154 results about "Active motion" patented technology

The invention relates to a motion control method of a lower limb rehabilitative robot. In the method, aiming at different rehabilitation stages of a patient, two working modes of passive training and active training are carried out: under the mode of passive training, the patient is driven by controlling the robot to finish specific motions or motion according to a right physiological gait track; abnormal motions of the patient are completely restrained; and the patient passively follows the robot to do walking rehabilitation training; under the mode of active training, limited abnormal motions of the patient are restrained by the robot; through a real-time detection on joint driving forces generated when the patient acts on the robot in the motion process, human-computer interaction moment is extracted by utilizing an inverse dynamic model to judge the active motion intention of lower limbs of the patient; and the interaction moment is converted into correction value of gait track by utilizing an impedance controller to directly correct or generate the gait training track the patient expects through an adaptive controller, therefore, the purpose that the robot can provide auxiliary force and resistant force for the rehabilitation training can be indirectly realized. By means of the motion control method of the lower limb rehabilitative robot, rehabilitation training motions suitable for different rehabilitation stages can be provided for a dysbasia patient, thereby enhancing active participation degree of the rehabilitation training of the patient, building confidence of the rehabilitation and positivity of the motion, and then enhancing effect of the rehabilitation training.

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

Enablescoupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, without any tools. May utilize a weight that is removed when inserting the electronic package, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a shaft enclosure and expander that may be coupled with a screw aligned along an axis parallel to the axis of the golf club shaft. May utilize non-permanently and / or friction coupling between the mount and golf club shaft. Cap may include a visual marker and / or logo.

Enables coupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, for example without any tools. May utilize a weight that is removed when inserting the electronic package in the mount, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a shaft enclosure and expander that may be coupled with a screw aligned along an axis parallel to the axis of the shaft. May utilize non-permanently and / or friction coupling between the mount and shaft. Cap may include a visual marker and / or logo.

Enables coupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, for example without any tools. May utilize a weight that is removed when inserting the electronic package in the mount, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a shaft enclosure and expander that may be coupled with a screw aligned along an axis parallel to the axis of the golf club shaft. May utilize non-permanently and / or friction coupling between the mount and golf club shaft. Cap may include a visual marker and / or logo.

The invention discloses an upper limb hemiplegia rehabilitation robot, which belongs to the technical field of medical appliances, and comprises a shoulder joint motion module, an elbow joint motion module, a forearm and wrist joint motion module, a gravity compensating module, a bracket and a data acquisition module, wherein the two ends of the gravity compensating module are connected with the shoulder joint motion module; the shoulder joint motion module, the elbow joint motion module and the forearm and wrist joint motion module are connected in turn; the shoulder joint motion module is fixedly connected with the top of the bracket; and the data acquisition module is fixedly arranged on the elbow joint motion module. The upper limb hemiplegia rehabilitation robot can help a patient do7-degree-ofmotion-freedom active motion training, including bending, stretching, inward / outward turning and outward / inward swinging motions at the shoulders of the upper limbs of the patent, bending / stretching motions at the elbow joints of the patient, inward / outward turning motion of the forearms of the patient, and bending, stretching and outward / inward swinging motion at the wrist joints of the patient. The robot provides a new rehabilitation training means and can improve the efficiency of rehabilitation training.

The invention provides a double-side mirror image rehabilitation system based on biological information sensing. One end of a somatic sensing device is connected with the limb on the healthy side to acquire the motion signals of the limb on the healthy side; the other end of the somatic sensing device is connected with a computer by use of a USB bus to transmit the acquired motion signals of the limb on the healthy side to the computer; a motor driver is connected to the computer by use of a CAN bus and used for receiving a motion control instruction sent by the computer; the other end of the motor driver is connected with a motor and used for converting the received motion control instruction into a corresponding current signal for sending to the motor and driving the motor to rotate; the motor is arranged at the motion joint of a mechanical arm, and drives the connecting rod of the mechanical arm to move while rotating; the limb on the sick side is arranged in the mechanical arm and driven by the connecting rod of the mechanical arm to do rehabilitation exercise. The double-side mirror image rehabilitation system based on biological information sensing is capable of realizing the active motion function rehabilitation of a hemiplegic patient and mobilizing the functions of the limb of the healthy side of the hemiplegic patient to assist the silk side to do rehabilitation training.

An exercise device comprising a base and a platform rotatably tiltably connected to the base, wherein the invention includes a first continuous passive motion embodiment and a second continuous active motion embodiment. The continuous passive motion exercise device (e.g. non-motorized) may utilize the nested engagement of a concave surface located in the base and a convex surface extending from the platform to provide a rotatable tiltable connection therebetween. The device may also utilize at least one roller bearing located within the base to assist in permitting the rotatable tiltable motion of the platform relative to the base. The continuous active motion exercise device (e.g. motorized) utilizes a motor housed within the base to drive the rotatably tiltably connected platform.

Handle integrated motion capture element mount that enables coupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, for example without any tools. May utilize a weight that is removed when inserting the electronic package in the mount, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a handle without electronics for future upgrading. May utilize non-permanently and / or friction coupling between the mount and equipment.

An engine active motion control system for controlling engine dynamic torque includes an engine that generates a first dynamic torque. A first module selectively initiates generation of a second dynamic torque about an axis of rotation of a crankshaft of the engine in a direction opposite that of the first dynamic torque generated through the crankshaft.

The invention provides an electronic image stabilization method based on inertial navigation information. The method comprises the following steps that: firstly, feature points of each image of a video are extracted, subsequently the overall motion estimation is carried out on two adjacent frames by using a feature point matching algorithm; if the overall motion estimation has larger errors, the overall motion is estimated by using motion information obtained by an inertial navigation system so as to compensate the errors caused by the fact that the overall motion is estimated by merely using an image; the overall motion estimation adopts an affine transformation model; then motion filtering is carried out on the model in combination with the image and the inertial navigation information so as to distinguish the active motion and a trembling component of a camera; and moreover, a rotational component introduced because of the trembling is determined; and furthermore an original video image is compensated by using the obtained trembling and rotational components so as to obtain a stable video; and the image restoration treatment is carried out on each frame of image of the video in combination with the image information and the inertial navigation prediction motion information. The method needs no complex hardware and is good in electronic image stabilization; and the calculation precision is improved.

The present invention is a continuous passive and active motion machine for the ankle. The invention includes a base configured to be placed on a flat, stable surface. The base is connected to a foot plate portion, which is connected to a drive shaft mechanism that moves along glide tracks using a motor. The foot plate is caused to move in a direction substantially perpendicular to movement of the drive shaft mechanism. Pressure sensors are added to provide feedback data to a controller. The controller potentially alters the behavior of the machine based on the provided feedback data.

The invention discloses a four-foot-swing wall-climbing robot with a driven waist joint. The wall-climbing robot comprises four telescopic foot modules, an upper body part, a lower body part and a tail module; the telescopic foot modules are active motion modules and each composed of a steering engine and a transmission mechanism, each transmission mechanism is formed by bevel gears and a crank slide bar mechanism to transmit power of the corresponding steering engine, and then four telescopic legs can do linearly telescopic motion. The four telescopic foot modules are connected with the left side and the right side of the upper body part and the left side and the right side of the lower body part respectively. The upper body part and the lower body part are internally provided with cavities used for installing a control panel and a battery and are connected through the waist joint. The waist joint does passive motion, and the robot can climb a wall or walk through active motion of telescopic feet of skew symmetry. The wall-climbing robot has the advantages that the overall structure is compact and flat and high in stability; the ratio of the upper body to the lower body can be adjusted according to optimization needs; changes of mass center motion tracks and foot end force of climbing animals can be fitted, and the motion speed of the four-foot-swing wall-climbing robot with the driven waist joint is effectively increased.

Handle integrated motion capture element mount that enables coupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, for example without any tools. May utilize a weight that is removed when inserting the electronic package in the mount, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a handle without electronics for future upgrading. May utilize non-permanently and / or friction coupling between the mount and equipment.

The invention discloses a tail-suspended rat fixing device, which comprises a rat fixing box, a tail suspension device and an angle adjusting device. The invention also provides a tail-suspended rat vibration / motion training device, which comprises a motion track limit device, a vibration training device, an active motion training device, a passive motion training device, a rat hind limb fixing device and a height adjusting device. The invention also provides a vibration / motion control device, which comprises a display screen, a key, a direct-current motor speed adjusting knob, a power supply adapter, a switch, a USB interface and an internal circuit, wherein the direct-current motor speed adjusting knob is used for adjusting the rotating speed of a direct-current motor during passive motion training; the power supply adapter and the switch are used for supplying power for the whole device; the USB interface is used for carrying out function expansion later; and the internal circuit is used for controlling and quantifying rat vibration / motion training and supplying power. The device can keep the same tail-suspended height, can carry out equal-length and equal-tension motion by combining vibration and motion training, and simultaneously achieves training quantification and control.

The present invention relates generally to a surgical device for the correction of deformities of the spinal column and finds particular, although not exclusive, utility in devices which are surgically implantable. Presently known implantable surgical devices are unable to provide for the progressive correction of spinal deformities assisted by active movements of the human body without fusion of the involved part of the spinal column. The present surgical device comprises a spinal column straightening means for permitting the relative rotation of two substantially adjacent vertebrae about a common axis substantially only in opposite rotational directions.

The invention relates to an active intention control-based portable ankle joint rehabilitation robot comprising a leg protection fixing mechanism, a walking-assisting mechanism connected to the leg protection fixing mechanism, a foot plate mechanism arranged on the leg protection fixing mechanism to be connected with the walking-assisting mechanism, and a gait correction mechanism connected to thefoot plate mechanism. A pressure sensor and a microprocessor are integrated on the foot plate mechanism. With a plantar pressure sensing system, a plantar pressure signal of a testee can be processedduring the test and active motion intention of the testee can be captured; the active motion intention is converted into a control instruction and the walking-assisting mechanism can be controlled and ankle dorsal flexure and plantar flexion rehabilitation and normal gait walk can be assisted for the testee; and the gait correction mechanism can be controlled and ankle inward turn and outward turn rehabilitation training can be completed. Reliable foundation is laid for the rehabilitation evaluation system and the training system; and the active intention control-based portable ankle joint rehabilitation robot has high overall control precision and great real-time control capability.

The invention discloses an intelligent limb rehabilitation training device capable of performing rehabilitation training on limbs automatically and a training method. In the intelligent limb rehabilitation training device, the output end of a controller is connected with the input end of the a driver through a serial port; the output end of the driver is connected with a power supply of a motor; the other end of a motor output shaft is connected with a code disc; the output of the code disc is connected with the controller; and the output of a power circuit is connected with the controller and the driver respectively. Three training modes of active motion, passive motion and spasmodic muscle remission can be automatically performed under set programs; and the motion parameters can be adjusted according to the actual condition of a patient so as to help the patient to perform the best scientific and effective training and make the motor function of the patient recover better.

Methods and apparatus are provided for active motion damping of a spacecraft whose attitude control system (SACS) has experienced a partial failure. In a preferred embodiment, the apparatus comprises, an attitude control processor (ACP), a motion damping controller (MDC) coupled to the ACP, a control moment gyro (CMG) comprising a gimbal loop controller (GLC) coupled to the MDC and a gimbal motor with input coupled to the GLC and gyroscopic torque output coupled to the satellite. Normally, a gimbal rate command (GRC) from the ACP passes to the GLC for execution to rotate the CMG gimbal and the coupled satellite. If the ACP output becomes invalid, the MDC assumes control and can modify CMG operation in several ways to safely decelerate a moving satellite without hazardous mechanical stress. Following such active motion damping, the CMG remains quiescent until a RESET is received whereby further valid GRCs are then executable.

The invention discloses an active exercise control method and device for a rehabilitation robot based on surface electromyogram signals, which are used in various upper limb or lower limb rehabilitation robots with surface electromyogram signal acquisition functions. The active exercise control method comprises the following steps: in the rehabilitation exercise process, firstly, acquiring surface electromyogram signals from two pieces of corresponding muscle, extracting patient active motion mode information such as the frequency and the phase from the surface electromyogram signals in real time by using a frequency tracking algorithm, generating a reference exercise track of the robot according to the phase information, and controlling the output torque of the robot according to practical motion errors, thereby assisting the patient to complete rehabilitation exercise tasks. By adopting the active exercise control method and device, active exercise of multiple joints can be achieved by using the rehabilitation robot on the basis of double-channel surface electromyogram signals, the surface electromyogram signals are convenient to acquire and process, real-time monitoring of active motion intention of a testee and active rehabilitation exercise through the rehabilitation robot can be achieved, and the rehabilitation exercise efficiency can be improved.

Enables coupling or retrofitting a golf club with active motion capture electronics that are battery powered, passive or active shot count components, for example a passive RFID, and / or a visual marker on the cap for use with visual motion capture cameras. Does not require modifying the golf club. Electronics package and battery can be easily removed and replaced, without any tools. May utilize a weight that is removed when inserting the electronic package, wherein the weight element may have the same weight as an electronics package, for no net change or minimal change in club weight. May be implemented with a shaft enclosure and expander that may be coupled with a screw aligned along an axis parallel to the axis of the golf club shaft. May utilize non-permanently and / or friction coupling between the mount and golf club shaft. Cap may include a visual marker and / or logo.

A teleoperated endoscopic capsule for diagnostic and therapeutic purposes inside an animal body cavity, comprising a body (1) with a plurality of locomotion modules (5) placed on its surface, suitable for moving said body in the body cavity. The capsule also comprises an energy source inside said body and a microcontroller in the body (1) for actuating the locomotion modules (5) on the basis of commands teletransmitted by an operator. A video camera is then provided for capturing images controlled by said microcontroller and a transceiver system for receiving the commands teletransmitted by the operator and for transmitting the images gained through the video camera.

The invention relates to a hybrid active rehabilitation method and device based on mirror neurons and a brain-computer interface. The invention aims to provide the hybrid active rehabilitation methodand device based on mirror neurons and the brain-computer interface, so as to improve the enthusiasm of rehabilitation training of a patient and promote reconstruction of brain functions. According tothe technical scheme, the hybrid active rehabilitation method based on the mirror neurons and the brain-computer interface is characterized in that the method comprises the steps: presenting the external stimulation capable of stimulating the mirror neurons of a patient to generate an active movement idea to the patient; acquiring an electroencephalogram signal containing an active motion idea ofthe patient; analyzing the motion intention of the patient according to the electroencephalogram signal; and controlling a motion execution module to assist the affected limb of the patient to complete motion corresponding to the patient motion intention according to the patient motion intention. The method is suitable for the field of brain rehabilitation training.

The invention provides a tail-suspended rat fixing device which comprises a tail suspension device, a rat fixing box for storing the head and body of a rat, a body fixing device for fixing the body of a rat, an angle control device for controlling the included angle between the rat fixing box and a pedestal of the tail-suspended rat fixing device. The invention also provides a tail-suspended rat active / passive motion training device which comprises a rat hind limb motion device for training active / passive motion of the hind limb of a rat and further comprises a motion orbit control device for limiting the motion range of the hind limb of a rat, an active motion training device for training the active motion of the hind limb of a rat, and a passive motion training device for training the passive motion of the hind limb of a rat. The invention realizes the motion training and simultaneously keeps the tail suspension angle unchanged, that is, keeps the rat in a simulated weightlessness state.

The invention relates to the technical field of mechanical arm elements, and discloses a novel mechanical arm used for an upper limb rehabilitation robot. The novel mechanical arm used for the upper limb rehabilitation robot comprises a first motor, a second motor, a third motor, a first position sensor, a second position sensor, a third position sensor, a first acceleration sensor, a second acceleration sensor, a third acceleration sensor and a controller. According to the novel mechanical arm used for the upper limb rehabilitation robot, multiple sensors are combined in joint components, force measurement is enabled to be easier, the softness, the safety and the flexibility of the robot are ensured, the force of upper limb rehabilitation training sensitivity operation is improved, a design structure of the mechanical arm is constituted by making multiple rotary joint components in series connection, each joint component is provided with a driving mechanism of a motor reducer, the driving mechanisms can drive the arm to actively move, and therefore rehabilitation training is effectively achieved.

The invention provides a fluid type contact grabbing linkage self-adaptive robot finger device and belongs to the technical field of robot hands. The fluid type contact grabbing linkage self-adaptive robot finger device comprises a base, two finger segments, two joint shafts, three sliding blocks, multiple springs, multiple flexible pieces, fluid and the like. According to the fluid type contact grabbing linkage self-adaptive robot finger device, fluid drive is utilized to achieve the coupling and self-adapting combined grabbing function characterized in that coupling rotation is conducted firstly and self-adaptive grabbing is conducted thereafter, the personate rotation effect is achieved through coupling rotation, and fingers can hold objects of different shapes and of different sizes in an adaptive manner by means of self-adaptive grabbing; a one-way solenoid valve is adopted for the self-adaptive robot finger device so that the feature that the finger bending configuration is kept automatically can be achieved, the objects evacuating under the action of counter-acting force can be grabbed in cooperation with drive movement of mechanical arms, and instability caused by vibration disturbance in the grabbing process can be prevented as well; the device is simple in structure, and the appearance is similar to that of fingers of hands of people; and the device grabs the objects only when the objects make contact with the fingers, the object grabbing accuracy is guaranteed, and the better position consistency is obtained when the same object is grabbed multiple times.

The invention provides a tail-suspended rat positioning device, which comprises a tail suspending device, a rat fixing box, a trunk positioning device and an angle control device, wherein the rat fixing box is used for accommodating the head and the trunk part of a rat; the trunk positioning device is used for fixing the trunk of the rat; and the angle control device is used for controlling an angle between the rat fixing box and a base of the tail-suspended rat positioning device. The invention also provides an active / passive exercise training device for the tail-suspended rat, which comprises a rat hind limb exercise device, a track control device, an active exercise training device and a passive exercise training device, wherein the rat hind limb exercise device is used for performing active or passive exercise training on the hind limbs of the rat; the track control device is used for limiting the motion range of the hind limbs of the rat; the active exercise training device is used for performing active exercise training on the hind limbs of the rat; and the passive exercise training device is used for performing passive exercise training on the hind limbs of the rat. The devices can keep the tail suspending angle of the rat unchangeable, namely keep a simulated weightless state during exercise training, and can control the active / passive training for the rat to perform quantitative training.