公开(公告)号：US20220355469A1

公开(公告)日：2022-11-10

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

IPC: B25J9/16 ,  B60K6/365

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.

公开(公告)号：US20220110815A1

公开(公告)日：2022-04-14

申请号：US17279608

申请日：2020-07-10

Applicant: Southeast University

Inventor： Huijun LI ,  Yunxia OUYANG ,  Aiguo SONG

IPC: A61H1/02 ,  B33Y80/00

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.

公开(公告)号：US20220107237A1

公开(公告)日：2022-04-07

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 ,  G06F3/044 ,  G06F3/041

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：US20210132681A1

公开(公告)日：2021-05-06

申请号：US16475384

申请日：2018-05-23

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Hui ZHANG ,  Yuqing YU ,  Huanhuan QIN ,  Huijun LI ,  Baoguo XU

IPC: G06F3/01

Abstract: A natural human-computer interaction system based on multi-sensing data fusion comprises a MEMS anti tracking device, a visual tracking device, a force feedback device and a PC terminal. The MEMS aim tracking device is composed of three sets of independent MEMS sensors for collecting arm joint angle information and measuring an arm motion trajectory. The visual tracking device is composed of a binocular camera for collecting image information and measuring a finger motion trajectory. The force feedback device is mounted in a palm of an operator for providing a feedback force to the finger. The PC terminal comprises a data display module, an arm motion calculating module, an image processing module, a mechanics calculating module and a virtual scene rendering module. The system tracks the arm motion trajectory of the operator by taking and tracks the finger motion trajectory of the operator and provides force feedback interaction to the finger of the operator.

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.