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.

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

IPC: B25J13/08 ,  B25J13/02 ,  B33Y80/00

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.

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.

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

IPC: A61H1/02 ,  G16H20/30

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.

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

IPC: G06F3/01 ,  G08B6/00

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.