CN106256336A - 基于逻辑回归的外骨骼助残机器人步相切换方法 - Google Patents
基于逻辑回归的外骨骼助残机器人步相切换方法 Download PDFInfo
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- CN106256336A CN106256336A CN201610701250.7A CN201610701250A CN106256336A CN 106256336 A CN106256336 A CN 106256336A CN 201610701250 A CN201610701250 A CN 201610701250A CN 106256336 A CN106256336 A CN 106256336A
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- ectoskeleton
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- disabled
- aiding robot
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
-
- 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
- A61H2201/5069—Angle 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- 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
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610701250.7A CN106256336B (zh) | 2016-08-22 | 2016-08-22 | 基于逻辑回归的外骨骼助残机器人步相切换方法 |
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CN201610701250.7A CN106256336B (zh) | 2016-08-22 | 2016-08-22 | 基于逻辑回归的外骨骼助残机器人步相切换方法 |
Publications (2)
Publication Number | Publication Date |
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CN106256336A true CN106256336A (zh) | 2016-12-28 |
CN106256336B CN106256336B (zh) | 2018-07-31 |
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CN201610701250.7A Active CN106256336B (zh) | 2016-08-22 | 2016-08-22 | 基于逻辑回归的外骨骼助残机器人步相切换方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113520375A (zh) * | 2021-07-21 | 2021-10-22 | 深圳大学 | 步态相位的划分方法、装置、存储介质及*** |
Citations (7)
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---|---|---|---|---|
CN102440854A (zh) * | 2011-09-05 | 2012-05-09 | 中国人民解放军总后勤部军需装备研究所 | 一种人机耦合重载携行***装置及其控制方法 |
CN103083027A (zh) * | 2013-01-10 | 2013-05-08 | 苏州大学 | 一种基于下肢关节运动信息的步态相位判别方法 |
JP2013208293A (ja) * | 2012-03-30 | 2013-10-10 | Equos Research Co Ltd | 歩行支援装置、及び歩行支援プログラム |
CN103431929A (zh) * | 2013-08-29 | 2013-12-11 | 电子科技大学 | 一种力量增强型动力外骨骼行走步态感知方法及装置 |
CN104582668A (zh) * | 2012-06-15 | 2015-04-29 | 范德比尔特大学 | 行动辅助设备 |
CN104729507A (zh) * | 2015-04-13 | 2015-06-24 | 大连理工大学 | 一种基于惯性传感器的步态识别方法 |
KR20160089791A (ko) * | 2015-01-20 | 2016-07-28 | 한국생산기술연구원 | 보행 단계 인식 시스템, 및 방법 |
-
2016
- 2016-08-22 CN CN201610701250.7A patent/CN106256336B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102440854A (zh) * | 2011-09-05 | 2012-05-09 | 中国人民解放军总后勤部军需装备研究所 | 一种人机耦合重载携行***装置及其控制方法 |
JP2013208293A (ja) * | 2012-03-30 | 2013-10-10 | Equos Research Co Ltd | 歩行支援装置、及び歩行支援プログラム |
CN104582668A (zh) * | 2012-06-15 | 2015-04-29 | 范德比尔特大学 | 行动辅助设备 |
CN103083027A (zh) * | 2013-01-10 | 2013-05-08 | 苏州大学 | 一种基于下肢关节运动信息的步态相位判别方法 |
CN103431929A (zh) * | 2013-08-29 | 2013-12-11 | 电子科技大学 | 一种力量增强型动力外骨骼行走步态感知方法及装置 |
KR20160089791A (ko) * | 2015-01-20 | 2016-07-28 | 한국생산기술연구원 | 보행 단계 인식 시스템, 및 방법 |
CN104729507A (zh) * | 2015-04-13 | 2015-06-24 | 大连理工大学 | 一种基于惯性传感器的步态识别方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113520375A (zh) * | 2021-07-21 | 2021-10-22 | 深圳大学 | 步态相位的划分方法、装置、存储介质及*** |
CN113520375B (zh) * | 2021-07-21 | 2023-08-01 | 深圳大学 | 步态相位的划分方法、装置、存储介质及*** |
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Publication number | Publication date |
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CN106256336B (zh) | 2018-07-31 |
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Effective date of registration: 20170505 Address after: 230031 Shushan Lake Road, Anhui, China, No. 350, No. Applicant after: Hefei Inst. of Matter Sciences, Chinese Academy of Sciences Address before: 230031 Shushan District, Anhui City, Dong Dong Island Applicant before: Hefei Inst. of Matter Sciences, Chinese Academy of Sciences Applicant before: Institute of Advanced Manufacturing Technology |
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Effective date of registration: 20171214 Address after: 213164, room 3, room 307, Changzhou science and Education City, No. 18, Changwu Middle Road, Wujin District, Changzhou, Jiangsu Applicant after: Jiangsu Zhongke winsis Intelligent Robot Technology Co. Ltd. Address before: 230031 Shushan Lake Road, Anhui, China, No. 350, No. Applicant before: Hefei Inst. of Matter Sciences, Chinese Academy of Sciences |
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