the method comprising collecting movement data, determining from the data a movement parameter that includes a third order derivative of position, comparing the movement parameter with a threshold value, and counting at least a near fall if the movement parameter exceeds the threshold value.

A footwear construction including a sole and an adjustable heel element selectively rotatable about an axis of rotation to configure the heel element in a fitness mode or a stability mode. The heel element can include a ground contacting surface having a first performance contour and a second, different performance contour. In the fitness mode, the first performance contour is positioned rearward of the second performance contour to provide a rolling/rocking motion when the heel region of the footwear engages a walking surface in a gait cycle. In the stability mode, the second performance contour is positioned rearward of the first performance contour to provide a stable impact when the heel region engages a walking surface. The footwear can include an actuator to enable the heel element to rotate and locking elements to hold the heel element in a fixed rotational position. A related method of use also is provided.

A person's step length and rate may be measured, for example, through sensors that collect spatial and temporal gait parameter data. The measurements are then used to determine the rate of a rhythmic auditory cue to improve the person's gait. For example, a system links sensors to detect step rate and length to an audio cue provided to headphones, while providing the appropriate algorithms to accomplish real time adjustments to the audio cues as needed to better help change the person's step length vs. step rate ratio in a desired direction depending on therapeutic or performance goals.

A new apparatus, system and method for fall prevention training is provided that delivers, studies and analyzes the biomechanics of a disturbance event, such as a slip or trip incident, so that an appropriate response can be executed by the person to reduce or eliminate the number of falls experienced. The apparatus includes a platform that delivers a disturbance event in less than about 500 ms and preferably in the range of about 100 ms to about 200 ms. The method includes a unique protocol for fall prevention training using the apparatus. The disturbance event can create instability in the joint of the individual. An individual's walking gait can be monitored with the portions thereof detected. A disturbance event can be triggered when a given portion of the walking gait is detected. Also, the disturbance even can be triggered manually, at preset intervals or according to preset script.

A landing position/orientation of a foot (22) to be landed in a landing action of a robot (1) such as a biped mobile robot or the like is estimated, and a desired footstep path for the robot (1) is set up. Based on the estimated landing position/orientation and the desired footstep path, a future desired landing position/orientation is determined in order to cause actual footsteps of the robot (1) (a sequence of landing positions/orientations of the foot (22)) to approach desired footsteps. Using at least the determined desired landing position/orientation, a desired gait for the robot (1) is determined, and the robot (1) is controlled in operation depending on the desired gait. For determining the desired landing position/orientation, mechanism-dependent limitations of the robot (1) such as an interference between the legs thereof, etc., and limiting conditions of an allowable range in which a desired ZMP can exist are taken into consideration.

The invention relates to a system and method for providing feedback to a user on his or her running style or running technique. The system employs a pressure sensitive surface to record a gait line of the center of pressure exerted by the user's foot on an underlying surface during a footstep period. In case of a fore or mid-foot landing the gait line may be observed to move backwards with respect to the sagittal plane. From a backwards-going gait line two time stamps are determined. The first timestamp T1 is the time that the foot strikes the ground. The second timestamp T2 is the time that the gait line reaches the most backward position. From the time difference between these two timestamps a loading time dT is determined. The reactivity of the running style describes the viscoelastic behavior of the muscle-tendon unit and may be calculated as a function of this loading time and/or the distance moved by the centre of pressure backwards towards the heel. Correspondingly, a feedback signal may be provided to the user about his running reactivity.

The invention provides a lower limb power-assisted exoskeleton robot gait pattern identification method and system. The method comprises the steps that a pressure sensing device embedded into a shoe sole of a lower limb power-assisted exoskeleton robot is used for detecting shoe sole pressure information of a wearer, the obtained shoe sole pressure information is compared and matched with walking modes in a human body gait database, a walking mode is obtained through judgment, movement phases in a gait period are identified, and a movement phase is obtained through judgment; data are processed and analyzed, results obtained after identification and matching are transmitted to a lower limb power-assisted exoskeleton robot control system to be used as a control basis. The walking mode and the detailed movement phase in each gait period of the lower limb power-assisted exoskeleton wearer provide the abundant decision basis for control over the lower limb power-assisted exoskeleton. The lower limb power-assisted exoskeleton robot gait pattern identification method and system not only can provide movement information of the wearer for the lower limb power-assisted exoskeleton, but also can be widely applied to human body gait identification.

The invention discloses a gait planning method for walking of a biped robot along a slope, and belongs to the technical field of robots. The method contains two core theories, namely, non-orthogonal decomposition and synthesis of a three-dimensional linear inverted pendulum and gait planning based on a biped long linear inverted pendulum. The method comprises the steps of gait parameter configuration, non-orthogonal decomposition of a three-dimensional linear inverted pendulum, foot trajectory planning based on three times of spline interpolation, centroid trajectory planning of a sagittal plane and a coronal plane based on a biped long linear inverted pendulum, non-orthogonal synthesis of the centroid trajectories of the sagittal plane and the coronal plane, and solving of joint trajectories of a robot based on inverse kinematics. By adopting the method of the invention, stable walking of a biped robot along all directions of a slope can be effectively achieved. The method is universal, simple in algorithm and high in practicality.

The invention relates to an assembly digital field based on a flexible array pressure sensor and a method for training gait. Parameters of an athlete including action time sequence, action frequency, position calibration, stress center point, stress time and flight time can be acquired through acquiring information including pressure of foot soles of the athlete contacted with the flexible array pressure sensor unit in the assembly digital field. The digital field and the method have the advantages that the requirement of real time can be met in longer distance; the module of the assembly digital field can be disassembled and assembled arbitrarily, and can extract gait characteristics on multiple sports training events; and the athlete can correctly recognize the training effect of the athlete self through a sports effect evaluation system and an expert system, and adjust the training plan in real time. The digital field and the method can also be applied in the field of mode recognition.

In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

A wearable lower-limb assistance exoskeleton comprises a left-side leg (A), a right-side leg (C) and an object carrier (B). A left first connecting rod (A1) is matched with an inserting rod (B1) to fixedly connecting the left-side leg (A) with the object carrier (B), and a right first connecting rod (C1) is matched with the inserting rod (B1) to fixedly connecting the right-side leg (C) with the object carrier (B). Lower limbs on two sides totally have two rotating degrees of freedom, and the lower limb on each side has one degree of freedom, so that hip joints, knee joints and ankle joints can rotate around the frontal axis. A left motor (A20) and a right motor (C20) are controlled by a bionic intelligent control program to realize walking gaits of the wearable lower-limb assistance exoskeleton. By the wearable lower-limb assistance exoskeleton, physical ability consumption of a person can be effectively reduced. The wearable lower-limb assistance exoskeleton is used for lower-limb assistance, can be used for soldier fighting equipment for military use and can also be used in the field of lower-limb rehabilitation.

The invention discloses a hemiplegic patient self-recovery meter based on a body mirror image theory, and belongs to the field of medical instruments. The hemiplegic patient self-recovery meter comprises a contralateral limb posture signal acquisition device, a signal feature extraction and combination device and an electrical stimulation device, wherein the contralateral limb posture signal acquisition device is used for acquiring the posture information of a contralateral limb of a patient and transmitting the acquired signal to the signal feature extraction and combination device; the signal feature extraction and combination device is used for mapping the posture information of the contralateral limb of the patient from a normal walking gait database according to the received posture information of the contralateral limb and the personal information of the patient, generating a corresponding motion control command, and sending the control command to the electrical stimulation device; and the electrical stimulation device is used for receiving the control command, generating an electrical stimulation signal for stimulating the limb of the patient and making the limb of the patient generate corresponding motion. The recovery meter controls the contralateral limbs of the patient to coordinately move through mirror image copying by taking the posture information of the contralateral limb of the patient, so that effects of balance walking of a hemiplegic patient and reconstruction of a moving function are achieved.

The invention discloses a rehabilitation evaluation method and system based on a wearable sensor. The method comprises the steps that: for a to-be-detected person, an inertia measurement unit is used for collecting knee joint posture information and calculating the knee joint movement range in the walking process; gait parameters during walking are obtained, and a gait function is estimated; supine straight leg lifting time and prone straight leg lifting time are acquired, and muscle strength information is estimated; and the rehabilitation condition of the to-be-detected person is evaluated on the basis of the knee joint movement range, the gait function and the muscle strength information. According to the rehabilitation evaluation method and system based on the wearable sensor of the invention, a patient can complete rehabilitation evaluation at home; the practicability and reliability of the method and system are high, and the economic burden of the patient is reduced.

The invention discloses a gait feature extraction method and a pedestrian identity recognition method based on gait features, and the method comprises the following steps: A, obtaining a region wherea pedestrian is located as a region of interest for each frame of gait image in a gait image sequence; B, segmenting a pedestrian target in the region of interest; C, acquiring joint point position information of the pedestrian target in each frame of gait image; D, based on joint point position information of the pedestrian target in each frame of gait image of the gait image sequence, carrying out gait period detection; and E, synthesizing a gait energy image corresponding to the gait image sequence according to the detected gait period, and taking the gait energy image as gait characteristics; based on the extracted gait characteristics, judging or identifying the pedestrian target by using a judgment network and a comparison network. According to the method, the problem of insufficientsample size in small sample classification in the field of gait recognition is well solved, and the algorithm is good in real-time performance.

The invention discloses a walking robot having a landing buffer function. The walking robot comprises a landing platform (1), a plurality of buffering walking mechanisms (2) surrounding the landing platform (1), a landing parachute pack (3) and a controller (4). Each buffering walking mechanism (2) comprises a multifunctional strut (21), two single-function struts (22) and a foot pad (30). When a robot lands, the multifunctional strut (21) can have the landing buffer function; and after the robot lands, the multifunctional struts (21) and the two single-function struts (22) jointly achieve a walking function. The walking robot lands stably, is flexible in gait, walks stably and is high in bearing capacity, safe and reliable, the walking capacity on complex terrain conditions can be enhanced remarkably, and the throwing in the air can be achieved.

The invention provides an intelligent shoe pad and method for determining a walking gait. The intelligent shoe pad comprises a shoe pad body, and a pressure sensor, a control center, a signal transmission module and an analysis module, which are arranged on the shoe pad body, wherein the control center is sequentially connected with one end of the pressure sensor through an analog switch, the other end of the pressure sensor is directly connected with the control center, and the control center and the analysis module exchanges information through the signal transmission module. The intelligent shoe pad is low in cost, simple in structure, convenient to popularize, capable of determining the walking gait of a user at any time, capable of enabling different people to know the foot situation in time and strong in practicability.

The invention involves a tread system for shoes More specifically, the present invention is a tread combination that is particularly suited to work environments where the workers are required to use a walking gait upon slick floor surfaces, some of which may be partially covered with liquids. The system includes an outsole having a heel strike tread having a pointed leading edge with sipes for squeegeeing and channeling liquid away from the center portion of the tread to prevent forward slippage. The mid and forefoot portions of the outsole are provided with cross siped treads which reduce or prevent sideways slippage of the forefoot.

The invention discloses a wearable type knee joint power-assisted robot. The wearable type knee joint power-assisted robot comprises a control system part (1), flexible execution mechanisms (2 and 3), foot sole thin film pressure sensor groups (4 and 5), and the like. The wearable type knee joint power-assisted robot has the advantage that a miniature air pump is used as a pneumatic power source, the flexible execution mechanisms (2 and 3) acting on knee joints adopt the air bag boosting and torsion spring energy accumulation combined type flexible action method, the gait parameters are collected and fed back in real time by the foot sole thin film pressure sensor groups (4 and 5), the flexible execution mechanisms (2 and 3) are controlled in real time by the control system part (1) of the knee joint power-assisted robot, and the flexible torque which assists the bending and extension of the knee joints is provided according to the gait cycle in the people walking process, so that the purpose of flexible walking assisting is realized for persons with degraded lower limb exercise capacity or without lower limb exercise capacity.

An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.

The invention provides a gait rehabilitation training robot. The gait rehabilitation training robot comprises a rehabilitation instrument platform and a wearable lower limb exoskeleton arranged on the rehabilitation instrument platform. The rehabilitation instrument platform is placed on the ground and provides a virtual walking environment for a patient; the wearable lower limb exoskeleton is worn on the lower limbs of the patient and provides walking driving for the patient, and accordingly gait rehabilitation training is performed. The gait rehabilitation training robot provides the virtual walking environment for the patient, and the patient is helped to gradually perform gait rehabilitation through the wearable lower limb exoskeleton worn the lower limbs of the patient and gradually has independent walking capability.

The invention discloses an active detection and recognition system and method for a human gait behavior based on semantic folding. Embedded gait behavior detection and recognition system hardware with low power consumption is built by using a three-dimensional sound field positioning system, a sole force field positioning system, an HDMI high-definition camera, a high-definition video acquisition system, a microcomputer Raspberry and the like. Gait semantic energy diagrams with timing characteristics provided by the invention contain gait time information under different situations, and the learning and prediction ability of a gait behavior cognition system can be enhanced according to a lot of gait semantic energy diagrams with timing characteristics. Meanwhile, the active detection and recognition technology for a human gait behavior based on semantic folding has extensive application prospects in various fields which mainly comprises the fields such as long-distance identity recognition, abnormal gait behavior detection, pedestrian behavior prediction and mass video retrieval, and has excellent economical and social benefits.

The invention discloses a multi-view gait identification method based on an adaptive three dimensional human motion statistic model. Images of a training set of the invention are from a plurality of shooting systems, and target point cloud is generated through the multi-vision three dimensional reconstruction technology so as to construct a three dimensional statistic human body model. A virtual camera performs projection transformation on the three dimensional statistic human body model to obtain a composite human body contour binary image under any visual angle to be used for further extracting various gait characteristics. Based on the three dimensional human body model, a skeleton model is established to provide a reasonable range for the free degree of each joint; in addition, a three dimensional human motion statistic model is established, which is adaptive to various different walking occasions through parameter adjustment. In a training phase, a gait characteristic database is established based on the method. In an identification phase, same gait characteristics are extracted from videos to compare with characteristics in the database; and an optimum identification object is found based on a nearest specimen classifier and a highest scoring strategy.