The disclosure discloses a compensation method for output force of a strength-type intelligent fitness equipment, which relates to the field of intelligent fitness. The method comprises: obtaining the actual output force of the strength-type intelligent fitness equipment; obtaining the friction force of strength-type intelligent fitness equipment; compensating the output force of the strength-type intelligent fitness equipment based on the actual output force and the friction force.

A shaped body including at least one section of a polyurethane foam. The shaped body includes a temperature-regulating device arranged in thermal contact with the at least one section of the polyurethane foam and a control device for the temperature-regulating device adapted to adjust the firmness of the at least one section of the polyurethane foam by alteration of temperature of the at least one section of the polyurethane foam this device being in “S” shape. The shaped body is used as a bed or mattress for promoting sleep in one application.

The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.

The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.

Cosmetic blenders and applicators, and more particularly to a soft, resilient blender system that includes an open-cell memory foam surface component that is easily cleanable or optionally disposable in combination with a core component that is fluid impermeable. Further, variations of the blender provide (i) patterned surface structures for makeup pickup and release together tamping features, (ii) user-controlled variable stiffness surface tamping features, (iii) actuated surface tamping features, (iv) accelerometer controlled surface tamping actuators, (v) wireless communication with smart phones and the like for controlling actuators, recording use and providing users with indications of optimal methods of use, (vi) sensors for sensing skin contacting parameters, and (vii) light and/or thermal emitters for enhancing blending and setting of cosmetic materials.

An apparatus for automatically adjusting tension on a retention member and thereby applying compression or other forces to an object. Sensors may be used to sense changes associated with the object involved or the environment, and an actuator may be included that automatically rotates a rotating member such as a gear or pulley to automatically adjust tension on the retention member. The adjustments in tension may be made performed automatically and many times per second based on control signals from control logic responsive to the sensors.

An apparatus for automatically adjusting tension on a retention member and thereby applying compression or other forces to an object. Sensors may be used to sense changes associated with the object involved or the environment, and an actuator may be included that automatically rotates a rotating member such as a gear or pulley to automatically adjust tension on the retention member. The adjustments in tension may be made performed automatically and many times per second based on control signals from control logic responsive to the sensors.

A system for exerting forces on a user. The system includes a user-mounted device having one or more masses disposed along one or more tracks. The system further includes a processor configured to generate a first actuator control signal to configure a first actuator to move a first mass included in the one or more masses at a first acceleration in a first direction along a first track included in the one or more tracks. The processor is further configured to generate a second actuator control signal to configure at least one of the first actuator and a second actuator to move the first mass at a second acceleration in the first direction along the first track. A magnitude of the first acceleration is above a threshold acceleration, and a magnitude of the second acceleration is below the threshold acceleration.

A system for exerting forces on a user. The system includes a user-mounted device having one or more masses disposed along one or more tracks. The system further includes a processor configured to generate a first actuator control signal to configure a first actuator to move a first mass included in the one or more masses at a first acceleration in a first direction along a first track included in the one or more tracks. The processor is further configured to generate a second actuator control signal to configure at least one of the first actuator and a second actuator to move the first mass at a second acceleration in the first direction along the first track. A magnitude of the first acceleration is above a threshold acceleration, and a magnitude of the second acceleration is below the threshold acceleration.

The present disclosure is intended to provide a buttock wiping device configured so that pressure on the buttocks in wiping can be adjusted and a buttock wiping arm used for the buttock wiping device. The present disclosure relates to a wiping arm whose operation is controlled by a buttock wiping device for wiping the buttocks with a wiping material. The wiping arm includes an arm portion, a head portion configured to press the wiping material against the buttocks, and a force sensor configured to detect force when the wiping material is pressed against the buttocks. The force sensor is a strain gauge, a load cell, or a semiconductor pressure sensor.