公开(公告)号：US20240328872A1

公开(公告)日：2024-10-03

申请号：US18649980

申请日：2024-04-29

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Yuhan CHEN ,  Jingjing XU ,  Baoguo XU ,  Huijun LI

IPC: G01L1/22 ,  G01L1/20

CPC classification number: G01L1/2206 ,  G01L1/205

Abstract: A combined six-dimensional force sensor based on thin-film sputtering technology includes a force transmission table, a cross beam, a base, a top cover, a bottom cover and strain gauges. Strain gauges are sputtered on the elastomer structure to form six sets of Wheatstone bridges. The measurement method of the six-dimensional force sensor is that: an input force/moment of a certain dimension acts on the elastomer structure including the force transmission table and the cross beam through the top cover, the cross beam is deformed and resistance values of strain gauges at corresponding positions change, and output voltages of corresponding bridges change.

公开(公告)号：US20220314458A1

公开(公告)日：2022-10-06

申请号：US17609446

申请日：2021-01-29

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Bincheng SHAO ,  Huijun LI ,  Hong ZENG ,  Baoguo XU

IPC: B25J13/02 ,  B25J13/08

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.

公开(公告)号：US20220281112A1

公开(公告)日：2022-09-08

申请号：US17637265

申请日：2020-04-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Chaolong QIN ,  Yu ZHAO ,  Linhu WEI ,  Huijun LI ,  Hong ZENG

IPC: B25J9/16 ,  B25J11/00 ,  B25J13/06 ,  G06F3/0488 ,  G06F3/0484 ,  G05B19/4155

Abstract: A virtual reality-based caregiving machine control system includes a visual unit, configured to obtaining environmental information around a caregiving machine, and transmitting the environmental information to a virtual scene generation unit and a calculation unit; the calculation unit, configured to receiving control instructions for the caregiving machine, and obtaining, by calculation according to the environmental information, an action sequence of executing the control instructions by the caregiving machine; the virtual scene generation unit, configured to generating a virtual reality scene from the environmental information, and displaying the virtual reality scene on a touch display screen in combination with the action sequence; and the touch display screen, configured to receiving a touch screen adjusting instruction for the action sequence and feeding back same to the calculation unit for execution, and receiving a confirmation instruction for the action sequence.

公开(公告)号：US20210401657A1

公开(公告)日：2021-12-30

申请号：US17293448

申请日：2019-03-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jianwei LAI ,  Huijun LI ,  Hong ZENG ,  Baoguo XU

IPC: A61H1/02

Abstract: A palm-supported finger rehabilitation training device comprises a mounting base, a finger rehabilitation training mechanism mounted on the mounting base, and a driving mechanism for driving the finger rehabilitation training mechanism; wherein the finger rehabilitation training mechanism comprises four independent and structurally identical combined transmission devices for finger training corresponding to a forefinger, a middle finger, a ring finger and a little finger of a human hand, respectively, and the mounting base is provided with a supporting surface capable of supporting a human palm; wherein each combined transmission device for finger training comprises an MP movable chute, a PIP fingerstall, a DIP fingerstall and a connecting rod transmission mechanism; a force sensor is provided to acquire force feedback information to determine and control force stability, and a space sensor is provided to acquire space angle information to control space positions of fingers in real time.

公开(公告)号：US20200073472A1

公开(公告)日：2020-03-05

申请号：US16467984

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Huanhuan QIN ,  Huijun LI ,  Baoguo XU ,  Hong ZENG

IPC: G06F3/01 ,  G08B6/00

Abstract: The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.

公开(公告)号：US20240328876A1

公开(公告)日：2024-10-03

申请号：US18648462

申请日：2024-04-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jingjing XU ,  Yuhan CHEN ,  Baoguo XU ,  Huijun LI

IPC: G01L1/22

CPC classification number: G01L1/2287

Abstract: A six-dimensional force sensor elastomer structure based on improved cross beam includes main beams, first floating beams, second floating beams, square corners and thin film strain gauges. Strain gauges are sputtered on the main beams and the first floating beams to form a plurality of sets of Wheatstone bridges. When an input force/moment of a certain dimension acts on the center of an elastomer, the sensor is deformed and resistance values of strain gauges at corresponding positions change, so that output voltages of corresponding bridges are changed.

公开(公告)号：US20240328873A1

公开(公告)日：2024-10-03

申请号：US18655303

申请日：2024-05-05

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jingjing XU ,  Yuhan CHEN ,  Baoguo XU ,  Huijun LI

IPC: G01L1/22

CPC classification number: G01L1/2206 ,  G01L1/2262 ,  G01L1/2287

Abstract: A combined structure for thin film sputtering high-precision six-dimensional force sensor includes a cross beam, a double U-shaped beam, a base, a top cover, a bottom cover and thin film strain gauges. Strain gauges are sputtered on the main beam to form six sets of Wheatstone bridges, with three sets on the cross beam and three sets on the double U-shaped beam. The measurement method of the six-dimensional force sensor is that: an input force/moment of a certain dimension acts on the center of the cross beam and the center of the double U-shaped beam, so that the sensor is deformed and resistance values of strain gauges at corresponding positions change, thereby changing output voltages of corresponding bridges.

公开(公告)号：US20240094072A1

公开(公告)日：2024-03-21

申请号：US18025186

申请日：2022-05-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jingjing XU ,  Shuyan YANG ,  Baoguo XU ,  Huijun LI ,  Ruqi MA

IPC: G01L1/18 ,  G01L5/1627

CPC classification number: G01L1/18 ,  G01L5/1627

Abstract: A miniature combined multi-axis force sensor structure includes a sensor body, a first shell and a second shell, two horizontal main beams and two vertical main beams are arranged on the periphery of an inner round platform in a cross shape, tail ends of the horizontal main beams and the vertical main beams are each connected to a vertical floating beam, and the horizontal floating beams consist of two thin-walled cambered beams; two ends of the horizontal floating beam are each connected to an outer round platform by means of an annular platform; the sensor body is arranged between the first shell and the second shell; strain gauges are stuck on the horizontal main beams and the vertical main beams to form two Wheatstone bridges; and when force/torque acts on the cross beam, the sensor deforms, and the resistance value of strain gauge at corresponding position changes.

公开(公告)号：US20220111536A1

公开(公告)日：2022-04-14

申请号：US17280305

申请日：2020-04-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Chaolong QIN ,  Jiahang ZHU ,  Linhu WEI ,  Yu ZHAO ,  Huijun LI ,  Baoguo XU

IPC: B25J13/02 ,  G06F3/0338 ,  G06F3/01

Abstract: The present invention discloses a care robot controller, which includes: a controller body that includes slide rails, finger slot sliders and a joystick, wherein the finger slot sliders are movably arranged on the slide rails and configured to receive pressing, and the joystick is configured to control the care robot; a gesture parsing unit configured to parse three-dimensional gestures of the controller body, and control the care robot to perform corresponding actions when the three-dimensional gestures of the controller body are in line with preset gestures; and a tactile sensing unit configured to sense the pressing received by the finger slot sliders and initiate a user mode corresponding to the pressing information, so that the controller body provides corresponding vibration feedback. Thus the user can control the controller efficiently and conveniently, the control accuracy is improved, and effective man-machine interaction is realized.

公开(公告)号：US20210361515A1

公开(公告)日：2021-11-25

申请号：US16969198

申请日：2020-06-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Yiting MO ,  Huanhuan QIN ,  Huijun LI ,  Baoguo XU

IPC: A61H1/02

Abstract: A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.