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公开(公告)号：US12083064B2
公开(公告)日：2024-09-10
申请号：US17311325
申请日：2020-06-28
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Jianwei Lai , Huijun Li , Jianqing Li , Baoguo Xu , Hong Zeng , Jun Zhang
IPC: A61H1/02
CPC classification number: A61H1/0288 , A61H2201/1207 , A61H2201/165 , A61H2201/1659
Abstract: A exoskeleton finger rehabilitation training device includes an exoskeleton finger rehabilitation training mechanism including a supporting base, a finger sleeve actuating mechanism, and a finger joint sleeve connected to a power output end of the finger sleeve actuating mechanism, wherein the finger joint sleeve can be sheathed at the periphery of a finger joint to be rehabilitated, and the finger joint sleeve can be driven by the power actuation of the finger sleeve actuating mechanism to drive the finger joint to be rehabilitated in order to passively bend or stretch; the supporting base includes a profiled shell, with an inner surface of the profiled shell being configured based on the profile of the complete back of a palm or part of the back of the palm, and with the back of the profiled shell being provided with a power fixed base.
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公开(公告)号：US11965620B2
公开(公告)日：2024-04-23
申请号：US17635967
申请日：2021-01-04
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Tianyuan Miao , Bincheng Shao , Baoguo Xu , Guangming Song , Bo Xu , Shuang Liu , Jihai Min
IPC: F16L55/28 , B25J11/00 , F16L101/30
CPC classification number: F16L55/28 , B25J11/008 , F16L2101/30
Abstract: The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.
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公开(公告)号：US11920993B1
公开(公告)日：2024-03-05
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.
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14.发明授权公开(公告)号：US11379039B2
公开(公告)日：2022-07-05
申请号：US16977751
申请日：2019-03-21
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Wenbin Zhang , Hong Zeng , Baoguo Xu
Abstract: Brain-computer interface method and system include displaying and providing a motor imagery task to a subject, and collecting a generated digital electroencephalogram signal; reading the digital electroencephalogram signal, performing interception if a preset time period is exceeded, and performing continuous reading if not; performing band-pass filtering, obtaining time-frequency characteristics of the digital electroencephalogram signal, and extracting a frequency value with highest frequency energy as a main frequency; obtaining an instantaneous phase of the digital electroencephalogram signal; generating predicted sine waves by respectively using the main frequency and the instantaneous phase as a frequency and an initial phase of sine waves, and predicting and obtaining real-time phase information; and judging whether the real-time phase is in a vibration stimulation application phase interval, generating and outputting a control instruction, and controlling a vibration motor to vibrate and to stimulate a sensory channel of the subject according to the control instruction.
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公开(公告)号：US10994416B2
公开(公告)日：2021-05-04
申请号：US16954207
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Ke Shi , Xinyu Tang , Huijun Li , Baoguo Xu , Hong Zeng
IPC: G06F17/00 , B25J9/16 , A61B5/11 , B25J13/08 , B25J13/02 , G05B19/4155 , G16H20/30 , G16H40/63 , A61B90/00
Abstract: A method for controlling a limb motion intention recognizing and rehabilitation training robot based on force sense information includes: acquiring data of a three-dimensional force and a three-dimensional moment by a six-dimensional force sensor held in a hand; calculating forces and moments produced by a palm, a forearm and an upper arm of a human body according to a constructed human arm model to achieve recognition of limb motion intention; fixing the six-dimensional force sensor on a rocker at an end of the three-degree-of-freedom upper limb rehabilitation training robot, acquiring motion intention of an arm of the human body according to the motion intention recognition method, and controlling the rehabilitation training robot to achieve auxiliary active training under a weak active force.
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Patent Agency Ranking
公开(公告)号：US12271523B2
公开(公告)日：2025-04-08
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.
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公开(公告)号：US12208506B2
公开(公告)日：2025-01-28
申请号：US17920990
申请日：2022-04-01
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Qinjie Ji
Abstract: The present invention discloses a dual-airway bionic snail soft robot, which includes ventral muscular feet, an air pressure controlling device and mucus, wherein the ventral muscular foot includes an upper deformation layer, a lower deformation layer and a strain sensor. Snail ventral muscular feet are simulated by the upper deformation layer and the lower deformation layer to produce wave motion. The strain sensor senses a wave motion state of the soft robot to provide a basis for the air pressure controlling device to output air pressure. In another aspect, snail mucus is replaced with glycerin to produce a suction force and improve crawling efficiency. The designed bionic snail soft robot can move forward, move backward and turn in situ, thereby realizing free movement in a microgravity environment.
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公开(公告)号：US12057224B2
公开(公告)日：2024-08-06
申请号：US18031152
申请日：2022-07-25
Applicant: SOUTHEAST UNIVERSITY
Inventor： Hong Zeng , Qingqing Chen , Xiao Li , Yinxin Duan , Jianxi Zhang , Aiguo Song
CPC classification number: G16H40/63 , A61H1/0274 , G05B13/027 , A61H2201/1659 , A61H2201/5007 , A61H2230/605
Abstract: An adaptive control method and system for an upper limb rehabilitation robot based on a game theory and surface Electromyography (sEMG) is disclosed. A movement trajectory that a robot is controlled to run within a training time is designed during subject operation. An sEMG-based Back Propagation Neural Network (BPNN) muscle force estimation model establishes a nonlinear dynamic relationship between an sEMG signal and end force by constructing a three-layer neural network. A human-computer interaction system is analyzed by the game theory principle, and a role of the robot is deduced. The control rate between the robot and a subject is updated by Nash equilibrium, and adaptive weight factors of the robot and the subject are determined. The robot adaptively adjusts the training mode thereof according to a movement intention of the subject during operation and a weight coefficient obtained by the game theory principle.
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公开(公告)号：US11717461B2
公开(公告)日：2023-08-08
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
CPC classification number: A61H1/0288 , A61H2201/018 , A61H2201/1207 , A61H2201/1463 , A61H2201/5061
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.
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公开(公告)号：US11607815B2
公开(公告)日：2023-03-21
申请号：US17609446
申请日：2021-01-29
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Bincheng Shao , Huijun Li , Hong Zeng , Baoguo Xu
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.
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