公开(公告)号：US11439519B2

公开(公告)日：2022-09-13

申请号：US16985244

申请日：2020-08-05

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Cai-Hua Xiong ,  Chuang Liu ,  Bai-Yang Sun ,  Zhi-Liang Xie ,  Tao Duan

IPC: A61F2/58 ,  A61F2/50 ,  A61F2/68

Abstract: An under-driven prosthetic hand with a self-adaptive grasping function is provided, which belongs to the field of medical equipment. The prosthetic hand simultaneously controls four fingers to implement bending and stretching movements by a first motor through structural designs of a prosthetic hand body, a finger transmission module, an inter-finger transmission module, and a thumb driving module, and limits the transmission torque between the motor and screws using a damping shaft and in cooperation with the telescopic characteristic of a telescopic component. On the one hand, mechanical damage to the prosthetic hand structure due to excessive torque outputted by the motor can be prevented. On the other hand, the self-adaptive grasping function of the prosthetic hand can be implemented. The disclosure can also effectively solve issues such as excessive volume or mass of the prosthetic hand, complicated control system, and low operation precision.

公开(公告)号：US20210353437A1

公开(公告)日：2021-11-18

申请号：US16985244

申请日：2020-08-05

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Cai-Hua Xiong ,  Chuang Liu ,  Bai-Yang Sun ,  Zhi-Liang Xie ,  Tao Duan

IPC: A61F2/58

Abstract: An under-driven prosthetic hand with a self-adaptive grasping function is provided, which belongs to the field of medical equipment. The prosthetic hand simultaneously controls four fingers to implement bending and stretching movements by a first motor through structural designs of a prosthetic hand body, a finger transmission module, an inter-finger transmission module, and a thumb driving module, and limits the transmission torque between the motor and screws using a damping shaft and in cooperation with the telescopic characteristic of a telescopic component. On the one hand, mechanical damage to the prosthetic hand structure due to excessive torque outputted by the motor can be prevented. On the other hand, the self-adaptive grasping function of the prosthetic hand can be implemented. The disclosure can also effectively solve issues such as excessive volume or mass of the prosthetic hand, complicated control system, and low operation precision.

公开(公告)号：US11740611B2

公开(公告)日：2023-08-29

申请号：US16903363

申请日：2020-06-16

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Cai-Hua Xiong ,  Qin-Hao Zhang ,  Lei He ,  Chuang Liu ,  Wen-Bin Chen

IPC: G05B19/416 ,  A45F3/04 ,  G05B13/04

CPC classification number: G05B19/416 ,  A45F3/04 ,  G05B13/042 ,  G05B2219/43019

Abstract: The disclosure belongs to the technical field of powered drive devices, and discloses an acceleration control method for a load on a powered backpack based on a disturbance observer. The method includes: S1 setting the desired acceleration of the load on the powered backpack, presetting the initial motor drive current that regulates the movement of the load according to the desired acceleration, measuring the actual acceleration of the load; S2 establishing the disturbance observer for controlling acceleration the load on the powered backpack, using the disturbance observer to calculate the motor drive current that makes the actual acceleration of the load equal to the desired acceleration, so as to realize the acceleration control of the load on the powered backpack.

公开(公告)号：US20210333778A1

公开(公告)日：2021-10-28

申请号：US16903363

申请日：2020-06-16

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Cai-Hua Xiong ,  Qin-Hao Zhang ,  Lei He ,  Chuang Liu ,  Wen-Bin Chen

IPC: G05B19/416 ,  A45F3/04

Abstract: The disclosure belongs to the technical field of powered drive devices, and discloses an acceleration control method for a load on a powered backpack based on a disturbance observer. The method includes: S1 setting the desired acceleration of the load on the powered backpack, presetting the initial motor drive current that regulates the movement of the load according to the desired acceleration, measuring the actual acceleration of the load; S2 establishing the disturbance observer for controlling acceleration the load on the powered backpack, using the disturbance observer to calculate the motor drive current that makes the actual acceleration of the load equal to the desired acceleration, so as to realize the acceleration control of the load on the powered backpack.