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公开(公告)号：US12064884B2
公开(公告)日：2024-08-20
申请号：US17774317
申请日：2022-01-06
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Jianwei Lai , Huijun Li , Hong Zeng , Baoguo Xu
IPC: B25J9/16
CPC classification number: B25J9/1692
Abstract: The present disclosure discloses an automated calibration system and calibration method for a flexible robot actuator. The calibration system includes a support frame. A visual positioning system, a pressure measuring system and a pneumatic pressure control system are respectively installed on the support frame. The visual positioning system is configured to measure a relative displacement and an angle between two ends of the flexible actuator. The pneumatic pressure control system is configured to charge air into an actuating end of the flexible actuator and measure an input pneumatic pressure of the flexible actuator. The pressure measuring system includes a pressure gauge installed on the support frame through a vertical axis motor system, and the flexible actuator to be calibrated installed on the support frame through a horizontal axis motor system and a rotating motor system. The rotating motor system is installed on the support frame through the horizontal axis motor system, the actuating end of the flexible actuator is fixed on the rotating motor system, and a free end of the flexible actuator is in contact with a measuring end of the pressure gauge to carry out pressure measurement. The calibration system is high in accuracy and simple to use.
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公开(公告)号：US11771613B2
公开(公告)日：2023-10-03
申请号：US16970631
申请日：2020-08-18
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Yiting Mo , Huanhuan Qin , Huijun Li , Baoguo Xu
CPC classification number: A61H1/0274 , A63B21/00178 , A63B23/12 , A61H1/0277 , A61H1/0281 , A61H2201/1207 , A61H2201/165 , A61H2201/1638 , A61H2201/1659 , A61H2201/5007 , A61H2201/5043 , A61H2201/5061 , A61H2201/5069 , A61H2230/625
Abstract: A robot system for active and passive upper limb rehabilitation training based on a force feedback technology includes a robot body and an active and passive training host computer system. Active and passive rehabilitation training may be performed at degrees of freedom such as adduction/abduction and flexion/extension of left and right shoulder joints, and flexion/extension of left and right elbow joints according to a condition of a patient. In a passive rehabilitation training mode, the robot body drives the upper limb of the patient to move according to a track specified by the host computer, to gradually restore a basic motion function of the upper limb. In an active rehabilitation training mode, the patient holds the tail ends of the robot body with both hands to interact with a rehabilitation training scene, and can feel real and accurate force feedback.
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公开(公告)号：US11454560B2
公开(公告)日：2022-09-27
申请号：US16467032
申请日：2018-05-23
Applicant: Southeast University
Inventor： Aiguo Song , Mingxin Leng , Baoguo Xu , Huijun Li
Abstract: A whisker sensor includes an upper circuit board, a lower circuit board, a flexible whisker, and a magnet. The magnet is fixed to the flexible whisker through a central through hole, and the location of the magnet changes with the swinging of the whisker; the upper and lower circuit boards are identical in shape and size, and are connected through an upright column. A circular hole is formed at the center of the upper circuit board, four Hall sensors are symmetrically distributed on the edge of the circular hole, and the displacement of the whisker in X and Y directions can be obtained by detecting the change in magnetic field generated by the change in location of the magnet; a contact sensor is mounted on the lower circuit board, and is connected to the whisker through a connecting piece, to detect displacement of the whisker in the Z direction.
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公开(公告)号：US11016598B1
公开(公告)日：2021-05-25
申请号：US16768636
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Mingxin Leng , Huijun Li , Hong Zeng , Baoguo Xu , Lifeng Zhu
IPC: G06F3/041 , G06F3/044 , G06F3/0354
Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.
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公开(公告)号：US10959863B2
公开(公告)日：2021-03-30
申请号：US16475680
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Xuhui Hu , Hong Zeng , Baoguo Xu , Huijun Li
Abstract: The present invention discloses a multi-dimensional surface electromyogram signal prosthetic hand control method based on principal component analysis. The method comprises the following steps. Wear an armlet provided with a 24-channel array electromyography sensor to a front arm of a subject, and respectively wear five finger joint attitude sensors at a distal phalanx of a thumb and at middle phalanxes of remaining fingers of the subject. Perform independent bending and stretching training on the five fingers of the subject, and meanwhile, collect data of an array electromyography sensor and data of the finger joint attitude sensors. Decouple the data of the array electromyography sensor by principal component analysis to form a finger motion training set. Perform data fitting on the finger motion training set by a neural network method, and construct a finger continuous motion prediction model. Predict a current bending angle of the finger through the finger continuous motion model.
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Patent Agency Ranking
公开(公告)号：US11754153B2
公开(公告)日：2023-09-12
申请号：US16975099
申请日：2020-04-22
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Ke Shi , Ye Li , Huijun Li , Yunxia Ouyang
CPC classification number: F16H19/0645 , B25J9/104
Abstract: The present invention discloses a distributed active/passive hybrid cable drive system, including a direct current motor, a magnetorheological actuator module, and a drive gear set. The direct current motor provides power for the system, the magnetorheological actuator adjusts output, a cable is driven to move by using a reel fixedly connected to an output shaft, the power is transmitted to a tail end by using the cable along a Bowden cable, and the tail end is connected to a controlled object, to implement control. The distributed active/passive hybrid cable drive system can implement controllable force output with large torque, small inertia, and high bandwidth, and has a small volume, high efficiency, and low costs compared with a pure motor drive system.
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公开(公告)号：US11701289B2
公开(公告)日：2023-07-18
申请号：US17792316
申请日：2022-01-06
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Jianwei Lai , Huijun Li , Hong Zeng , Baoguo Xu , Ting Wu
CPC classification number: A61H1/0285 , A61H2201/0103 , A61H2201/1238 , A61H2201/165 , A61H2201/1635 , A61H2201/1659 , A61H2201/5061 , A61H2201/5071
Abstract: A rehabilitation glove based on a bidirectional driver of a honeycomb imitating structure, including five bidirectional drivers and a cotton glove. The drivers are fixed to a back of the glove through hook and loop fasteners. Each driver includes a hollow buckling air bag in a continuous bent state, a middle guide layer in a continuous bent state and a hollow stretching air bag. The buckling air bag and the middle guide layer are symmetrically arranged, and the stretching air bag in a straightened state is arranged below the middle guide layer. A novel bidirectional driver of a honeycomb imitating structure is provided, which may provide a patient with rehabilitation training in two degrees of freedom: buckling and stretching. A control algorithm of the bidirectional driver is further provided to perform force control output for the driver, which may better help the patient recover hand functions.
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公开(公告)号：US11680863B2
公开(公告)日：2023-06-20
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
CPC classification number: G01L25/00 , G01L1/142 , G01L9/12 , G06F3/044 , G06F3/0418
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.
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公开(公告)号：US11409357B2
公开(公告)日：2022-08-09
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 arm 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 and the finger motion trajectory of the operator and provides force feedback interaction to the finger of the operator.
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公开(公告)号：US11287887B2
公开(公告)日：2022-03-29
申请号：US17271207
申请日：2019-03-21
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Yiting Mo , Huanhuan Qin , Huijun Li , Hong Zeng , Baoguo Xu
IPC: G06F3/01
Abstract: A flexible finger-wearable haptic feedback device includes a fingertip sleeve sheathing a distal phalanx of a finger, a middle sleeve sheathing a middle phalanx of the finger, a proximal sleeve sheathing a proximal phalanx of the finger, outer and inner transmission rods having bending elasticity. The outer transmission rod is fixed on the fingertip sleeve at one end, positioned at a back of a hand at the other end and connected with an outer driver. The inner transmission rod is fixed on the fingertip sleeve at one end, positioned at a palm at the other end and connected with an inner driver. The fingertip sleeve is provided with first and second contact pressure sensors respectively connected with the ends of the outer and inner transmission rods, and an inner wall of the fingertip finger sleeve contacting the finger is provided with a film pressure sensor.
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