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.