公开(公告)号：US20210333877A1

公开(公告)日：2021-10-28

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.

公开(公告)号：US20210173540A1

公开(公告)日：2021-06-10

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 ,  G06F3/0354 ,  G06F3/044

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.

公开(公告)号：US20200073472A1

公开(公告)日：2020-03-05

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.

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.

公开(公告)号：US20220314458A1

公开(公告)日：2022-10-06

申请号：US17609446

申请日：2021-01-29

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Bincheng SHAO ,  Huijun LI ,  Hong ZENG ,  Baoguo XU

IPC: B25J13/02 ,  B25J13/08

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.

公开(公告)号：US20220281112A1

公开(公告)日：2022-09-08

申请号：US17637265

申请日：2020-04-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Chaolong QIN ,  Yu ZHAO ,  Linhu WEI ,  Huijun LI ,  Hong ZENG

IPC: B25J9/16 ,  B25J11/00 ,  B25J13/06 ,  G06F3/0488 ,  G06F3/0484 ,  G05B19/4155

Abstract: A virtual reality-based caregiving machine control system includes a visual unit, configured to obtaining environmental information around a caregiving machine, and transmitting the environmental information to a virtual scene generation unit and a calculation unit; the calculation unit, configured to receiving control instructions for the caregiving machine, and obtaining, by calculation according to the environmental information, an action sequence of executing the control instructions by the caregiving machine; the virtual scene generation unit, configured to generating a virtual reality scene from the environmental information, and displaying the virtual reality scene on a touch display screen in combination with the action sequence; and the touch display screen, configured to receiving a touch screen adjusting instruction for the action sequence and feeding back same to the calculation unit for execution, and receiving a confirmation instruction for the action sequence.

公开(公告)号：US20210401657A1

公开(公告)日：2021-12-30

申请号：US17293448

申请日：2019-03-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Jianwei LAI ,  Huijun LI ,  Hong ZENG ,  Baoguo XU

IPC: A61H1/02

Abstract: A palm-supported finger rehabilitation training device comprises a mounting base, a finger rehabilitation training mechanism mounted on the mounting base, and a driving mechanism for driving the finger rehabilitation training mechanism; wherein the finger rehabilitation training mechanism comprises four independent and structurally identical combined transmission devices for finger training corresponding to a forefinger, a middle finger, a ring finger and a little finger of a human hand, respectively, and the mounting base is provided with a supporting surface capable of supporting a human palm; wherein each combined transmission device for finger training comprises an MP movable chute, a PIP fingerstall, a DIP fingerstall and a connecting rod transmission mechanism; a force sensor is provided to acquire force feedback information to determine and control force stability, and a space sensor is provided to acquire space angle information to control space positions of fingers in real time.

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：US20230256296A1

公开(公告)日：2023-08-17

申请号：US18138154

申请日：2023-04-24

Applicant: SOUTHEAST UNIVERSITY

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

IPC: A63B23/14 ,  A61B5/397 ,  A63F13/212

CPC classification number: A63B23/14 ,  A61B5/397 ,  A63F13/212 ,  A61B2505/09

Abstract: A wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control includes the following modules: an electromyographic signal collection and preprocessing module, a muscle co-decomposition and mapping model obtaining module, a man-machine interactive control module, and a virtual reality serious game module; collects a surface electromyographic signal of a forearm of a user, obtains time-domain coordination through non-negative matrix factorization, establishes a position and stiffness estimation model, and controls motion of a target in a serious game through variable stiffness impedance control, so as to complete a training task.