42results about How to "Natural gait" patented technology

Disclosed are adjustable powered rehabilitation devices and methods for using the same to rehabilitate and / or train a user. The rehabilitation devices preferably have a plurality of selectable power settings that correspond to one or more rehabilitation-oriented actions or functions of the rehabilitation devices. For example, the power of the rehabilitation device may be selected based on a need, ability, muscle-power and / or physiological characteristics of the user. For instance, a rehabilitation device may be operated at a relatively low power setting to allow a patient to use his or her own muscle power when moving with the rehabilitation device. The rehabilitation device may also include an adjustable sensitivity level that corresponds to a user difficulty in triggering a particular rehabilitation-oriented action. The powered rehabilitation device may also temporarily be used to train a user in interacting with a passive or more conventional prosthetic device.

The invention relates to a quasi-passive biped walking robot system with a hip vibrator, and aims at solving the problems that an existing active robot is unnatural in gait and high in energy consumption, coronal plane motion of an existing three-dimensional passive robot is unstable, and the reliability degree of a system is poor. The quasi-passive biped walking robot system comprises a hip assembly, two leg assemblies and two foot assemblies, and each leg assembly is arranged between the hip assembly and the corresponding foot assembly. The quasi-passive biped walking robot system further comprises the hip vibrator, and the hip vibrator comprises a speed reducer, a support, a bevel gear pair, a coupling and a gear shaft. The hip assembly comprises a barrel, a gear rack, a guide rail and two annular connecting pieces. Each foot assembly is mainly composed of a foot plate. Each leg assembly comprises a hip and leg connecting piece, a straight leg and a leg and foot connecting piece, and the upper ends of the straight legs are connected with the hip and leg connecting pieces. Stable three-dimension walking of the quasi-passive robot on a slope is achieved, and meanwhile the advantages of being natural in gait and low in power consumption are achieved.

The invention discloses an all-landform walking device and a control method thereof. The all-landform walking device comprises at least four sets of walking mechanism units which are connected in sequence. Each walking mechanism unit comprises a straight leg used for walking and a hip used for driving the straight leg to move up and down and swing. The hips are connected through couplers. According to the all-landform walking device and the control method thereof, through the passive walking device with the straight legs capable of being driven to move up and down and swing, the dynamic characteristics of being high in self-stability during passive walking, natural in gait, efficient and capable of saving energy are achieved; meanwhile, the all-landform walking device has the advantages of being simple in structure and convenient to operate; the all-landform walking device has broad application prospects in the rehabilitation medical field and the toy field and even has high potential military application value.

The invention discloses a bionic foot capable of improving the gait naturality and stability of a biped robot. The bionic foot comprises a bionic foot body and a bionic ankle. The bionic foot body comprises bionic arches, extension springs, a compression spring, a viscoelastic material layer and rubber non-slip mats. Part of impact borne by the bionic foot can be consumed by the viscoelastic material layer, and the rest of the impact is absorbed by the elastic deformation of the bionic arches, the extension springs and the compression spring. Due to the fact that the rubber non-slip mats are adopted, the non-slip performance of the bionic foot can be improved. The bionic ankle comprises a first ankle joint connecting piece, a first ankle joint platform, a second ankle joint connecting piece and a second ankle joint platform. The bionic ankle can do inward turnover and outward turnover movement through the rotation of the first ankle joint platform around a third pin shaft, and can do back bending and toe bending movement through the rotation of the second ankle joint platform around a fourth pin shaft. By means of the bionic foot, the harmful effect caused by the impact can be effectively reduced, meanwhile, the walking mode of human beings can be imitated, and the gait of the robot can be more natural.

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.