An elastic strain sensor can be incorporated into an artificial skin that can sense flexing by the underlying support structure of the skin to detect and track motion of the support structure. The unidirectional elastic strain sensor can be formed by filling two or more channels in an elastic substrate material with a conductive liquid. At the ends of the channels, a loop port connects the channels to form a serpentine channel. The channels extend along the direction of strain and the loop portions have sufficiently large cross-sectional area in the direction transverse to the direction of strain that the sensor is unidirectional. The resistance is measured at the ends of the serpentine channel and can be used to determine the strain on the sensor. Additional channels can be added to increase the sensitivity of the sensor. The sensors can be stacked on top of each other to increase the sensitivity of the sensor. In other embodiments, two sensors oriented in different directions can be stacked on top of each other and bonded together to form a bidirectional sensor. A third sensor formed by in the shape of a spiral or concentric rings can be stacked on top and used to sense contact or pressure, forming a three dimensional sensor. The three dimensional sensor can be incorporated into an artificial skin to provide advanced sensing.

Artificial skin and elastic strain sensor

Internet-of-things based medical management monitoring system

Object pose estimation is of great importance to many applications, such as augmented reality, localization and mapping, motion capture, and visual servoing. Although many approaches based on a monocular camera have been proposed, only a few works have concentrated on applying multicamera sensor fusion techniques to pose estimation. Higher accuracy and enhanced robustness toward sensor defects or failures are some of the advantages of these schemes. This paper presents a new Kalman-based sensor fusion approach for pose estimation that offers higher accuracy and precision, and is robust to camera motion and image occlusion, compared to its predecessors. Extensive experiments are conducted to validate the superiority of this fusion method over currently employed vision-based pose estimation algorithms.

A Robust Vision-Based Sensor Fusion Approach for Real-Time Pose Estimation

Systems for machine-based rehabilitation of movement disorders including gait therapy applications can apply controlled forces to the pelvis and/or other body parts including knee and ankle joints. Cable-driven systems for gait therapy applications can apply controlled forces to, in respective embodiments, the pelvis and the pelvis, knee and ankle joints. In further embodiments, systems for gait therapy can be treadmill-based or walker-based. In embodiments, a controlled downforce is applied to the hip with augmentation including supportive forces. In further embodiments, the technology is activated through cables that provide support and limb-flexing moments with low inertia and friction resistance. In further embodiments, assistance is configured for gait therapy in children. In still further embodiments, methods of rehabilitation and assist-as-needed (AAN) control of the gait therapy systems facilitate a patient's ability to coordinate movement, control balance, achieve strength, and other beneficial outcomes.

Human movement research, therapeutic, and diagnostic devices, methods, and systems

The invention relates to a fall monitoring and warning method which comprises the following steps of: continuously acquiring at least two kinds of data in acceleration data, body angle data and plantar pressure data of a human body simultaneously; judging whether the acquired at least two kinds of data simultaneously meet the following corresponding conditions that: the acceleration is greater than a set acceleration threshold, the body angle is greater than a tilting angle threshold, and the plantar pressure is smaller than a pressure threshold; and if the conditions are met, starting to warm The information acquired by a three-axis accelerometer, an attitude sensor and a pressure acquisition module is merged, the fall state can be judged more comprehensively, the accuracy degree of judgment is increased, and false judgment is reduced

Method and system for fall monitoring and warning

The invention relates to a human body tumbling automatic detecting and alarming device and an information processing method thereof. The human body tumbling automatic detecting and alarming device comprises a moving device and a long-distance alarm processing terminal, wherein the moving device comprises a central information processor, the input end of the central information processor is electrically connected with a triaxial acceleration transducer by an A/D converter; three-dimensional acceleration information of upper trunks of a user are collected and are fused, and the impact of the human body and upper trunk inclination angle before and after the impact are integrated to judge whether the human body tumbles; when the impact which is used for judging a tumbling level is generated, the acceleration which is greater than or equal to a threshold value of 3.5g is used as a standard; and if the user tumbles or needs help, the tumbling information is transmitted to the long-distance alarm processing terminal. The human body tumbling automatic detecting and alarming device has the characteristics of high detection rate and low misjudge rate for human body tumbling detection, has effect on detecting multiple-impact type tumbling and rolling type tumbling and can be used for rescue operations after the bumble of old people, patients, danger operating personnel, and the like.

Human body tumbling automatic detecting and alarming device and information processing method thereof

Gait rehabilitation training robot

The invention relates to an automatic detection alarming system for falling over of human body and an information processing method thereof; the system is composed of a wearable detection device and a base station; the wearable detection device comprises a three-axis acceleration sensor, a two-axis angular rate sensor, an A/D, an information processing device and a wireless signal emission device; the base station comprises a signal receiving device and an alarming device; the wearable detection device is wore on the trunk part of the human body, the relative kinesiology and kinetics information is collected and is fused, so as to judge whether human body activity has falling over action; if a wearer falls over and needs to be helped, the falling-over information is transmitted to the base station, and the base station transmits a message for help to relevant departments or related personnel after receiving a wireless signal. The automatic detection alarming system has the characteristics of high detectable rate and low false rate, so as to judge the falling over of the human body and provide rescue for the old, patients, dangerous operating personnel who fall over.

Information processing method of automatic detection alarming system for falling over of human body

The invention discloses a wearable robot for detecting and suppressing tremor of human arms and a method for suppressing the tremor thereof. The robot comprises a wearable exoskeleton system, a tremor excitation system, a tremor movement detection system and a signal processing and control system. The invention provides a comprehensively utilized 'three closed loop' mixed tremor suppression strategy based on the biological force loading technology and the functional neuromuscular stimulation technology. When the tremor patients carry out daily activities such as writing, raising arms and the like, the tremor movement detection system senses the movement information of the arms and isolates tremor movement signals from normal movement signals through the 'two-stage' adaptive prediction filtering algorithm; the 'three closed loop' tremor movement suppression control strategy is adopted to respectively control a functional neuromuscular stimulation device and a DC motor system to generate tremor movement with the same amplitude and 'opposite' phase positions so as to achieve the aim of suppressing arm tremor of the patients and improve the quality of lives of the tremor patients.

Wearable robot for detecting and suppressing tremor of human arms and method for suppressing tremor thereof

The invention discloses an ultra-thin six-dimensional force sensor and a method for measuring the three-dimensional force and the three-dimensional moment information of the ultra-thin six-dimensional force sensor The ultra-thin six-dimensional force sensor is as follows: an upper E-shaped diaphragm and a lower E-shaped diaphragm which are parallel to each other are connected to the outer wall of a force transfer column (1); an upper inner ring cylinder and an upper outer ring cylinder are connected to the upper E-shaped diaphragm to form an upper E-shaped membrane (4); assembly screw holes are distributed on the upper outer ring cylinder and taken as loading rings; thin rectangular sheet metals which are distributed at intervals of 90 DEG C are connected between the upper inner ring cylinder and the upper outer ring cylinder; and a lower inner ring cylinder and a lower outer ring cylinder are connected to the lower E-shaped diaphragm to form a lower E-shaped membrane (5) The sensoradopts two E-shaped diaphragms and four thin rectangular sheet metals as force sensing elements, and pastes 24 strain gauges on adequate positions of the force sensing elements to form six groups of Wheatstone bridges, so as to realize simultaneous measurement of the six-dimensional force and simultaneously acquire the six-dimensional force information under various concrete application situations The ultra-thin six-dimensional force sensor has small coupling between dimensions, high precision and good dynamic property, can automatically eliminate the temperature influence, and is applied tovarious application situations

Yunjian Ge

Papers

Human body tumbling automatic detecting and alarming device and information processing method thereof

Gait rehabilitation training robot

Information processing method of automatic detection alarming system for falling over of human body

Wearable robot for detecting and suppressing tremor of human arms and method for suppressing tremor thereof

Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information