CN110236879A - 外骨骼康复训练机械臂及其语音交互系统 - Google Patents
外骨骼康复训练机械臂及其语音交互系统 Download PDFInfo
- Publication number
- CN110236879A CN110236879A CN201910497454.7A CN201910497454A CN110236879A CN 110236879 A CN110236879 A CN 110236879A CN 201910497454 A CN201910497454 A CN 201910497454A CN 110236879 A CN110236879 A CN 110236879A
- Authority
- CN
- China
- Prior art keywords
- ectoskeleton
- motor
- unit
- voice
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 95
- 230000002452 interceptive effect Effects 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 230000003993 interaction Effects 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 16
- 210000000323 shoulder joint Anatomy 0.000 claims description 49
- 210000000245 forearm Anatomy 0.000 claims description 43
- 238000012545 processing Methods 0.000 claims description 39
- 210000002310 elbow joint Anatomy 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 6
- 230000005236 sound signal Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010801 machine learning Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
- 210000001364 upper extremity Anatomy 0.000 abstract description 11
- 230000007812 deficiency Effects 0.000 abstract description 3
- 210000000988 bone and bone Anatomy 0.000 description 6
- 230000036541 health Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 4
- 238000013139 quantization Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003340 mental effect Effects 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000007926 Craterellus fallax Nutrition 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 240000007175 Datura inoxia Species 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/5023—Interfaces to the user
- A61H2201/5048—Audio interfaces, e.g. voice or music controlled
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910497454.7A CN110236879B (zh) | 2019-06-10 | 2019-06-10 | 外骨骼康复训练机械臂及其语音交互系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910497454.7A CN110236879B (zh) | 2019-06-10 | 2019-06-10 | 外骨骼康复训练机械臂及其语音交互系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110236879A true CN110236879A (zh) | 2019-09-17 |
CN110236879B CN110236879B (zh) | 2021-09-21 |
Family
ID=67886396
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910497454.7A Active CN110236879B (zh) | 2019-06-10 | 2019-06-10 | 外骨骼康复训练机械臂及其语音交互系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110236879B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111407600A (zh) * | 2020-05-07 | 2020-07-14 | 河南独树数字技术研究院(有限合伙) | 动作意图识别训练仪 |
CN111515934A (zh) * | 2020-05-09 | 2020-08-11 | 中国人民解放军32286部队50分队 | 一种穿戴式单兵装备维修外骨骼系统及其控制方法 |
RU2741215C1 (ru) * | 2020-02-07 | 2021-01-22 | Общество с ограниченной ответственностью "АйТи Юниверс" | Система нейрореабилитации и способ нейрореабилитации |
CN112365890A (zh) * | 2020-10-29 | 2021-02-12 | 北京邮电大学 | 一种肢体康复设备语音交互控制方法 |
CN112621715A (zh) * | 2020-12-08 | 2021-04-09 | 深圳市迈步机器人科技有限公司 | 一种基于语音输入上肢外骨骼控制方法及控制装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7204814B2 (en) * | 2003-05-29 | 2007-04-17 | Muscle Tech Ltd. | Orthodynamic rehabilitator |
CN102151215A (zh) * | 2011-04-07 | 2011-08-17 | 东华大学 | 一种上肢外骨骼式康复机械臂 |
CN102309393A (zh) * | 2010-07-06 | 2012-01-11 | 赵奇 | 外骨骼式上肢康复机器人 |
CN105662783A (zh) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | 一种外骨骼式上肢康复训练机器人 |
CN107671848A (zh) * | 2017-11-23 | 2018-02-09 | 电子科技大学 | 一种上肢助力外骨骼机构系统 |
CN108113848A (zh) * | 2018-01-31 | 2018-06-05 | 力迈德医疗(广州)有限公司 | 上肢及头部康复训练机器人 |
-
2019
- 2019-06-10 CN CN201910497454.7A patent/CN110236879B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7204814B2 (en) * | 2003-05-29 | 2007-04-17 | Muscle Tech Ltd. | Orthodynamic rehabilitator |
CN102309393A (zh) * | 2010-07-06 | 2012-01-11 | 赵奇 | 外骨骼式上肢康复机器人 |
CN102151215A (zh) * | 2011-04-07 | 2011-08-17 | 东华大学 | 一种上肢外骨骼式康复机械臂 |
CN105662783A (zh) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | 一种外骨骼式上肢康复训练机器人 |
CN107671848A (zh) * | 2017-11-23 | 2018-02-09 | 电子科技大学 | 一种上肢助力外骨骼机构系统 |
CN108113848A (zh) * | 2018-01-31 | 2018-06-05 | 力迈德医疗(广州)有限公司 | 上肢及头部康复训练机器人 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2741215C1 (ru) * | 2020-02-07 | 2021-01-22 | Общество с ограниченной ответственностью "АйТи Юниверс" | Система нейрореабилитации и способ нейрореабилитации |
CN111407600A (zh) * | 2020-05-07 | 2020-07-14 | 河南独树数字技术研究院(有限合伙) | 动作意图识别训练仪 |
CN111515934A (zh) * | 2020-05-09 | 2020-08-11 | 中国人民解放军32286部队50分队 | 一种穿戴式单兵装备维修外骨骼系统及其控制方法 |
CN112365890A (zh) * | 2020-10-29 | 2021-02-12 | 北京邮电大学 | 一种肢体康复设备语音交互控制方法 |
CN112365890B (zh) * | 2020-10-29 | 2024-04-02 | 北京邮电大学 | 一种肢体康复设备语音交互控制方法 |
CN112621715A (zh) * | 2020-12-08 | 2021-04-09 | 深圳市迈步机器人科技有限公司 | 一种基于语音输入上肢外骨骼控制方法及控制装置 |
CN112621715B (zh) * | 2020-12-08 | 2022-03-08 | 深圳市迈步机器人科技有限公司 | 一种基于语音输入上肢外骨骼控制方法及控制装置 |
Also Published As
Publication number | Publication date |
---|---|
CN110236879B (zh) | 2021-09-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110236879A (zh) | 外骨骼康复训练机械臂及其语音交互系统 | |
CN105078445B (zh) | 基于健康服务机器人的老年人健康服务系统 | |
CN105078449B (zh) | 基于健康服务机器人的老年痴呆症监护系统 | |
CN102488593B (zh) | 一种可根据人的身体、心理状态和环境状态调整运动模式的语音控制轮椅 | |
CN104799826B (zh) | 一种智能安康服务系统及报警可靠检测方法 | |
JP5040865B2 (ja) | ロボット制御システム、遠隔管理装置、遠隔管理方法及びプログラム | |
CN105082150B (zh) | 一种基于用户情绪及意图识别的机器人人机交互方法 | |
Stefanov et al. | The smart house for older persons and persons with physical disabilities: structure, technology arrangements, and perspectives | |
CN202515651U (zh) | 一种具有远程医疗功能的陪护机器人 | |
CN107405129A (zh) | 用于捕获和输出关于身体特性的数据的系统、设备和方法 | |
CN107544266A (zh) | 家庭健康服务机器人 | |
CN107320092A (zh) | 一种室外游泳状态监测手环及游泳状态异常监测方法 | |
CN204971278U (zh) | 基于健康服务机器人的老年痴呆症监护系统 | |
CN101947152A (zh) | 仿人形义肢的脑电-语音控制系统及工作方法 | |
CN108563891B (zh) | 一种基于惯性测量单元智能预防交通事故的方法 | |
CN108717852A (zh) | 一种基于白光通信和类脑认知的智能机器人语义交互系统和方法 | |
CN107307865A (zh) | 一种自闭症儿童辅助交流装置 | |
CN107942695A (zh) | 情感智能音响系统 | |
CN108852620A (zh) | 智能颈戴设备及其控制方法 | |
CN110995812A (zh) | 一种跨平台人工智能助理系统应用方案 | |
CN207024470U (zh) | 一种跳绳系统 | |
CN107273677A (zh) | 一种多通道神经功能定量评价系统 | |
CN110367934A (zh) | 一种基于非语音身体声音的健康监测方法及监测系统 | |
CN208255530U (zh) | 智能颈戴设备 | |
CN109480789A (zh) | 人体脉搏远程仿生还原系统和方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240129 Address after: No.13, 3rd floor, building 1, No.1, Tidu street, Qingyang District, Chengdu, Sichuan 610000 Patentee after: Chengdu yishenrui Technology Co.,Ltd. Country or region after: China Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Patentee before: Northwestern Polytechnical University Country or region before: China |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240223 Address after: Room 702, No. 1126 Shenbin South Road, Minhang District, Shanghai, 200000 Patentee after: Zaozuo Technology Co.,Ltd. Country or region after: China Address before: No.13, 3rd floor, building 1, No.1, Tidu street, Qingyang District, Chengdu, Sichuan 610000 Patentee before: Chengdu yishenrui Technology Co.,Ltd. Country or region before: China |
|
TR01 | Transfer of patent right |