公开(公告)号：US12059208B2

公开(公告)日：2024-08-13

申请号：US18022758

申请日：2022-06-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong Zeng ,  Xiao Li ,  Qingqing Chen ,  Jianxi Zhang ,  Aiguo Song

IPC: G06K9/00 ,  A61B3/113 ,  A63B22/00 ,  G16H20/30

CPC classification number: A61B3/113 ,  A63B22/00 ,  G16H20/30 ,  A63B2022/0092

Abstract: A robot-assisted hand-eye coordination training system based on a smooth pursuit eye movement and a guidance force field includes a virtual interactive scene module, a smooth pursuit eye movement detection module, a robot-assisted interception module and an impact force rendering module. The virtual interactive scene module can generate a virtual interactive scene having a virtual moving object and a virtual handle agent. The smooth pursuit eye movement detection module collects an eye movement signal of a user when the user performs pursuit eye movements on the virtual moving object to detect a smooth pursuit eye movement event. The robot-assisted interception module estimates a movement direction of the virtual moving object, generates an interception and guidance force field, and therefore generates assisting force to assist the user in interception. The impact force rendering module generates impact force according to an impact force computation model after collision is detected.

公开(公告)号：US11701289B2

公开(公告)日：2023-07-18

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: A61H1/00 ,  A61H1/02

CPC classification number: A61H1/0285 ,  A61H2201/0103 ,  A61H2201/1238 ,  A61H2201/165 ,  A61H2201/1635 ,  A61H2201/1659 ,  A61H2201/5061 ,  A61H2201/5071

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：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

IPC: G01L25/00 ,  G01L1/14 ,  G06F3/041 ,  G06F3/044 ,  G01L9/12

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：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.

公开(公告)号：US12064884B2

公开(公告)日：2024-08-20

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：US11016598B1

公开(公告)日：2021-05-25

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 ,  G06F3/044 ,  G06F3/0354

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.

公开(公告)号：US10959863B2

公开(公告)日：2021-03-30

申请号：US16475680

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Xuhui Hu ,  Hong Zeng ,  Baoguo Xu ,  Huijun Li

IPC: A61F2/72 ,  G16H50/20 ,  A61F2/58 ,  G06F3/01 ,  A61F2/70

Abstract: The present invention discloses a multi-dimensional surface electromyogram signal prosthetic hand control method based on principal component analysis. The method comprises the following steps. Wear an armlet provided with a 24-channel array electromyography sensor to a front arm of a subject, and respectively wear five finger joint attitude sensors at a distal phalanx of a thumb and at middle phalanxes of remaining fingers of the subject. Perform independent bending and stretching training on the five fingers of the subject, and meanwhile, collect data of an array electromyography sensor and data of the finger joint attitude sensors. Decouple the data of the array electromyography sensor by principal component analysis to form a finger motion training set. Perform data fitting on the finger motion training set by a neural network method, and construct a finger continuous motion prediction model. Predict a current bending angle of the finger through the finger continuous motion model.