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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
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Qiang Huang , Liancun Zhang , Fei Meng , Weimin Zhang , Zhiheng Wang
Abstract: 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：US11614719B2
公开(公告)日：2023-03-28
申请号：US16742542
申请日：2020-01-14
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Yang Xu , Zhangguo Yu , Xuechao Chen , Weimin Zhang
IPC: B25J9/16 , H04N5/232 , G05B19/4155 , G05B13/04 , B25J17/02 , H04N23/695 , H04N23/68
Abstract: 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：US11364642B2
公开(公告)日：2022-06-21
申请号：US16856010
申请日：2020-04-22
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Junyao Gao , Chunlei Zhang , Weimin Zhang , Xuechao Chen , Dingkui Tian
Abstract: The present disclosure provides a waist joint of humanoid robot and a humanoid robot. The waist joint comprise: tile-shaped structural members, connection members, and substrates. The first end of the first connection member is slidably connected with the first end of the first tile-shaped structural member, and the first end of the second connection member is slidably connected with the second end of the first tile-shaped structural member; one side surface of the first substrate is slidably connected with the first end of the second tile-shaped structural member, and one side surface of the second substrate is slidably connected with the second end of the second tile-shaped structural member; the second end of the first connection member is connected with the third end of the second tile-shaped structural member, and the second end of the second connection member is connected with the fourth end of the second tile-shaped structural member.
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