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：US20220373122A1

公开(公告)日：2022-11-24

申请号：US17635967

申请日：2021-01-04

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Tianyuan MIAO ,  Bincheng SHAO ,  Baoguo XU ,  Guangming SONG ,  Bo XU ,  Shuang LIU ,  Jihai MIN

IPC: F16L55/28 ,  B25J11/00

Abstract: The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.

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：US20220194625A1

公开(公告)日：2022-06-23

申请号：US17693365

申请日：2022-03-13

Applicant: SOUTHEAST UNIVERSITY

Inventor： Jun ZHANG ,  Maozeng ZHANG ,  Aiguo SONG ,  Fanzhang HUANG

IPC: B64F1/06 ,  B64C39/02 ,  B64C33/00

Abstract: An autonomous catapult-assisted take-off, recycling, and reuse device and method of a flapping-wing unmanned aerial vehicle (UAV) are provided. The device includes a base, an attitude adjusting mechanism, a catapult mechanism, a recycling mechanism, a control processing unit, a power supply module, and a sensor unit, where the attitude adjusting mechanism includes a connector, a counterweight, an adjusting motor, an attitude adjusting input gear, an attitude adjusting output gear, an attitude adjusting output gear shaft, and an installation platform; the catapult mechanism includes a catapult motor, a catapult motor frame, a pulley, a pull rope, a winch, a pull rope fixing part, a flapping-wing aircraft fixing part, two slide bars, two compression springs, and a catapult gear set; and the recycling mechanism includes a recycling motor, a recycling mechanical arm, a recycling platform, two sprockets, and a recycling gear set.

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：US20250077837A1

公开(公告)日：2025-03-06

申请号：US18800117

申请日：2024-08-11

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo XU ,  Xinhao YANG ,  Zelin GAO ,  Aiguo SONG

IPC: G06N3/0442 ,  G06F3/01

Abstract: Disclosed is an online estimation method for wrist torque based on neural features and LSTM, including following steps: (1) an experimenter keeps his/her arms stationary and applies torque to a torque sensor through his/her wrist; (2) acquiring data from the torque sensor and high-density surface EMG ((HD-sEMG) synchronously; (3) decomposing the HD-sEMG using a blind source separation algorithm to obtain a motor unit spike train (MUST); (4) constructing input and output vectors on the basis of the original HD-sEMG and the decomposed MUST, performing training of the LSTM, and performing polynomial regression of a discharge rate and torque of a neural feature; and (5) calculating a real-time discharge rate (DR) of the CST using a sliding window approach for real-time estimation of the torque.

公开(公告)号：US20240428430A1

公开(公告)日：2024-12-26

申请号：US18648456

申请日：2024-04-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Huiran HU ,  Yuzhen XIE ,  Linhu WEI ,  Huijun LI ,  Lifeng ZHU

IPC: G06T7/33 ,  G06T7/38 ,  G06V10/36 ,  G06V10/75 ,  G06V10/762 ,  G06V10/80

Abstract: Disclosed is a digital image calculation method and system for RGB-D camera multi-view matching based on a variable template, the method includes six steps: acquiring data, preprocessing point cloud data, performing feature point matching, re-registering a variable template, calculating point cloud data transformation relationships among large-view images, and performing point cloud fusion. A size of a non-adjacent image matching template is adjusted based on registration results of adjacent angles of view, and correct registration of feature points of images from non-adjacent angles of view is accordingly achieved, which improves matching accuracy, eliminates cumulative errors in image sets, and provides more accurate initial values for subsequent iterations of point cloud fusion, such that the number of iterations is reduced, and three-dimensional reconstruction of images is implemented.

公开(公告)号：US20240353049A1

公开(公告)日：2024-10-24

申请号：US18246425

申请日：2022-05-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo SONG ,  Shaohu WANG ,  Huijun LI ,  Tianyuan MIAO ,  Qinjie JI ,  Yuefeng XU ,  Bo XU

IPC: F16L55/32 ,  F16L55/40 ,  F16L101/30

CPC classification number: F16L55/32 ,  F16L55/40 ,  F16L2101/30

Abstract: The present disclosure discloses a pipeline inspection robot with crisscross structure-changeable crawler belts and a control method thereof. The pipeline inspection robot includes a robot main body, crawler belt tilt angle adjustment mechanisms symmetrically provided on left and right sides of the robot main body, and crisscross structure-changeable crawler belt assemblies provided on the crawler belt tilt angle adjustment mechanisms. The robot main body is connected to the crisscross structure-changeable crawler belt assemblies at the left and right sides thereof by means of the crawler belt tilt angle adjustment mechanisms. The crawler belt tilt angle adjustment mechanisms are adjusted by means of supporting sliding blocks at the bottom of the robot main body. The crisscross structure-changeable crawler belt assembly includes a primary traveling crawler belt, an auxiliary traveling crawler belt, and a crisscross structure-changeable sliding block. The primary traveling crawler belt and the auxiliary traveling crawler belt are connected by means of the crisscross structure-changeable sliding block. According to the present disclosure, a crawler belt structure can be changed, and each set of structure-changeable crawler belt structure is independent and has very good flexibility for climbing and crossing over obstacles to adapt to complex environments in pipelines.

公开(公告)号：US20240189995A1

公开(公告)日：2024-06-13

申请号：US18398031

申请日：2023-12-27

Applicant: SOUTHEAST UNIVERSITY

Inventor： Huijun LI ,  Ye LU ,  Aiguo SONG ,  Ye LI ,  Baoguo XU

IPC: B25J9/16 ,  B25J9/10

CPC classification number: B25J9/1633 ,  B25J9/104 ,  B25J9/1653

Abstract: A cable force control method includes: establishing a friction model, and calibrating parameters; and calculating the parameters in real time, and controlling a force: identifying the parameters according to the friction model to obtain parameters of an auxiliary cable Bowden system and a power Bowden system: a friction coefficient μa of the auxiliary cable Bowden system, and a friction coefficient μp of the power cable Bowden system; calculating the auxiliary cable Bowden system θa in real time according to the model and a force value of a sensor, and using same as a cable bending angle of the power cable Bowden system θ; and obtaining an inverse control formula Fin=Fout·e−uλθ according to the friction model, and bringing the power cable Bowden system θp into the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.