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公开(公告)号：US20190282430A1
公开(公告)日：2019-09-19
申请号：US16428091
申请日：2019-05-31
发明人： Liancun Zhang , Qiang Huang
摘要： The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.
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2.发明授权公开(公告)号：US11182644B2
公开(公告)日：2021-11-23
申请号：US16725357
申请日：2019-12-23
发明人： Xiaopeng Chen , Qiang Huang , Siyuan Gou , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
摘要： The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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公开(公告)号：US12078234B2
公开(公告)日：2024-09-03
申请号：US17482183
申请日：2021-09-22
发明人： Qiang Huang , Xuxiao Fan , Richeng Huang , Gao Huang , Jingping Liao , Zhangguo Yu , Xingzhong Liu , Yuyu Zuo
摘要： A reducer gear for robot includes an outer contour layer and a reticulated porous base layer cladded by the outer contour layer; the outer contour layer comprises a mounting surface layer, a tooth surface layer, and a connecting surface layer connected between the mounting surface layer and the tooth surface layer and forming a complete gear outer contour together with the mounting surface layer and the tooth surface layer; the mounting surface layer, the tooth surface layer and the connecting surface layer are compact structures; the reticular porous base layer is located in a cavity formed by the outer contour layer, and fiber trabeculae in a porous grid structure are provided in the reticular porous base layer.
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公开(公告)号：US11878434B2
公开(公告)日：2024-01-23
申请号：US17153140
申请日：2021-01-20
发明人： Qing Shi , Guanglu Jia , Tao Sun , Chen Chen , Yi Xu , Shurui Yan , Qiang Huang
CPC分类号： B25J9/1697 , B25J13/006 , B25J13/084 , B25J19/023 , G06T1/0014 , G06T7/593 , H04N7/181 , G06T2207/10012
摘要： The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.
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公开(公告)号：US11633319B2
公开(公告)日：2023-04-25
申请号：US16428091
申请日：2019-05-31
发明人： Qiang Huang , Liancun Zhang , Fei Meng , Weimin Zhang , Zhiheng Wang
摘要： The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.
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公开(公告)号：US11618519B2
公开(公告)日：2023-04-04
申请号：US16885527
申请日：2020-05-28
发明人： Qiang Huang , Zhangguo Yu , Xuechao Chen , Chencheng Dong , Qingqing Li , Libo Meng , Gao Huang
摘要： The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.
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公开(公告)号：US11614719B2
公开(公告)日：2023-03-28
申请号：US16742542
申请日：2020-01-14
发明人： Qiang Huang , Xiaopeng Chen , Yang Xu , Zhangguo Yu , Xuechao Chen , Weimin Zhang
IPC分类号： B25J9/16 , H04N5/232 , G05B19/4155 , G05B13/04 , B25J17/02 , H04N23/695 , H04N23/68
摘要： The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.
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公开(公告)号：US20230032498A1
公开(公告)日：2023-02-02
申请号：US17527561
申请日：2021-11-16
发明人： Qing Shi , Zihou Wei , Tao Sun , Huaping Wang , Zhe Chen , Qiang Huang
摘要： A frame for constructing nerve tract is provided, including microcatheters, a support, and a shell. The shell is configured to contain a culture medium inside. The microcatheters are configured to culture nerve cells. The multiple microcatheters are suspended and fixed into the shell by the support, the microcatheters are arranged along a direction from one end to the other end of the shell, catheter walls of the microcatheters are provided with through holes, the nerve cells in the microcatheter cannot flow out through the through holes, and the culture medium enters the microcatheter through the through holes. A method for constructing nerve tract based on the frame described is provided, including: filling the nerve cells wrapped with a collagen hydrogel stock solution into the microcatheters, and after the collagen hydrogel stock solution is completely cross-linked, placing the frame loaded with the nerve cells in a culture device for perfusion culture.
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公开(公告)号：US11497672B2
公开(公告)日：2022-11-15
申请号：US16812278
申请日：2020-03-07
发明人： Liancun Zhang , Qiang Huang , Wenkang Wang
IPC分类号： A61H3/00
摘要： The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.
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公开(公告)号：US11698636B2
公开(公告)日：2023-07-11
申请号：US17801804
申请日：2020-05-09
发明人： Xuechao Chen , Zhangguo Yu , Qiang Huang , Zhifa Gao , Runming Zhang , Zhenyuan Fu , Junyao Gao
IPC分类号： G05D1/00 , B62D57/032 , G05D1/02
CPC分类号： G05D1/0088 , B62D57/032 , G05D1/027 , G05D1/0212 , G05D1/0246 , G05D1/0257 , G05D2201/0217
摘要： A foothold position control system and method for a biped robot are provided. 1) A feasible collision-free path is planned by using a path planning algorithm; 2) an available foothold area of a swing foot is determined according to step-length constraints, movement capabilities, foot sizes, and center offsets of a biped robot; and 3) fuzzy processing is performed to determine a specific foothold position of the biped robot. Selection of suitable foothold positions on both sides of a path when a biped robot executes specific walking actions after finishing path planning is realized. The foothold position control system and method has the advantages of being simple and easy to implement, having low computational load and high speed, being capable of exerting extreme movement capabilities of different biped robots, enabling more flexible movement of the biped robots, and so on.
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