-
11.发明授权公开(公告)号：US11680863B2
公开(公告)日：2023-06-20
申请号：US17288534
申请日：2020-07-01
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Shuyan Yang , Baoguo Xu , Huijun Li , Hong Zeng , Lifeng Zhu
CPC classification number: G01L25/00 , G01L1/142 , G01L9/12 , G06F3/044 , G06F3/0418
Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.
-
公开(公告)号：US11409357B2
公开(公告)日：2022-08-09
申请号：US16475384
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Hui Zhang , Yuqing Yu , Huanhuan Qin , Huijun Li , Baoguo Xu
IPC: G06F3/01
Abstract: A natural human-computer interaction system based on multi-sensing data fusion comprises a MEMS anti tracking device, a visual tracking device, a force feedback device and a PC terminal. The MEMS arm tracking device is composed of three sets of independent MEMS sensors for collecting arm joint angle information and measuring an arm motion trajectory. The visual tracking device is composed of a binocular camera for collecting image information and measuring a finger motion trajectory. The force feedback device is mounted in a palm of an operator for providing a feedback force to the finger. The PC terminal comprises a data display module, an arm motion calculating module, an image processing module, a mechanics calculating module and a virtual scene rendering module. The system tracks the arm motion trajectory and the finger motion trajectory of the operator and provides force feedback interaction to the finger of the operator.
-
公开(公告)号：US11287887B2
公开(公告)日：2022-03-29
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.
-
14.发明授权公开(公告)号：US12269161B2
公开(公告)日：2025-04-08
申请号：US17628753
申请日：2020-06-03
Applicant: Southeast University
Inventor： Aiguo Song , Xuhui Hu , Zhikai Wei , Huijun Li , Baoguo Xu , Hong Zeng
Abstract: Provided are a multi-degree-of-freedom myoelectric artificial hand control system and a method for using same. The system comprises a robotic hand, a robotic wrist (2), a stump receiving cavity (1) and a data processor (3), wherein the robotic hand and the stump receiving cavity (1) are respectively mounted on two ends of the robotic wrist (2); a multi-channel myoelectric array electrode oversleeve, a control unit circuit board, and a battery are connected in the stump receiving cavity (1); and the other end of the control unit circuit board is connected to the robotic hand and the robotic wrist (2). The method for using the system comprises the following steps: (S1) a user wearing a multi-channel myoelectric array electrode oversleeve, and connecting a battery and a control unit circuit board; (S2) the user completing a gesture, collecting a surface electromyography signal and then uploading same to a data processor (3); (S3) the data processor (3) receiving the surface electromyography signal and inputting same into a neural network algorithm to generate a gesture prediction model; and (S4) the user controlling the multi-degree-of-freedom movement of the robotic wrist (2) and the robotic hand. By means of the system, continuous gestures and the gesture strength thereof can be identified, and multi-degree-of-freedom gestures can be made.
-
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.
-
Patent Agency Ranking
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.
-
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.
-
18.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.
-
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.
-
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.
-
-
-
-
-
-
-
-
-
Search Results
25
records
(took 0.01 seconds)
