94 results about "Wearable robot" patented technology

The present invention relates to a walking assistance wearable robot for assisting walking exercise of a wearer, comprising: a fixing unit, which can be mounted on a body part of the wearer; a driving unit, which can be mounted on the fixing unit, wherein the driving unit calculates the degree of change in the state trajectory of the wearer, calculates output torque on the basis of same, and calculates the output torque to be a value that is less than or equal to a threshold during the predetermined time period within a range, not exceeding a threshold, that includes the point at which the sign of the calculated output torque changes, the predetermined time period being 0.5-1 second.

The present invention relates to a wearable robot for assisting back muscle strength, comprising: an upper wearing part worn on the upper body; a back muscle strength assisting part that can be fixed to the upper wearing part; and a lower wearing part connected to a lower end portion of the back muscle strength assisting part, wherein the back muscle strength assisting part comprises a housing that can be fixed to the upper wearing part, a plurality of elastic members arranged in series or parallel within the housing, a moving part connected to the bottom of the elastic members and connected to the lower wearing part so as to slide up and down, and a rigidity control part that adjusts the rigidity of the elastic members.

Exemplary task-agnostic exoskeleton control system and method are disclosed that are task-agnostic utilizing instantaneous estimates of biological joint moments from deep neural networks to assist the user movements. The exemplary control system employs multiple body sections and joints in-the-loop estimation to provide multi-joint assistance operation, e.g., within an autonomous, clothing-integrated exoskeleton. The exemplary control system may deploy a deep domain adaptation (DDA) method configured to translate human movement data between a simulated sensor domain and a real sensor domain.

The present invention relates to a wearable robot. The wearable robot according to the present invention includes a first fixing part mounted on a body part on one side of a joint part, a second fixing part mounted on a body part on the other side of the joint part, a driving part connected to the first fixing part, and a connecting member connecting the driving part and the second fixing part and transmitting the driving force provided from the driving part to the second fixing part for the movement of the joint part. The connecting member is characterized in that its length is adjusted corresponding to the distance between the driving part and the second fixing part which changes according to the magnitude of the movement of the joint part, or includes a plurality of members arranged in a row and an interlocking part connecting the plurality of members so that the plurality of members interlock with each other. The driving part includes a driver that generates power for auxiliary force. 【Representative Drawing】 Figure 2

The invention provides a gait trigger control method and an exoskeleton power assisting device, and relates to the technical field of wearable robotics.The method comprises the steps that original data representing user movement and postures are collected through a multi-modal sensing unit, the multi-modal sensing unit comprises an inertial measurement unit, a plantar pressure sensor, a hip joint encoder and a knee joint angle sensor; original data collected by the multi-mode sensing unit is sorted and then transmitted to the signal processing unit, and the signal processing unit carries out noise reduction and extracts characteristic signals; the extracted feature signals are transmitted to a control unit, and the control unit recognizes the gaits of the user according to the feature signals and generates control instructions corresponding to the gaits; according to the gait trigger control method, the control instruction is transmitted to the assistance execution unit, the assistance execution unit outputs the assistance torque or the foot support supporting force corresponding to the control instruction to complete gait trigger control, and the use convenience of the exoskeleton assistance device can be improved through the gait trigger control method.

The invention discloses a weight self-adaptive adjusting system and method based on posture recognition, and particularly relates to the technical field of man-machine cooperation and wearable robotics.The method comprises the steps that firstly, multi-modal data are obtained through an IMU and a visual camera device, and PTP clock synchronization, coordinate system calibration and Kalman filtering processing are completed; then, the system measures the action rhythm and the sensing credibility according to indexes such as KLE, LMPL, BDR and SAC, self-adaptive switching is conducted between a constant window sliding window mechanism and a variable window sliding window mechanism, and the window length is calculated in combination with the rate level under the variable window mechanism; the time sequence modeling adopts an LSTM / GRU network supporting variable-length input and a mask mechanism, and outputs an attitude evolution trend, load response pre-judgment and sudden action risks; and the control end generates a feed-forward adjustment instruction of multi-actuator cooperation based on a prediction result, and realizes self-correction and individualized parameter self-adaption through feedback monitoring.

The present invention relates to a lower limb auxiliary assembly of a wearable robot, and a wearable robot equipped with same. In an exoskeleton robot having a driver mounted on a knee joint, a lower limb auxiliary assembly is provided with a coil spring-equipped damping unit below the knee joint to absorb impact transmitted via same and provide flexibility, and to provide freedoms of movement similar to those of the knee joints of the body of the wearer, thereby minimizing pain, discomfort, or feelings of strangeness in the wearer due to the exoskeleton robot.

1. Name of the design product: hip walking exoskeleton. 2. Use of the design product: for exoskeleton device (wearable robot). 3. Design points of the design product: in shape. 4. Picture or photograph best indicating the design points: perspective view.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

1. Name of the Design Product: Status Display Icon of the Graphical User Interface for Displaying the Assistive Strength Status of a Robot in an Electronic Device. 2. Use of the Design Product: The design product is used in an electronic device. 3. Design Key Points of the Design Product: Lies in the solid-line part of the graphical user interface. 4. Picture or Photograph Most Indicating the Design Key Points: The front view of Design 1. 5. Rear view, left view, right view, top view and bottom view of each design are omitted. 6. Design 1 is designated as the basic design. 7. Use of the Graphical User Interface: The use of the graphical user interface is to display the assistive strength of a wearable robot (such as a walking assistive robot) in the underwater walking mode, and the number of wave patterns in the graphical user interface will be displayed differently according to the assistive strength of the robot. 8. Other Circumstances Requiring Explanation: Other Explanation: This design is a partial design, and the parts represented by the dashed lines in each view do not fall within the scope of protection claimed.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

The invention is applicable to the field of wearable robots, and discloses a self-adaptive control method for a waist exoskeleton robot, which comprises the following steps: firstly, acquiring attitude and angular velocity information of double inertial measurement units and displacement and velocity information of each encoder; combining encoder information and an exoskeleton geometric model to calculate a posture calculation value of the waist relative to the pelvis, and calculating a first posture estimation value according to double inertial navigation information; converting the two postures into a relative attitude error, mapping the relative attitude error into a three-dimensional attitude error vector, constructing a dynamic weight matrix, and calculating a consistency residual error of the two postures; fusing the consistency residual error with at least one of the actuator tracking deviation, the stroke approximation degree and the prediction confidence coefficient to construct a risk index; and finally, according to a comparison result of the risk index and two preset threshold values, an exoskeleton control mode is adaptively switched to a normal mode, a compliant degradation mode or an output stopping mode, and the method can realize accurate posture estimation of the waist exoskeleton and full-process risk dynamic management and control.

The invention discloses a wearable robot assistance parameter adjusting method and system based on a biomechanical model, relates to the field of wearable robots, and solves the problem that a current wearable robot cannot intelligently adjust an assistance torque and a damping coefficient. The method comprises the following steps: constructing a test single-step period standard deviation and a standard plantar pressure interval of legs of a wearer; according to the difference value, selecting an initial assistance torque and an initial damping coefficient when the current wearer uses the wearable robot; analyzing plantar pressure at different time nodes after the wearer uses the wearable robot to assist; whether the wearable robot needs to be adjusted or not is analyzed according to the actual plantar pressure and the actual single-step cycle standard deviation; according to the plantar pressure deviation rate and the single-step period deviation rate, the initial power assisting torque and the initial damping coefficient of the wearable robot are adjusted. According to the method, adaptive adjustment of the power assisting parameters of the wearable robot is achieved according to the plantar pressure deviation data and the single-step period deviation data.

The invention relates to a posture sensing method and device based on a flexible wearable robot, and belongs to the technical field of rehabilitation robot application, and the method comprises the steps: synchronously collecting standard motion data and real-time motion data of a user; performing coarse attitude calculation through a complementary filtering algorithm to obtain initial six-degree-of-freedom attitude data; calibrating the initial six-degree-of-freedom attitude data based on the deformation resistance change data, the real-time environment temperature data and a pre-constructed attitude deformation calibration model, completing attitude drift correction and motion artifact elimination, and obtaining calibrated six-degree-of-freedom attitude data; based on the calibrated six-degree-of-freedom attitude data, extracting user exclusive action characteristics and temperature correlation characteristics, and dynamically correcting core parameters of the attitude deformation calibration model according to the user exclusive action characteristics and the temperature correlation characteristics; and inputting the real-time action data into the corrected attitude deformation calibration model, and outputting real-time attitude data. The method has the effect of improving the attitude sensing precision and real-time performance.

The invention belongs to the technical field of robots, and provides a quick release structure for conversion of an outer limb and an exoskeleton of a lower limb and a wearable robot, the quick release structure comprises a push rod, a push cover and a plug cover; an accommodating space for arranging a magnet is formed in the push cover, the push rod is provided with a horizontal shaft part arranged in the accommodating space, the end surface of the horizontal shaft part is provided with a spiral wedge surface, an accommodating space for arranging a magnet is formed in the plug cover, and the central end surface of the plug cover is provided with a spiral wedge surface; the robot comprises a hip joint structure, two legs, two ankle structures and two feet. The push cover is connected with the foot, the plug cover is connected with the leg, and during mode switching, rapid switching between the exoskeleton and the outer limb can be achieved by disassembling the rapid disassembling structure. The device can be flexibly switched between an outer limb mode and an exoskeleton mode according to different use requirements, assistance can be provided for the lower limbs during walking and standing, the human body load can be shared, effective support can be provided in a complex environment, and the use occasion of the device is widened.

The present invention relates to a wearable robot module that assists the movement of a wearer's arm, the wearable robot module including: a clutch unit capable of implementing, on the basis of an operation, a plurality of modes including a fixed mode and an elastic mode; a wire having one end connected to the clutch unit; and an operation unit connected to the other end of the wire, wherein the clutch unit includes: a housing; a gear located within the housing; a plurality of levers connected to one end of the housing by a connection member and capable of independently controlling the rotatable direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

The present disclosure relates to a wearable robot including upper and lower body portions configured to be closely attached to upper and lower bodies, respectively, of a person. Specifically, the upper body portion includes: a waist strap member; an intermediate connection link having one side connected to the lower body portion; a strap connection member connected to the waist strap member and the intermediate connection link; and an upper connection link including a side connected to the middle connection link and a section extending toward the chest of the person. Specifically, the strap connection member and the intermediate connection link are rotatably connected, and the intermediate connection link and the upper connection link are rotatably connected.

A data collection system that performs data collection of human-driven robot actions for robot learning. The data collection system includes: i) a wearable computation subsystem that is worn by a human data collector and that controls the data collection process and ii) a human-machine operation interface subsystem that allows the human data collector to use the human-machine operation interface to operate an attached robotic gripper to perform one or more actions. A user interface subsystem receives instructions from the wearable computation subsystem that direct the human data collector to perform the one or more actions using the human-machine operation interface subsystem. A visual sensing subsystem includes one or more cameras that collect raw visual data related to the pose and movement of the robotic gripper while performing the one or more actions. A data collection subsystem receives collected data related to the one or more actions.

1. Name of the design product: Status display icon of the graphical user interface for displaying the walking assistance strength status of a robot on an electronic device. 2. Use of the design product: This design product is used for an electronic device. 3. Design key points of the design product: Lies in the solid line part of the graphical user interface. 4. Picture or photo that best shows the design key points: The front view of Design 1. 5. The rear view, left view, right view, top view and bottom view of each design are omitted. 6. Design 1 is designated as the basic design. 7. Use of the graphical user interface: The use of this graphical user interface is to display the assistance strength of a wearable robot (such as a walking assistance robot) in the walking mode. The length and number of arrows in the icon in the graphical user interface will be displayed differently according to the assistance strength of the robot. 8. Other situations that need to be explained: Other explanations: This design is a partial design. The parts represented by the dashed lines in each view do not fall within the scope of protection claimed.

The invention relates to the related technical field of the fields of man-machine cooperation, rehabilitation assistive devices and wearable robots, in particular to a five-connecting-rod knee joint exoskeleton device which comprises a thigh assembly (1), a transmission assembly (2) and a shank assembly (3), and the thigh assembly (1) comprises an output motor (101), a power output rod (102), a thigh binding piece (103), a thigh sliding block (104) and a thigh guide rod (105). The transmission assembly (2) comprises a first connecting rod (201), a second connecting rod (202), a third connecting rod (203), a fourth connecting rod (204), a fifth connecting rod (205) and an auxiliary connecting rod (206), and the shank assembly (3) comprises a shank binding piece (301), a shank sliding block (302), a shank guide rod (303) and a sensing unit (304). The five-connecting-rod knee joint exoskeleton device is based on the mechanical structure design of a five-connecting-rod mechanism, advanced control strategies such as multi-sensor fusion and impedance control are combined, and the nonlinear track of a sliding rotation center in the bending and stretching process of the knee joint of the human body is highly fitted in kinematics; meanwhile, the exoskeleton can adaptively provide assistance or damping according to the gait characteristics and the motion intention of the user by adjusting the output torque and flexibility in real time on the aspect of dynamic control, so that the naturalness, comfort and safety of man-machine interaction are effectively improved; therefore, diversified application requirements of rehabilitation training, walking assistance, man-machine cooperation and the like can be better met.

The present disclosure provides a support assembly comprising: a support frame; a seat member attached to the support frame; and a plurality of friction pads attached to the seat member. The plurality of friction pads extend in a first direction of the seat member and are spaced apart from each other in a direction around an imaginary line extending in the first direction.

Provided are a portable pneumatic generator and a wearable robot including the same. The portable pneumatic generator includes: a first tank for storing a first reactant; a second tank for storing a second reactant; a reactor for generating a gas by reacting the first reactant with the second reactant; and a reservoir for storing the gas generated by reacting the first reactant with the second reactant and outputting the gas to the outside and storing a residue, wherein the first reactant includes a material used for an exothermic reaction, and the second reactant includes a material used for an endothermic reaction.

The invention discloses wearable robot skin. The wearable robot skin comprises a silicon rubber case and a magnetic attraction fixing structure. The silica gel sleeve wraps the metal framework and is divided into a plurality of modular assemblies, and the adjacent modular assemblies are detachably assembled through concave-convex meshing structures. The magnetic attraction fixing structure is composed of a ferrite sheet pre-embedded in the silicon rubber case and a neodymium iron boron magnet embedded in the metal framework, and the assembly is attracted and fixed through a magnetic field. First silica gel micro-beads are distributed on the contact interface of the silica gel sleeve and the metal framework, and second silica gel micro-beads are distributed on the periphery of the ferrite sheet and used for buffering impact stress and enhancing interface fitness. The robot skin adopts a double-fixing mechanism of magnetic attraction and concave-convex occlusion, the double-fixing mechanism and the double-fixing mechanism work cooperatively to achieve dynamic and static complementation, the magnetic attraction structure provides flexible attachment and dynamic compliance, the concave-convex occlusion structure ensures rigid supporting and anti-shearing torsion capacity, the shock resistance and the connection stability are jointly improved, and therefore the service life of the silicon rubber sleeve is prolonged.

The invention discloses a man-machine synchronous control system and method for a self-balancing outer limb, and belongs to the technical field of wearable robots. The system comprises a trunk of an outer limb, a thigh connecting rod, a shank connecting rod, a hub motor, a hip joint and knee joint driving module, an inertial measurement unit (IMU), a guyed displacement sensor and a control processing module, wherein the outer limb is connected with a human body through an elastic coupling device. The control system adopts a model predictive control (MPC) algorithm, takes a man-machine relative speed estimated by a guyed displacement sensor as a feedback dynamic adjustment control target, solves control input in real time in combination with a system state model, and is executed by a motor to realize synchronous following and self-balancing control of human gaits. Through the fusion design of the wheel foot structure and the dynamic optimization algorithm, the method does not depend on traditional human body signal input, can adapt to variable gaits and enhance the system stability, and has the advantages of high man-machine interaction comfort, fast control response, high adaptability and the like.

A wearable robot includes upper and lower body parts configured to be respectively tightly attached to upper and lower bodies of a person. In particular, the upper body part includes: a waist harness member, a middle connection link having one side connected to the lower body part; a harness connection member connected to the waist harness member and the middle connection link; and an upper connection link that includes one side connected to the middle connection link, and a section extending toward a chest of the person. In particular, the harness connection member and the middle connection link are rotatably connected, and the middle connection link and the upper connection link are rotatably connected.

This invention discloses a method and system for adjusting assist parameters of wearable robots based on a biomechanical model, relating to the field of wearable robots. It addresses the current problem that wearable robots cannot intelligently adjust assist torque and damping coefficient. The method involves: constructing the standard deviation of the single-step cycle and the standard plantar pressure range for the wearer's legs; selecting the initial assist torque and initial damping coefficient when the wearer uses the wearable robot based on the difference values; analyzing the plantar pressure at different time points after the wearer uses the robot; analyzing whether the wearable robot needs adjustment based on the actual plantar pressure and the actual single-step cycle standard deviation; and adjusting the initial assist torque and initial damping coefficient of the wearable robot based on the plantar pressure deviation rate and the single-step cycle deviation rate. This invention achieves adaptive adjustment of the wearable robot's assist parameters based on plantar pressure deviation data and single-step cycle deviation data.

The present invention relates to a wearable robot. The wearable robot according to the present invention includes a first fixing part mounted on a body part on one side of a joint part, a second fixing part mounted on a body part on the other side of the joint part, a driving part connected to the first fixing part, and a connecting member connecting the driving part and the second fixing part and transmitting the driving force provided from the driving part to the second fixing part for the movement of the joint part. The connecting member is characterized in that its length is adjusted corresponding to the distance between the driving part and the second fixing part which changes according to the magnitude of the movement of the joint part, or includes a plurality of members arranged in a row and an interlocking part connecting the plurality of members so that the plurality of members interlock with each other. The driving part includes a driver that generates power for auxiliary force. 【Representative Drawing】 Figure 2

The application discloses a motion following control method and system of a wearable robot and a storable medium, and relates to the technical field of robot control, wherein the method comprises the following steps: realizing the following control of the wearable robot by constructing a tracking differentiator, improving an inverse dynamics control model and a joint torque representation model, and enabling the wearable robot to follow the motion of a wearer in real time; and the application can generate a control instruction which is more suitable for the actual working condition of a lower-limb wearable robot.

An apparatus for controlling a lower-limb wearable robot based on augmented reality and brain-computer interface may include an augmented reality glasses configured to display a visual stimulus and status information of the lower-limb wearable robot through the augmented reality, a biological signal measurement module configured for measuring a biological signal of a user generated based on the visual stimulus and the status information of the lower-limb wearable robot, a control module configured to detect a control intention of the user based on the biological signal and generate the visual stimulus and the status information of the lower-limb wearable robot, and the lower-limb wearable robot configured to operate according to the control intention of the user.

The invention relates to a bionic flexible multi-mode sensor, in particular to a bionic flexible multi-mode sensor for touch perception of a wearable robot and a preparation method of the bionic flexible multi-mode sensor. The bionic flexible multimode sensor comprises polyimide bionic cilia and a rigid base, and the polyimide bionic cilia is connected with the rigid base; the preparation method comprises the steps of preparation of the polyimide bionic cilia and the flexible sensitive element, manufacturing and installation of the rigid base of the sensor, packaging of the sensor and the like. According to the invention, the bionic flexible cilia is used as a core sensing unit, touch pressure, a near body flow field and environment temperature information are obtained by calculating a multi-mode electric signal of the laser-induced graphene sensitive element on the surface of the bionic flexible cilia, and the limitation that a traditional wearable sensor is single in function and multiple sensors are separately integrated is overcome. The process flow is simple, the cost is low, and the method is suitable for rapid prototype development and large-scale flexible manufacturing.