公开(公告)号：US20210346225A1

公开(公告)日：2021-11-11

申请号：US16970631

申请日：2020-06-12

Applicant: SOUTHEAST UNIVERSITY

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

IPC: A61H1/02 ,  A63B21/00 ,  A63B23/12

Abstract: A robot system for active and passive upper limb rehabilitation training based on a force feedback technology includes a robot body and an active and passive training host computer system. Active and passive rehabilitation training may be performed at degrees of freedom such as adduction/abduction and flexion/extension of left and right shoulder joints, and flexion/extension of left and right elbow joints according to a condition of a patient. In a passive rehabilitation training mode, the robot body drives the upper limb of the patient to move according to a track specified by the host computer, to gradually restore a basic motion function of the upper limb. In an active rehabilitation training mode, the patient holds the tail ends of the robot body with both hands to interact with a rehabilitation training scene, and can feel real and accurate force feedback.

公开(公告)号：US20210333877A1

公开(公告)日：2021-10-28

申请号：US17271207

申请日：2019-03-21

Applicant: SOUTHEAST UNIVERSITY

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

IPC: G06F3/01

Abstract: A flexible finger-wearable haptic feedback device includes a fingertip sleeve sheathing a distal phalanx of a finger, a middle sleeve sheathing a middle phalanx of the finger, a proximal sleeve sheathing a proximal phalanx of the finger, outer and inner transmission rods having bending elasticity. The outer transmission rod is fixed on the fingertip sleeve at one end, positioned at a back of a hand at the other end and connected with an outer driver. The inner transmission rod is fixed on the fingertip sleeve at one end, positioned at a palm at the other end and connected with an inner driver. The fingertip sleeve is provided with first and second contact pressure sensors respectively connected with the ends of the outer and inner transmission rods, and an inner wall of the fingertip finger sleeve contacting the finger is provided with a film pressure sensor.

公开(公告)号：US20210293642A1

公开(公告)日：2021-09-23

申请号：US16973690

申请日：2020-04-22

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Shuyan YANG ,  Baoguo XU ,  Ming WEI ,  Chunhui WANG ,  Fan LI ,  Yuhua YAO ,  Yanjun LI ,  Suinan ZHANG ,  Qiong JIN

IPC: G01L5/1627 ,  G01L1/22

Abstract: The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.

公开(公告)号：US20210173540A1

公开(公告)日：2021-06-10

申请号：US16768636

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Mingxin LENG ,  Huijun LI ,  Hong ZENG ,  Baoguo XU ,  Lifeng ZHU

IPC: G06F3/041 ,  G06F3/0354 ,  G06F3/044

Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.

公开(公告)号：US20190323816A1

公开(公告)日：2019-10-24

申请号：US16467032

申请日：2018-05-23

Applicant: Southeast University

Inventor： Aiguo SONG ,  Mingxin LENG ,  Baoguo XU ,  Huijun LI

IPC: G01B7/00 ,  G01L1/22 ,  G01L5/16 ,  G01R33/07 ,  G01D11/24

Abstract: A whisker sensor includes an upper circuit board, a lower circuit board, a flexible whisker, and a magnet. The magnet is fixed to the flexible whisker through a central through hole, and the location of the magnet changes with the swinging of the whisker; the upper and lower circuit boards are identical in shape and size, and are connected through an upright column. A circular hole is formed at the center of the upper circuit board, four Hall sensors are symmetrically distributed on the edge of the circular hole, and the displacement of the whisker in X and Y directions can be obtained by detecting the change in magnetic field generated by the change in location of the magnet; a contact sensor is mounted on the lower circuit board, and is connected to the whisker through a connecting piece, to detect displacement of the whisker in the Z direction.

公开(公告)号：US20250083311A1

公开(公告)日：2025-03-13

申请号：US18827825

申请日：2024-09-08

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo XU ,  Jiajin WANG ,  Xin WANG ,  Weifeng PENG ,  Aiguo SONG

IPC: B25J9/16

Abstract: Disclosed is an optimization modeling and robust control method for a soft robot based on a fusion prediction equation, including the following steps: deriving measurement coordinates based on the fusion prediction equation; designing an observation function based on the measurement coordinates; identifying a Koopman model based on the observation function; and designing a robust model predictive controller based on the Koopman model. Further disclosed are a fusion prediction equation and a derivation method thereof, which can derive correct, abundant but non-redundant measurement coordinates, overcoming the problem of single measurement coordinates in a soft robot system, thereby being conducive to simplifying a design process of the observation function and further improving the accuracy of the Koopman model for the soft robot.

公开(公告)号：US20250076986A1

公开(公告)日：2025-03-06

申请号：US18817208

申请日：2024-08-27

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo XU ,  Xin WANG ,  Jiajin WANG ,  Aiguo SONG

IPC: G06F3/01 ,  G06V10/80

Abstract: Disclosed are an affective haptic regulation system and method based on multimodal fusion, including a haptic optimal parameter adjustment module, a haptic generation module, a visual-auditory generation module, a multi-physiological signal acquisition module, a multi-sensory signal acquisition module, and a multimodal fusion emotion recognition module. The system can fuse multi-physiological signal features with audio and haptic modal features by acquiring a plurality of physiological signals of a user, accurately identify a current affective state of the user in real time through advanced data processing and analysis technology, seek for a haptic parameter with the help of an optimization theory, and achieve proactive regulation of affective state of the user; and the system can overcome the limitations of traditional subjective scale methods, effectively reduce the influence of unstable physiological signals on emotion recognition results, and significantly improve the accuracy of affective detection in the affective haptic regulation system.

公开(公告)号：US20250076981A1

公开(公告)日：2025-03-06

申请号：US18634995

申请日：2024-04-14

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo XU ,  Qianqian LU ,  Weifeng PENG ,  Aiguo SONG

IPC: G06F3/01

Abstract: Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

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：US20240206728A1

公开(公告)日：2024-06-27

申请号：US18022758

申请日：2022-06-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Xiao LI ,  Qingqing CHEN ,  Jianxi ZHANG ,  Aiguo SONG

IPC: A61B3/113 ,  A63B22/00 ,  G16H20/30

CPC classification number: A61B3/113 ,  A63B22/00 ,  G16H20/30 ,  A63B2022/0092

Abstract: A robot-assisted hand-eye coordination training system based on a smooth pursuit eye movement and a guidance force field includes a virtual interactive scene module, a smooth pursuit eye movement detection module, a robot-assisted interception module and an impact force rendering module. The virtual interactive scene module can generate a virtual interactive scene having a virtual moving object and a virtual handle agent. The smooth pursuit eye movement detection module collects an eye movement signal of a user when the user performs pursuit eye movements on the virtual moving object to detect a smooth pursuit eye movement event. The robot-assisted interception module estimates a movement direction of the virtual moving object, generates an interception and guidance force field, and therefore generates assisting force to assist the user in interception. The impact force rendering module generates impact force according to an impact force computation model after collision is detected.