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.

公开(公告)号：US20250072812A1

公开(公告)日：2025-03-06

申请号：US18808099

申请日：2024-08-19

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo XU ,  Zelin GAO ,  Xinhao YANG ,  Aiguo SONG

IPC: A61B5/374 ,  A61B5/00

Abstract: Disclosed is an EEG recognition method for a natural hand movement based on a time-domain and frequency-domain multi-layer brain network, including: (1) acquiring a multi-channel EEG signal of the natural hand movement; (2) preprocessing the multi-channel EEG signal, and extracting a δ wave, a θ wave, a α wave, a β wave, and a γ wave at each time point; (3) constructing a time-domain multi-layer brain network using a wSAR model; (4) calculating the frequency-domain multi-layer brain network using the phase-amplitude coupling; (5) combining the time-domain multi-layer brain network and the frequency-domain multi-layer brain network, and performing standardization; and (6) calculating metrics of the time-domain and frequency-domain multi-layer brain network and a super-adjacency matrix of a decomposed time-domain and frequency-domain multi-layer brain network, inputting the same to a two-layer graph convolutional network (GCN), and fusing manual, shallow, and deep features for analysis.

公开(公告)号：US20240328876A1

公开(公告)日：2024-10-03

申请号：US18648462

申请日：2024-04-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jingjing XU ,  Yuhan CHEN ,  Baoguo XU ,  Huijun LI

IPC: G01L1/22

CPC classification number: G01L1/2287

Abstract: A six-dimensional force sensor elastomer structure based on improved cross beam includes main beams, first floating beams, second floating beams, square corners and thin film strain gauges. Strain gauges are sputtered on the main beams and the first floating beams to form a plurality of sets of Wheatstone bridges. When an input force/moment of a certain dimension acts on the center of an elastomer, the sensor is deformed and resistance values of strain gauges at corresponding positions change, so that output voltages of corresponding bridges are changed.

公开(公告)号：US20240328873A1

公开(公告)日：2024-10-03

申请号：US18655303

申请日：2024-05-05

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jingjing XU ,  Yuhan CHEN ,  Baoguo XU ,  Huijun LI

IPC: G01L1/22

CPC classification number: G01L1/2206 ,  G01L1/2262 ,  G01L1/2287

Abstract: A combined structure for thin film sputtering high-precision six-dimensional force sensor includes a cross beam, a double U-shaped beam, a base, a top cover, a bottom cover and thin film strain gauges. Strain gauges are sputtered on the main beam to form six sets of Wheatstone bridges, with three sets on the cross beam and three sets on the double U-shaped beam. The measurement method of the six-dimensional force sensor is that: an input force/moment of a certain dimension acts on the center of the cross beam and the center of the double U-shaped beam, so that the sensor is deformed and resistance values of strain gauges at corresponding positions change, thereby changing output voltages of corresponding bridges.

公开(公告)号：US20240094072A1

公开(公告)日：2024-03-21

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.

公开(公告)号：US20220111536A1

公开(公告)日：2022-04-14

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: B25J13/02 ,  G06F3/0338 ,  G06F3/01

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.

公开(公告)号：US20210361515A1

公开(公告)日：2021-11-25

申请号：US16969198

申请日：2020-06-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Yiting MO ,  Huanhuan QIN ,  Huijun LI ,  Baoguo XU

IPC: A61H1/02

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.

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

IPC: A61H1/02 ,  A63B21/00 ,  A63B23/12

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.

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.