CN105596018A - 基于力传感器的人体运动趋势检测装置及检测方法 - Google Patents
基于力传感器的人体运动趋势检测装置及检测方法 Download PDFInfo
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- CN105596018A CN105596018A CN201610177388.1A CN201610177388A CN105596018A CN 105596018 A CN105596018 A CN 105596018A CN 201610177388 A CN201610177388 A CN 201610177388A CN 105596018 A CN105596018 A CN 105596018A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 76
- 238000001514 detection method Methods 0.000 title abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000012806 monitoring device Methods 0.000 claims description 31
- 238000012549 training Methods 0.000 claims description 24
- 210000003141 lower extremity Anatomy 0.000 claims description 20
- 238000012856 packing Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 2
- 238000004513 sizing Methods 0.000 claims description 2
- 210000001624 hip Anatomy 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract 1
- 208000020442 loss of weight Diseases 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 210000004197 pelvis Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000002153 concerted effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Physical Education & Sports Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
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CN201610177388.1A CN105596018B (zh) | 2016-03-25 | 2016-03-25 | 基于力传感器的人体运动趋势检测装置及检测方法 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106730638A (zh) * | 2016-12-21 | 2017-05-31 | 华中科技大学 | 基于交互力识别运动意图的欠驱动康复机器人的控制方法 |
CN106826872A (zh) * | 2017-04-14 | 2017-06-13 | 清研华宇智能机器人(天津)有限责任公司 | 一种舞蹈机器人控制方法及系统 |
CN107343844A (zh) * | 2017-09-06 | 2017-11-14 | 江苏恒毅运控智能设备科技有限公司 | 上肢助力外骨骼的控制方法、装置和上肢助力外骨骼系统 |
CN108836765A (zh) * | 2018-07-11 | 2018-11-20 | 国家康复辅具研究中心 | 智能助行装置以及用于控制其提供助行的方法 |
CN109199800A (zh) * | 2018-10-24 | 2019-01-15 | 上海电气集团股份有限公司 | 康复机器人及其摔倒检测与防护方法 |
CN109724734A (zh) * | 2019-01-22 | 2019-05-07 | 杭州瑞必莅机器人科技有限公司 | 一种消除耦合的单向测力装置 |
CN109760025A (zh) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技(成都)有限公司 | 直接力检测装置、控制系统及直接力控制的外骨骼机器人 |
CN109924984A (zh) * | 2019-03-22 | 2019-06-25 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
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JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
US20040097330A1 (en) * | 1999-08-20 | 2004-05-20 | Edgerton V. Reggie | Method, apparatus and system for automation of body weight support training (BWST) of biped locomotion over a treadmill using a programmable stepper device (PSD) operating like an exoskeleton drive system from a fixed base |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
CN102866030A (zh) * | 2012-09-20 | 2013-01-09 | 北京航空航天大学 | 一种五轴联动机床加载试验装置及加载试验方法 |
KR101293650B1 (ko) * | 2012-04-24 | 2013-08-13 | 경북대학교 산학협력단 | 로터리형 자동 관절 고정장치를 갖는 하지 지지 보조기구 및 그 동작 방법 |
CN103239340A (zh) * | 2013-05-16 | 2013-08-14 | 四川旭康医疗电器有限公司 | 一种感觉康复训练系统及其实现方法 |
CN103845186A (zh) * | 2012-11-28 | 2014-06-11 | 索尼公司 | 运动辅助设备和运动辅助方法 |
US20140316308A1 (en) * | 2013-04-18 | 2014-10-23 | Daegu Gyeongbuk Institute Of Science And Technology | Upper limb rehabilitation robot for meal assistance or meal rehabilitation training and method thereof |
CN104688486A (zh) * | 2015-02-10 | 2015-06-10 | 三峡大学 | 一种下肢康复机器人运动控制系统 |
CN104983541A (zh) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | 一种空间并联驱动手腕康复治疗机器人 |
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JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
US20040097330A1 (en) * | 1999-08-20 | 2004-05-20 | Edgerton V. Reggie | Method, apparatus and system for automation of body weight support training (BWST) of biped locomotion over a treadmill using a programmable stepper device (PSD) operating like an exoskeleton drive system from a fixed base |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
KR101293650B1 (ko) * | 2012-04-24 | 2013-08-13 | 경북대학교 산학협력단 | 로터리형 자동 관절 고정장치를 갖는 하지 지지 보조기구 및 그 동작 방법 |
CN102866030A (zh) * | 2012-09-20 | 2013-01-09 | 北京航空航天大学 | 一种五轴联动机床加载试验装置及加载试验方法 |
CN103845186A (zh) * | 2012-11-28 | 2014-06-11 | 索尼公司 | 运动辅助设备和运动辅助方法 |
US20140316308A1 (en) * | 2013-04-18 | 2014-10-23 | Daegu Gyeongbuk Institute Of Science And Technology | Upper limb rehabilitation robot for meal assistance or meal rehabilitation training and method thereof |
CN103239340A (zh) * | 2013-05-16 | 2013-08-14 | 四川旭康医疗电器有限公司 | 一种感觉康复训练系统及其实现方法 |
CN104688486A (zh) * | 2015-02-10 | 2015-06-10 | 三峡大学 | 一种下肢康复机器人运动控制系统 |
CN104983541A (zh) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | 一种空间并联驱动手腕康复治疗机器人 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106730638A (zh) * | 2016-12-21 | 2017-05-31 | 华中科技大学 | 基于交互力识别运动意图的欠驱动康复机器人的控制方法 |
CN106730638B (zh) * | 2016-12-21 | 2018-11-02 | 华中科技大学 | 基于交互力识别运动意图的欠驱动康复机器人的控制方法 |
CN106826872A (zh) * | 2017-04-14 | 2017-06-13 | 清研华宇智能机器人(天津)有限责任公司 | 一种舞蹈机器人控制方法及系统 |
CN106826872B (zh) * | 2017-04-14 | 2023-07-18 | 清研华宇智能机器人(天津)有限责任公司 | 一种舞蹈机器人控制方法及系统 |
CN107343844A (zh) * | 2017-09-06 | 2017-11-14 | 江苏恒毅运控智能设备科技有限公司 | 上肢助力外骨骼的控制方法、装置和上肢助力外骨骼系统 |
CN108836765A (zh) * | 2018-07-11 | 2018-11-20 | 国家康复辅具研究中心 | 智能助行装置以及用于控制其提供助行的方法 |
CN109199800A (zh) * | 2018-10-24 | 2019-01-15 | 上海电气集团股份有限公司 | 康复机器人及其摔倒检测与防护方法 |
CN109724734A (zh) * | 2019-01-22 | 2019-05-07 | 杭州瑞必莅机器人科技有限公司 | 一种消除耦合的单向测力装置 |
CN109724734B (zh) * | 2019-01-22 | 2023-10-03 | 杭州瑞必莅机器人科技有限公司 | 一种消除耦合的单向测力装置 |
CN109760025A (zh) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技(成都)有限公司 | 直接力检测装置、控制系统及直接力控制的外骨骼机器人 |
CN109924984A (zh) * | 2019-03-22 | 2019-06-25 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
CN109924984B (zh) * | 2019-03-22 | 2022-01-21 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
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