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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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公开(公告)号：US11278464B2
公开(公告)日：2022-03-22
申请号：US17416468
申请日：2019-03-21
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Jianwei Lai , Huijun Li , Jianqing Li , Baoguo Xu , Hong Zeng , Jun Zhang
Abstract: An exoskeleton finger rehabilitation training apparatus includes a housing. A first motor and a second motor are disposed inside the housing. A direction of an output shaft of the first motor is opposite to a direction of an output shaft of the second motor. The output shaft of the first motor is provided with a first motor gear. A right side of the first motor gear is engaged with a first transmission gear. An edge of the first transmission gear is sequentially connected to an index finger sleeve and a middle finger sleeve that are axially arranged. The output shaft of the second motor is provided with a second motor gear. A right side of the second motor gear is engaged with a second transmission gear. An edge of the second transmission gear is sequentially connected to a pinky sleeve and a ring finger sleeve that are axially arranged.
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公开(公告)号：US10698476B2
公开(公告)日：2020-06-30
申请号：US16467984
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Huanhuan Qin , Huijun Li , Baoguo Xu , Hong Zeng
Abstract: The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.
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公开(公告)号：US12145270B2
公开(公告)日：2024-11-19
申请号：US17784905
申请日：2021-10-26
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Linhu Wei , Chaolong Qin , Yu Zhao
Abstract: The present disclosure discloses an autonomous mobile grabbing method for a mechanical arm based on visual-haptic fusion under a complex illumination condition, which mainly includes approaching control over a target position and feedback control over environment information.
According to the method, under the complex illumination condition, weighted fusion is conducted on visible light and depth images of a preselected region, identification and positioning of a target object are completed based on a deep neural network, and a mobile mechanical arm is driven to continuously approach the target object; in addition, the pose of the mechanical arm is adjusted according to contact force information of a sensor module, the external environment and the target object; and meanwhile, visual information and haptic information of the target object are fused, and the optimal grabbing pose and the appropriate grabbing force of the target object are selected.
By adopting the method, the object positioning precision and the grabbing accuracy are improved, the collision damage and instability of the mechanical arm are effectively prevented, and the harmful deformation of the grabbed object is reduced.-
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
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.
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Patent Agency Ranking
公开(公告)号：US11867578B2
公开(公告)日：2024-01-09
申请号：US17438941
申请日：2021-02-01
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Shuyan Yang , Baoguo Xu , Yonghui Zhou , Qimeng Tan , Changchun Liang , Ming Wei , Chunhui Wang , Fan Li , Suinan Zhang
Abstract: The present invention discloses a high-precision and miniaturized on-orbit calibration device for a six-dimensional force sensor of a space station manipulator and a calibration method thereof, which include an inverted π shape fixing bracket, three force applying devices, and a cubic stress block. Each force applying device includes a force applying head, a single axis force sensor, a force source part and a fastening part. The force source part includes an upper support plate, a second electrode plate, piezoelectric ceramic plates, a first electrode plate and a lower support plate, which are coaxially arranged sequentially from top to bottom. The single axis force sensor is mounted on the top of the upper support plate, and the hemispherical force applying head is mounted on the top of the single axis force sensor. The cubic stress block is mounted on the top of the six-dimensional force sensor.
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公开(公告)号：US11754153B2
公开(公告)日：2023-09-12
申请号：US16975099
申请日：2020-04-22
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Ke Shi , Ye Li , Huijun Li , Yunxia Ouyang
CPC classification number: F16H19/0645 , B25J9/104
Abstract: The present invention discloses a distributed active/passive hybrid cable drive system, including a direct current motor, a magnetorheological actuator module, and a drive gear set. The direct current motor provides power for the system, the magnetorheological actuator adjusts output, a cable is driven to move by using a reel fixedly connected to an output shaft, the power is transmitted to a tail end by using the cable along a Bowden cable, and the tail end is connected to a controlled object, to implement control. The distributed active/passive hybrid cable drive system can implement controllable force output with large torque, small inertia, and high bandwidth, and has a small volume, high efficiency, and low costs compared with a pure motor drive system.
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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
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.
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公开(公告)号：US11685547B2
公开(公告)日：2023-06-27
申请号：US17693365
申请日：2022-03-13
Applicant: SOUTHEAST UNIVERSITY
Inventor： Jun Zhang , Maozeng Zhang , Aiguo Song , Fanzhang Huang
CPC classification number: B64F1/06 , B64C33/00 , B64C39/024 , B64C39/028 , B64U10/40 , B64U70/70
Abstract: An autonomous catapult-assisted take-off, recycling, and reuse device and method of a flapping-wing unmanned aerial vehicle (UAV) are provided. The device includes a base, an attitude adjusting mechanism, a catapult mechanism, a recycling mechanism, a control processing unit, a power supply module, and a sensor unit, where the attitude adjusting mechanism includes a connector, a counterweight, an adjusting motor, an attitude adjusting input gear, an attitude adjusting output gear, an attitude adjusting output gear shaft, and an installation platform; the catapult mechanism includes a catapult motor, a catapult motor frame, a pulley, a pull rope, a winch, a pull rope fixing part, a flapping-wing aircraft fixing part, two slide bars, two compression springs, and a catapult gear set; and the recycling mechanism includes a recycling motor, a recycling mechanical arm, a recycling platform, two sprockets, and a recycling gear set.
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30.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.
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