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11.发明申请公开(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
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.
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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.
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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.
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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
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.
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15.发明申请公开(公告)号：US20240428430A1
公开(公告)日：2024-12-26
申请号：US18648456
申请日：2024-04-28
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo SONG , Huiran HU , Yuzhen XIE , Linhu WEI , Huijun LI , Lifeng ZHU
Abstract: Disclosed is a digital image calculation method and system for RGB-D camera multi-view matching based on a variable template, the method includes six steps: acquiring data, preprocessing point cloud data, performing feature point matching, re-registering a variable template, calculating point cloud data transformation relationships among large-view images, and performing point cloud fusion. A size of a non-adjacent image matching template is adjusted based on registration results of adjacent angles of view, and correct registration of feature points of images from non-adjacent angles of view is accordingly achieved, which improves matching accuracy, eliminates cumulative errors in image sets, and provides more accurate initial values for subsequent iterations of point cloud fusion, such that the number of iterations is reduced, and three-dimensional reconstruction of images is implemented.
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Patent Agency Ranking
16.发明公开公开(公告)号：US20240353049A1
公开(公告)日：2024-10-24
申请号：US18246425
申请日：2022-05-12
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo SONG , Shaohu WANG , Huijun LI , Tianyuan MIAO , Qinjie JI , Yuefeng XU , Bo XU
IPC: F16L55/32 , F16L55/40 , F16L101/30
CPC classification number: F16L55/32 , F16L55/40 , F16L2101/30
Abstract: The present disclosure discloses a pipeline inspection robot with crisscross structure-changeable crawler belts and a control method thereof. The pipeline inspection robot includes a robot main body, crawler belt tilt angle adjustment mechanisms symmetrically provided on left and right sides of the robot main body, and crisscross structure-changeable crawler belt assemblies provided on the crawler belt tilt angle adjustment mechanisms. The robot main body is connected to the crisscross structure-changeable crawler belt assemblies at the left and right sides thereof by means of the crawler belt tilt angle adjustment mechanisms. The crawler belt tilt angle adjustment mechanisms are adjusted by means of supporting sliding blocks at the bottom of the robot main body. The crisscross structure-changeable crawler belt assembly includes a primary traveling crawler belt, an auxiliary traveling crawler belt, and a crisscross structure-changeable sliding block. The primary traveling crawler belt and the auxiliary traveling crawler belt are connected by means of the crisscross structure-changeable sliding block. According to the present disclosure, a crawler belt structure can be changed, and each set of structure-changeable crawler belt structure is independent and has very good flexibility for climbing and crossing over obstacles to adapt to complex environments in pipelines.
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公开(公告)号：US20240189995A1
公开(公告)日：2024-06-13
申请号：US18398031
申请日：2023-12-27
Applicant: SOUTHEAST UNIVERSITY
Inventor： Huijun LI , Ye LU , Aiguo SONG , Ye LI , Baoguo XU
CPC classification number: B25J9/1633 , B25J9/104 , B25J9/1653
Abstract: A cable force control method includes: establishing a friction model, and calibrating parameters; and calculating the parameters in real time, and controlling a force: identifying the parameters according to the friction model to obtain parameters of an auxiliary cable Bowden system and a power Bowden system: a friction coefficient μa of the auxiliary cable Bowden system, and a friction coefficient μp of the power cable Bowden system; calculating the auxiliary cable Bowden system θa in real time according to the model and a force value of a sensor, and using same as a cable bending angle of the power cable Bowden system θ; and obtaining an inverse control formula Fin=Fout·e−uλθ according to the friction model, and bringing the power cable Bowden system θp into the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.
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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.
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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.
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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.
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