公开(公告)号：US20240033899A1

公开(公告)日：2024-02-01

申请号：US18022748

申请日：2022-07-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Huayu ZHANG ,  Jianxi ZHANG ,  Aiguo SONG

IPC: B25J9/00 ,  A61F2/54 ,  A61F2/72 ,  G16H40/63

CPC classification number: B25J9/0006 ,  A61F2/54 ,  A61F2/72 ,  G16H40/63 ,  A61F2002/704

Abstract: An auxiliary support method based on variable stiffness supernumerary robotic limbs includes: obtaining data from a surface electromyography sensor and an inertial sensor; processing the data from the inertial sensor to determine whether a wearer has an operation intention; preprocessing the data from the surface electromyography sensor through full-wave rectification, low-pass filtering and normalization; using preprocessed surface electromyography to estimate a reference stiffness of an arm of the wearer; and mapping the reference stiffness of the arm to an impedance control model of the supernumerary robotic limbs. In the method, man-machine cooperation between human and the supernumerary robotic limbs in a task of overhead support is achieved by coordinating a stiffness of the human arm and a stiffness of the supernumerary robotic limbs, thereby reducing input of personnel in the task; and when the stiffness of the arm of the wearer decreases, the stiffness of the supernumerary robotic limbs increases.

公开(公告)号：US20240206728A1

公开(公告)日：2024-06-27

申请号：US18022758

申请日：2022-06-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Xiao LI ,  Qingqing CHEN ,  Jianxi ZHANG ,  Aiguo SONG

IPC: A61B3/113 ,  A63B22/00 ,  G16H20/30

CPC classification number: A61B3/113 ,  A63B22/00 ,  G16H20/30 ,  A63B2022/0092

Abstract: A robot-assisted hand-eye coordination training system based on a smooth pursuit eye movement and a guidance force field includes a virtual interactive scene module, a smooth pursuit eye movement detection module, a robot-assisted interception module and an impact force rendering module. The virtual interactive scene module can generate a virtual interactive scene having a virtual moving object and a virtual handle agent. The smooth pursuit eye movement detection module collects an eye movement signal of a user when the user performs pursuit eye movements on the virtual moving object to detect a smooth pursuit eye movement event. The robot-assisted interception module estimates a movement direction of the virtual moving object, generates an interception and guidance force field, and therefore generates assisting force to assist the user in interception. The impact force rendering module generates impact force according to an impact force computation model after collision is detected.

公开(公告)号：US20240096483A1

公开(公告)日：2024-03-21

申请号：US18031152

申请日：2022-07-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Qingqing CHEN ,  Xiao LI ,  Yinxin DUAN ,  Jianxi ZHANG ,  Aiguo SONG

IPC: G16H40/63 ,  A61H1/02 ,  G05B13/02

CPC classification number: G16H40/63 ,  A61H1/0274 ,  G05B13/027 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2230/605

Abstract: An adaptive control method and system for an upper limb rehabilitation robot based on a game theory and surface Electromyography (sEMG) is disclosed. A movement trajectory that a robot is controlled to run within a training time is designed during subject operation. An sEMG-based Back Propagation Neural Network (BPNN) muscle force estimation model establishes a nonlinear dynamic relationship between an sEMG signal and end force by constructing a three-layer neural network. A human-computer interaction system is analyzed by the game theory principle, and a role of the robot is deduced. The control rate between the robot and a subject is updated by Nash equilibrium, and adaptive weight factors of the robot and the subject are determined. The robot adaptively adjusts the training mode thereof according to a movement intention of the subject during operation and a weight coefficient obtained by the game theory principle.