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

IPC: A61H1/02 ,  A63B21/00 ,  A63B23/12

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.

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

IPC: A61H1/00 ,  A61H1/02

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.

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.