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公开(公告)号：US11690773B2
公开(公告)日：2023-07-04
申请号：US16969198
申请日：2020-06-12
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Yiting Mo , Huanhuan Qin , Huijun Li , Baoguo Xu
CPC classification number: A61H1/0274 , A61H2201/1207 , A61H2201/165 , A61H2201/1628 , A61H2201/1635 , A61H2201/1659 , A61H2201/5061
Abstract: A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.
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公开(公告)号：US11491071B2
公开(公告)日：2022-11-08
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
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.
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13.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.
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公开(公告)号：US12109162B2
公开(公告)日：2024-10-08
申请号：US17279608
申请日：2020-07-10
Applicant: Southeast University
Inventor： Huijun Li , Yunxia Ouyang , Aiguo Song
CPC classification number: A61H1/0288 , B33Y80/00 , A61H2201/149 , A61H2201/1638 , A61H2201/165
Abstract: A rope-driven soft hand function rehabilitation device includes four finger exoskeleton mechanisms, a thumb exoskeleton mechanism, and a soft rubber glove. An index-finger exoskeleton mechanism includes an index-finger distal phalanx loop, an index-finger middle phalanx loop, and an index-finger proximal phalanx loop which are mutually connected via a hinge structure. The thumb exoskeleton mechanism includes a thumb proximal phalanx loop and a thumb distal phalanx loop which are connected via a hinge structure. The rope is fastened to the hand function rehabilitation device via an aluminum sleeve which prevents the rope from slipping off during finger flexion/extension and abduction/adduction when the fingers are pulled by the rope at the palm and the hand back.
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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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Patent Agency Ranking
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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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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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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公开(公告)号：US11478937B2
公开(公告)日：2022-10-25
申请号：US17280305
申请日：2020-04-21
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Chaolong Qin , Jiahang Zhu , Linhu Wei , Yu Zhao , Huijun Li , Baoguo Xu
IPC: G06F3/033 , B25J13/02 , G06F3/01 , G06F3/0338
Abstract: The present invention discloses a care robot controller, which includes: a controller body that includes slide rails, finger slot sliders and a joystick, wherein the finger slot sliders are movably arranged on the slide rails and configured to receive pressing, and the joystick is configured to control the care robot; a gesture parsing unit configured to parse three-dimensional gestures of the controller body, and control the care robot to perform corresponding actions when the three-dimensional gestures of the controller body are in line with preset gestures; and a tactile sensing unit configured to sense the pressing received by the finger slot sliders and initiate a user mode corresponding to the pressing information, so that the controller body provides corresponding vibration feedback. Thus the user can control the controller efficiently and conveniently, the control accuracy is improved, and effective man-machine interaction is realized.
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