公开(公告)号：US20230211504A1

公开(公告)日：2023-07-06

申请号：US17774317

申请日：2022-01-06

Applicant: SOUTHEAST UNIVERSITY

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

IPC: B25J9/16

CPC classification number: B25J9/1692

Abstract: The present disclosure discloses an automated calibration system and calibration method for a flexible robot actuator. The calibration system includes a support frame. A visual positioning system, a pressure measuring system and a pneumatic pressure control system are respectively installed on the support frame. The visual positioning system is configured to measure a relative displacement and an angle between two ends of the flexible actuator. The pneumatic pressure control system is configured to charge air into an actuating end of the flexible actuator and measure an input pneumatic pressure of the flexible actuator. The pressure measuring system includes a pressure gauge installed on the support frame through a vertical axis motor system, and the flexible actuator to be calibrated installed on the support frame through a horizontal axis motor system and a rotating motor system. The rotating motor system is installed on the support frame through the horizontal axis motor system, the actuating end of the flexible actuator is fixed on the rotating motor system, and a free end of the flexible actuator is in contact with a measuring end of the pressure gauge to carry out pressure measurement. The calibration system is high in accuracy and simple to use.

公开(公告)号：US20230139608A1

公开(公告)日：2023-05-04

申请号：US17792316

申请日：2022-01-06

Applicant: SOUTHEAST UNIVERSITY

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

IPC: A61H1/02

Abstract: A rehabilitation glove based on a bidirectional driver of a honeycomb imitating structure, including five bidirectional drivers and a cotton glove. The drivers are fixed to a back of the glove through hook and loop fasteners. Each driver includes a hollow buckling air bag in a continuous bent state, a middle guide layer in a continuous bent state and a hollow stretching air bag. The buckling air bag and the middle guide layer are symmetrically arranged, and the stretching air bag in a straightened state is arranged below the middle guide layer. A novel bidirectional driver of a honeycomb imitating structure is provided, which may provide a patient with rehabilitation training in two degrees of freedom: buckling and stretching. A control algorithm of the bidirectional driver is further provided to perform force control output for the driver, which may better help the patient recover hand functions.

公开(公告)号：US20220133578A1

公开(公告)日：2022-05-05

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

Abstract: A exoskeleton finger rehabilitation training device comprises an exoskeleton finger rehabilitation training mechanism comprising 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 comprises 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.

公开(公告)号：US20240402815A1

公开(公告)日：2024-12-05

申请号：US18779054

申请日：2024-07-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Jingtian ZHANG ,  Dengfeng SUN ,  Yaobing ZHENG ,  Aiguo SONG

IPC: G06F3/01 ,  B25J9/16

Abstract: Disclosed is a wearable haptic feedback device for human-robot formation control, including an interactive interface module and a main control module, wherein the interactive interface module includes an input module and a wearable haptics feedback module; the wearable haptics feedback module includes an extrusion force feedback module, a shear force feedback module, and a vibration feedback module, and the main control module controls each module and receives operation instructions. The device can be wirelessly deployed on an arm of a user, and provide feedback on the formation change, motion guidance, and obstacle detection of the human-robot formation by generating three haptic feedback signals: extrusion, shearing, and vibration. A haptic channel is more advantageous in providing feedback to the user on understanding capability and task situation of external limbs, which can play a unique role in reducing the difficulty of human-robot interaction and creating highly immersive operation experience for the user.

公开(公告)号：US20220355469A1

公开(公告)日：2022-11-10

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

IPC: B25J9/16 ,  B60K6/365

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：US20220107237A1

公开(公告)日：2022-04-07

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

IPC: G01L25/00 ,  G01L1/14 ,  G06F3/044 ,  G06F3/041

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：US20210086356A1

公开(公告)日：2021-03-25

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: B25J9/16 ,  A61B5/11 ,  B25J13/08 ,  B25J13/02 ,  G05B19/4155 ,  G16H20/30 ,  G16H40/63

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：US20200315895A1

公开(公告)日：2020-10-08

申请号：US16907182

申请日：2020-06-20

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Ke SHI ,  Hong ZENG ,  Huijun LI ,  Baoguo XU ,  Xinyu TANG

IPC: A61H1/02 ,  A63B21/00 ,  A63B71/06 ,  A61B5/11 ,  A61B5/103 ,  G06F3/01

Abstract: A virtual scene interactive rehabilitation training robot based on a lower limb connecting rod model and force sense information and a control method thereof are disclosed. The thigh, calf and foot of a leg of a human body are equated to a three-connecting rod series-connected mechanical arm. A human body leg gravity compensation model is constructed. The leg posture of a patient is detected by Kinect. An interaction force between a limb of the patient and a rehabilitation robot is detected by a force sensor on the rehabilitation robot. Then, a progressive rehabilitation training method is designed for the model. According to a set weight reduction ratio, the motion of the rehabilitation robot is controlled by judging plantar force data.