CN111658246A - Intelligent joint prosthesis regulating and controlling method and system based on symmetry - Google Patents
Intelligent joint prosthesis regulating and controlling method and system based on symmetry Download PDFInfo
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- CN111658246A CN111658246A CN202010425034.0A CN202010425034A CN111658246A CN 111658246 A CN111658246 A CN 111658246A CN 202010425034 A CN202010425034 A CN 202010425034A CN 111658246 A CN111658246 A CN 111658246A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/604—Joints for artificial legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention provides an intelligent joint prosthesis regulating method and system based on symmetry, which comprises the following steps: acquiring residual limb movement information and healthy limb movement information symmetrical to the residual limb through a sensor, respectively acquiring a residual limb movement track and a healthy limb movement track according to the residual limb movement information and the healthy limb movement information, and calculating a symmetry factor between the residual limb and the healthy limb based on the residual limb movement track and the healthy limb movement track; obtaining a target posture of the residual limb according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculating the current posture of the residual limb according to the residual limb motion track, obtaining a control parameter of a prosthetic joint motor positioned on the residual limb by inputting the current posture and the target posture into a control model, and regulating and controlling joint operation of the prosthetic joint by using the control parameter. The invention uses symmetry as an optimization target to adjust the control parameters of the intelligent artificial limb, thereby not needing to identify the terrain in advance.
Description
Technical Field
The invention relates to the technical field of artificial limb (prosthesis) bionics, in particular to a symmetry-based intelligent joint prosthesis regulating method and system.
Background
At present, the intelligent artificial limb mainly comprises the following technologies:
the damping intelligent regulation and control technology of the passive joint. The main control principle is that the current walking pace of a wearer can be calculated in real time through the information of a sensor worn in an artificial limb joint or on a healthy limb, the pace is divided into a plurality of grades, and an executing mechanism is automatically controlled according to the pace speed to provide different parameter settings for damping of a pneumatic cylinder, so that the swing speed of a swing phase is in accordance with the walking speed of the wearer, and the gait is more natural;
the bionic motion control technology of active joint. The active power can be provided during some strenuous actions under complex road conditions, so that the wearer can walk more laborsavingly;
an intelligent control technology based on human body biological information. Collecting biological signals such as brain and muscle electricity and the like which can intuitively reflect the movement intention of a person, and controlling joints through a microprocessor to achieve corresponding flexion and extension damping.
However, the prior art has the following defects:
1. the damping of the passive artificial limb can not be adjusted at any time in the process of walking or other applications to the artificial limb joint, so the speed change adaptability is poor, and the patient is easy to fatigue;
2. the active mode mainly adopts a motor as a driving device, and the motor needs to continuously run in the joint movement process, so that the power consumption is extremely high, and the problem of a power supply is difficult to break through;
3. the electromyography collection method for the disabled has large individual difference and poor accuracy of control and identification, so that the human body biological information is not used in a large scale.
4. For the conversion of other conditions such as terrain, the existing artificial limb has poor adaptivity and cannot change the conversion strategy.
5. The existing invention does not consider the evaluation standard of symmetry.
6. The prior art has no prediction mechanism for human body action.
Therefore, the scheme provides an intelligent joint prosthesis adjusting mechanism based on symmetry.
Disclosure of Invention
The invention aims to fully utilize various information of a human body, including but not limited to physical information, physiological information, symmetry information and the like, and provides an intelligent joint prosthesis regulating mechanism based on symmetry.
Aiming at the defects of the prior art, the invention provides a symmetry-based intelligent joint prosthesis regulation and control method, which comprises the following steps:
step 1, acquiring motion information of a residual limb and motion information of a healthy limb symmetrical to the residual limb through a sensor, respectively acquiring a motion track of the residual limb and a motion track of the healthy limb according to the motion information of the residual limb and the motion information of the healthy limb, and calculating a symmetry factor between the residual limb and the healthy limb based on the motion track of the residual limb and the motion track of the healthy limb;
and 2, obtaining a residual limb target posture according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculating the current posture of the residual limb according to the residual limb motion track, inputting the current posture and the target posture into a control model to obtain control parameters of a prosthetic joint motor positioned on the residual limb, and regulating and controlling the joint operation of the prosthetic joint by using the control parameters.
The intelligent joint prosthesis regulating and controlling method based on symmetry comprises the following steps that the sensors comprise an inertial sensor and a pressure sensor, and the pressure sensor is used for calibrating data drift of the inertial sensor.
The intelligent joint prosthesis regulating and controlling method based on symmetry comprises the steps of damping regulation of an air cylinder in a joint of the prosthesis and power regulation of a motor.
The intelligent joint prosthesis regulating and controlling method based on symmetry trains a neural network model by taking the symmetry factor as a loss function to obtain the control model.
The intelligent joint prosthesis regulating and controlling method based on symmetry comprises the following steps of: respectively integrating the acceleration data in the residual limb movement information and the healthy limb movement information to obtain a residual limb displacement vector and a healthy limb displacement vector, taking the posture when the artificial limb pressure is maximum as a reference posture, and integrating the residual limb displacement vector and the healthy limb displacement vector to obtain the current posture of the residual limb.
The invention also discloses an intelligent joint prosthesis regulating and controlling system based on symmetry, which comprises:
the module 1 acquires motion information of a residual limb and motion information of a healthy limb symmetrical to the residual limb through a sensor, respectively acquires a motion track of the residual limb and a motion track of the healthy limb according to the motion information of the residual limb and the motion information of the healthy limb, and calculates a symmetry factor between the residual limb and the healthy limb based on the motion track of the residual limb and the motion track of the healthy limb;
the module 2 obtains a target posture of the residual limb according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculates the current posture of the residual limb according to the healthy limb motion track, obtains a control parameter of a prosthetic joint motor positioned on the residual limb by inputting the current posture and the target posture into a control model, and regulates and controls the joint operation of the prosthetic joint by using the control parameter.
The intelligent joint prosthesis regulating and controlling system based on symmetry comprises an inertial sensor and a pressure sensor, wherein the pressure sensor is used for calibrating data drift of the inertial sensor.
The intelligent joint prosthesis regulating and controlling system based on symmetry comprises a damping regulation system of a cylinder in a joint of the prosthesis and a power regulation system of a motor.
The intelligent joint prosthesis regulating and controlling system based on symmetry trains a neural network model by taking the symmetry factor as a loss function to obtain the control model.
The intelligent joint prosthesis regulating and controlling system based on symmetry, wherein the module 2 comprises: respectively integrating the acceleration data in the residual limb movement information and the healthy limb movement information to obtain a residual limb displacement vector and a healthy limb displacement vector, taking the posture when the artificial limb pressure is maximum as a reference posture, and integrating the residual limb displacement vector and the healthy limb displacement vector to obtain the current posture of the residual limb.
According to the scheme, the invention has the advantages that:
compared with the prior art, the invention provides a new adjusting mechanism to improve the asymmetry of a prosthesis wearer, reduce the degeneration of muscles and bones of an amputation part and enable the prosthesis to have higher bionic property. And the symmetry is used as an optimization target to adjust the control parameters of the intelligent artificial limb, so that the terrain does not need to be identified in advance.
Drawings
FIG. 1 is a flow chart of the control of the prosthesis according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
For unilateral amputees, the normal area corresponding symmetrically to the prosthesis is always closer to a healthy person than the prosthesis. The human body has a great deal of symmetry, including but not limited to gait symmetry. Meanwhile, the joints with symmetry are many, including but not limited to knee joints, ankle joints and hip joints. One prominent feature of a normal gait is the symmetry of motion. The reflection of a particular or abnormal condition on the overall characteristics of gait is a disruption of the symmetry of movement. The biological signals (including but not limited to the brain and muscle electricity) can visually reflect the movement intention of the human body, and are good control information for intelligent equipment such as artificial limbs needing to be closely matched with the human body before actions occur.
Prostheses can be divided into active prostheses, passive prostheses and semi-active prostheses, depending on the implementation of the torque. Wherein, the traditional artificial limb mainly uses a passive artificial limb. During the supporting period, energy is stored through the elastic element (spring) and the energy storage element (hydraulic cylinder and air cylinder), and meanwhile certain damping is given, so that the stability of supporting is ensured. During the swing period, energy is released to realize the flexion and extension of the joint.
The intelligent artificial limb mainly comprises an active artificial limb and a semi-active artificial limb. The intelligent artificial limb is often provided with a plurality of sensors, and the sensors are used for collecting information and detecting gait parameters of human walking. Then the joint is controlled by the microprocessor to achieve corresponding flexion and extension damping. The movement is carried out according to the change of external conditions, and certain active adaptability is realized.
The invention comprises the following key points:
at key point 1, various sensors are used to acquire physical, physiological, and symmetry information of the wearer. The sensors include, but are not limited to, angle sensors, torque sensors, position sensors, and the like.
In the key point 2, corresponding sensors are also added to the symmetric limb parts of the wearer, or the physical information, the physiological information and the symmetry information of the symmetric limb.
And a key point 3, evaluating the current state of the wearer in real time through an evaluation system, wherein the evaluation mechanism of the evaluation system comprises the limb symmetry of the wearer.
And the key point 4 is used for adjusting the control of the artificial limb in real time according to the evaluation made by the evaluation system. Wherein the control of the prosthesis includes, but is not limited to, damping adjustment and dynamic adjustment.
In order to make the aforementioned features and effects of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
One prominent feature of a person's normal gait is the symmetry of motion. The reflection of a particular or abnormal condition on the overall characteristics of gait is a disruption of walking symmetry. The evaluation system is therefore implemented with gait symmetry.
The invention uses symmetry as an optimization target to adjust the control parameters of the intelligent artificial limb, thereby not needing to identify the terrain in advance.
The prosthetic control flow is shown in figure 1. Based on sensor information (including but not limited to inertial measurement unit IMU, pressure sensors), the motion trajectories of the residual and healthy limbs are restored, respectively. Based on the two motion trajectories, two-limb symmetry factors are calculated, and thus the target pose of the residual limb is calculated. Meanwhile, the current posture of the residual limb can be obtained based on the recovered motion trail of the residual limb. The current posture and the target posture of the residual limb are input into the learning model, and the control parameters of the current motor can be obtained. The learning model can be obtained through simulation, experiment and the like. FIG. 2 is an example system. IMUs are respectively arranged on thighs and crus of two limbs, and pressure sensors are arranged on two soles. And restoring the motion tracks of the two limbs through the acceleration and angular velocity information of the IMU. The IMU data drift can be calibrated by pressure sensors on both soles.
The method for calculating the current posture of the residual limb comprises the following steps: since IMU data drift is calibrated, a displacement vector can be obtained by integrating IMU acceleration data. The vertical posture when the pressure of the sole is maximum can be used as a reference posture, and the displacement vectors of the two IMUs are integrated to obtain the current residual limb posture.
The following are system examples corresponding to the above method examples, and this embodiment can be implemented in cooperation with the above embodiments. The related technical details mentioned in the above embodiments are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the above-described embodiments.
The invention also discloses an intelligent joint prosthesis regulating and controlling system based on symmetry, which comprises:
the module 1 acquires motion information of a residual limb and motion information of a healthy limb symmetrical to the residual limb through a sensor, respectively acquires a motion track of the residual limb and a motion track of the healthy limb according to the motion information of the residual limb and the motion information of the healthy limb, and calculates a symmetry factor between the residual limb and the healthy limb based on the motion track of the residual limb and the motion track of the healthy limb;
the module 2 obtains a target posture of the residual limb according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculates the current posture of the residual limb according to the healthy limb motion track, obtains a control parameter of a prosthetic joint motor positioned on the residual limb by inputting the current posture and the target posture into a control model, and regulates and controls the joint operation of the prosthetic joint by using the control parameter.
The intelligent joint prosthesis regulating and controlling system based on symmetry comprises an inertial sensor and a pressure sensor, wherein the pressure sensor is used for calibrating data drift of the inertial sensor.
The intelligent joint prosthesis regulating and controlling system based on symmetry comprises a damping regulation system of a cylinder in a joint of the prosthesis and a power regulation system of a motor.
The intelligent joint prosthesis regulating and controlling system based on symmetry trains a neural network model by taking the symmetry factor as a loss function to obtain the control model.
The intelligent joint prosthesis regulating and controlling system based on symmetry, wherein the module 2 comprises: respectively integrating the acceleration data in the residual limb movement information and the healthy limb movement information to obtain a residual limb displacement vector and a healthy limb displacement vector, taking the posture when the artificial limb pressure is maximum as a reference posture, and integrating the residual limb displacement vector and the healthy limb displacement vector to obtain the current posture of the residual limb.
Claims (10)
1. An intelligent joint prosthesis regulating and controlling method based on symmetry is characterized by comprising the following steps:
step 1, acquiring motion information of a residual limb and motion information of a healthy limb symmetrical to the residual limb through a sensor, respectively acquiring a motion track of the residual limb and a motion track of the healthy limb according to the motion information of the residual limb and the motion information of the healthy limb, and calculating a symmetry factor between the residual limb and the healthy limb based on the motion track of the residual limb and the motion track of the healthy limb;
and 2, obtaining a residual limb target posture according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculating the current posture of the residual limb according to the residual limb motion track, inputting the current posture and the target posture into a control model to obtain control parameters of a prosthetic joint motor positioned on the residual limb, and regulating and controlling the joint operation of the prosthetic joint by using the control parameters.
2. An intelligent symmetry-based joint prosthesis regulation method as claimed in claim 1 wherein the sensors include inertial sensors and pressure sensors, the pressure sensors being used to calibrate data drift of the inertial sensors.
3. An intelligent symmetry-based joint prosthesis regulation method as claimed in claim 1 wherein the control parameters include damping adjustment of a cylinder in the joint of the prosthesis and power adjustment of a motor.
4. An intelligent symmetry-based joint prosthesis regulation method as claimed in claim 1 wherein the control model is obtained by training a neural network model with the symmetry factor as a loss function.
5. An intelligent symmetry-based joint prosthesis regulation method as claimed in claim 1 wherein step 2 comprises: respectively integrating the acceleration data in the residual limb movement information and the healthy limb movement information to obtain a residual limb displacement vector and a healthy limb displacement vector, taking the posture when the artificial limb pressure is maximum as a reference posture, and integrating the residual limb displacement vector and the healthy limb displacement vector to obtain the current posture of the residual limb.
6. An intelligent joint prosthesis regulatory system based on symmetry, comprising:
the module 1 acquires motion information of a residual limb and motion information of a healthy limb symmetrical to the residual limb through a sensor, respectively acquires a motion track of the residual limb and a motion track of the healthy limb according to the motion information of the residual limb and the motion information of the healthy limb, and calculates a symmetry factor between the residual limb and the healthy limb based on the motion track of the residual limb and the motion track of the healthy limb;
the module 2 obtains a target posture of the residual limb according to a healthy limb motion track corresponding to the last walking cycle of the healthy limb, calculates the current posture of the residual limb according to the healthy limb motion track, obtains a control parameter of a prosthetic joint motor positioned on the residual limb by inputting the current posture and the target posture into a control model, and regulates and controls the joint operation of the prosthetic joint by using the control parameter.
7. An intelligent, symmetry-based joint prosthesis regulatory system as claimed in claim 1, wherein the sensors include inertial sensors and pressure sensors, the pressure sensors being used to calibrate data drift of the inertial sensors.
8. An intelligent symmetry-based joint prosthesis manipulation system according to claim 6, wherein the control parameters include damping adjustments of cylinders and power adjustments of motors in the joints of the prosthesis.
9. An intelligent symmetry-based joint prosthesis regulation system as claimed in claim 6 wherein the control model is derived by training a neural network model with the symmetry factor as a loss function.
10. An intelligent symmetry-based joint prosthesis manipulation system according to claim 6, wherein module 2 comprises: respectively integrating the acceleration data in the residual limb movement information and the healthy limb movement information to obtain a residual limb displacement vector and a healthy limb displacement vector, taking the posture when the artificial limb pressure is maximum as a reference posture, and integrating the residual limb displacement vector and the healthy limb displacement vector to obtain the current posture of the residual limb.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113499173A (en) * | 2021-07-09 | 2021-10-15 | 中国科学技术大学 | Real-time instance segmentation-based terrain recognition and motion prediction system for lower limb prosthesis |
| CN113520683A (en) * | 2021-07-08 | 2021-10-22 | 中国科学技术大学 | Lower limb prosthesis control system and method based on simulation learning |
| CN117442398A (en) * | 2023-12-22 | 2024-01-26 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
| CN117442397A (en) * | 2023-12-22 | 2024-01-26 | 浙江强脑科技有限公司 | Intelligent artificial limb movement effect evaluation method, device, terminal and storage medium |
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| CN117442398B (en) * | 2023-12-22 | 2024-04-09 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
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