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公开(公告)号：US11690773B2
公开(公告)日：2023-07-04
申请号：US16969198
申请日：2020-06-12
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Yiting Mo , Huanhuan Qin , Huijun Li , Baoguo Xu
CPC classification number: A61H1/0274 , A61H2201/1207 , A61H2201/165 , A61H2201/1628 , A61H2201/1635 , A61H2201/1659 , A61H2201/5061
Abstract: A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.
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公开(公告)号：US11650117B2
公开(公告)日：2023-05-16
申请号：US16973690
申请日：2020-04-22
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Shuyan Yang , Baoguo Xu , Ming Wei , Chunhui Wang , Fan Li , Yuhua Yao , Yanjun Li , Suinan Zhang , Qiong Jin
IPC: G01L5/00 , G01L5/1627 , G01L1/22
CPC classification number: G01L5/1627 , G01L1/2262
Abstract: The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.
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公开(公告)号：US11491071B2
公开(公告)日：2022-11-08
申请号：US16907182
申请日：2020-06-20
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Ke Shi , Hong Zeng , Huijun Li , Baoguo Xu , Xinyu Tang
Abstract: A virtual scene interactive rehabilitation training robot based on a lower limb connecting rod model and force sense information and a control method thereof are disclosed. The thigh, calf and foot of a leg of a human body are equated to a three-connecting rod series-connected mechanical arm. A human body leg gravity compensation model is constructed. The leg posture of a patient is detected by Kinect. An interaction force between a limb of the patient and a rehabilitation robot is detected by a force sensor on the rehabilitation robot. Then, a progressive rehabilitation training method is designed for the model. According to a set weight reduction ratio, the motion of the rehabilitation robot is controlled by judging plantar force data.
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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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Patent Agency Ranking
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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公开(公告)号：US11867578B2
公开(公告)日：2024-01-09
申请号：US17438941
申请日：2021-02-01
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo Song , Shuyan Yang , Baoguo Xu , Yonghui Zhou , Qimeng Tan , Changchun Liang , Ming Wei , Chunhui Wang , Fan Li , Suinan Zhang
Abstract: The present invention discloses a high-precision and miniaturized on-orbit calibration device for a six-dimensional force sensor of a space station manipulator and a calibration method thereof, which include an inverted π shape fixing bracket, three force applying devices, and a cubic stress block. Each force applying device includes a force applying head, a single axis force sensor, a force source part and a fastening part. The force source part includes an upper support plate, a second electrode plate, piezoelectric ceramic plates, a first electrode plate and a lower support plate, which are coaxially arranged sequentially from top to bottom. The single axis force sensor is mounted on the top of the upper support plate, and the hemispherical force applying head is mounted on the top of the single axis force sensor. The cubic stress block is mounted on the top of the six-dimensional force sensor.
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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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