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公开(公告)号：US11241354B2
公开(公告)日：2022-02-08
申请号：US16156605
申请日：2018-10-10
Inventor： Caihua Xiong , Jianbo Tao , Xuan Wu , Chang He , Wenbin Chen , Chenbo Wang
Abstract: The present invention discloses a gravity balancing device for a rehabilitation robot arm, and belongs to the field of rehabilitation robots. The gravity balancing device includes a shoulder joint connecting member, an upper arm connecting member and a gravity balancing assembly; the shoulder joint connecting member and the upper arm connecting member are pivotally connected according to the human body bionic structure to simulate the rotational movement of the upper arm of the human body around the shoulder joint; the gravity balancing assembly includes a plurality of springs, wire ropes and guide pulleys, the wire ropes connect the springs to the shoulder joint connecting member and the upper arm connecting member, the spring tension is used to balance the gravity of the arm, and the guide pulleys are used to change the force directions of the wire ropes, thereby saving space and making the device structure more compact. Further, by locking different guide pulleys, the arm gravity can be still balanced by the spring tension after switching of the rehabilitation robot between the left and right hand training modes, thereby ensuring that the robot can still work normally after the training mode is switched.
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2.发明申请公开(公告)号：US20230028793A1
公开(公告)日：2023-01-26
申请号：US17858028
申请日：2022-07-05
Inventor： Qin Zhang , Jihan Liu , Yusheng Chen , Caihua Xiong
Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.
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公开(公告)号：US20200085667A1
公开(公告)日：2020-03-19
申请号：US16414926
申请日：2019-05-17
Inventor： Wenbin Chen , Tongtong Wei , Tiancheng Zhou , Shuang Wu , Caihua Xiong
Abstract: The disclosure belongs to the technical field of lower limb exoskeleton, and specifically discloses a hip-knee passive exoskeleton device based on clutch time-sharing control, comprising a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, the waist support subassembly is configured to be connected to the waist, the connection subassemblies are configured to include two connection subassemblies which are arranged in bilateral symmetry on two sides of the support subassembly, the thigh subassemblies are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies, the clutch subassemblies are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies, the shank subassemblies are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies, the elastic member subassemblies are configured to include two elastic member subassemblies which are arranged in bilateral symmetry. The disclosure can assist the movements of the knee and hip joints, thereby improving the energy utilization efficiency and reducing the metabolic energy consumption of walking.
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4.发明授权公开(公告)号：US11045334B2
公开(公告)日：2021-06-29
申请号：US16448641
申请日：2019-06-21
Inventor： Caihua Xiong , Zhongkui Huang , Jun Fan , Wenbin Chen
Abstract: The present disclosure discloses a knee joint power generation device based on bidirectional ball screw drive, and belongs to the field of biomechanical energy harvesting. The power generation device converts the rotary motion of the knee joint during human movement into a linear motion of the rope by the rope driving device, and then converts the linear motion into a rotary motion through a bidirectional ball screw to directly act on the motor, thereby converting the human biological energy into electric energy in the whole process to achieve power generation. The power generation device of the disclosure can meet the requirements of normal power generation during high-speed running and low-speed walking, has long-term high-efficiency and stable performance, can be easily worn on different people, has light overall weight and costs less loss of human walking metabolism.
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Patent Agency Ranking
公开(公告)号：US10987271B2
公开(公告)日：2021-04-27
申请号：US16172038
申请日：2018-10-26
Inventor： Caihua Xiong , Xuan Wu , Chang He , Jianbo Tao , Chenbo Wang , Wenbin Chen
Abstract: An upper limb exoskeleton rehabilitation device having man-machine motion matching and side-to-side interchanging, includes a chassis bracket assembly, a shoulder girdle abduction assembly, a side-to-side interchanging assembly and a mechanical arm coupling member. The chassis bracket assembly includes a frame and a lifting unit mounted on the frame. The shoulder girdle abduction assembly is mounted on the lifting unit to be driven by the lifting unit to move up and down. The side-to-side interchanging assembly is rotatably connected to the shoulder girdle abduction assembly and the mechanical arm coupling member, and the mechanical arm coupling member is configured to mount the mechanical arm and drive the mechanical arm to rotate with the respective rotating joints. Through an upper locking assembly and a lower locking assembly mounted on the side-to-side interchanging assembly, the side-to-side interchanging assembly is fixed or rotated relative to the shoulder girdle abduction assembly and the mechanical arm coupling member.
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6.发明授权公开(公告)号：US11696687B2
公开(公告)日：2023-07-11
申请号：US17858028
申请日：2022-07-05
Inventor： Qin Zhang , Jihan Liu , Yusheng Chen , Caihua Xiong
IPC: A61B5/00 , G06T7/70 , A61B5/107 , A61B5/11 , B25J9/16 , B25J13/08 , G06T7/20 , A61B34/00 , A61B90/00 , A61B90/50
CPC classification number: A61B5/0057 , A61B5/1071 , A61B5/1126 , B25J9/1633 , B25J9/1653 , B25J13/085 , G06T7/20 , G06T7/70 , A61B34/00 , A61B90/50 , A61B2090/064 , G06T2207/30196 , G06T2207/30204
Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.
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公开(公告)号：US11638673B2
公开(公告)日：2023-05-02
申请号：US16414926
申请日：2019-05-17
Inventor： Wenbin Chen , Tongtong Wei , Tiancheng Zhou , Shuang Wu , Caihua Xiong
Abstract: The disclosure belongs to the technical field of lower limb exoskeleton, and specifically discloses a hip-knee passive exoskeleton device based on clutch time-sharing control, comprising a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, the waist support subassembly is configured to be connected to the waist, the connection subassemblies are configured to include two connection subassemblies which are arranged in bilateral symmetry on two sides of the support subassembly, the thigh subassemblies are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies, the clutch subassemblies are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies, the shank subassemblies are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies, the elastic member subassemblies are configured to include two elastic member subassemblies which are arranged in bilateral symmetry. The disclosure can assist the movements of the knee and hip joints, thereby improving the energy utilization efficiency and reducing the metabolic energy consumption of walking.
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公开(公告)号：US11030455B2
公开(公告)日：2021-06-08
申请号：US16412010
申请日：2019-05-14
Inventor： Caihua Xiong , Shikai Qiu , Quanlin Li
Abstract: The present disclosure belongs to the field of 3D gaze point recognition and computer vision, and more particularly discloses a pose recognition method, device and system for an object of interest to human eyes, which respectively identifies centers of left and right pupils of a user by using a left eye camera and a right eye camera on an eye tracker to extract information of the user's eyes; maps the obtained centers of the left and right pupils to a left scene camera to obtain a 2D gaze point; extracts bounding boxes of objects in the left scene camera by using target recognition and tracking algorithms, and then determines an object of interest to the user according to a positional relationship between the 2D gaze point and the bounding boxes of the objects; performs 3D reconstruction and pose estimation of the object of interest to the user to obtain a pose of the object of interest in the left scene camera; and converts the pose of the object of interest in the left scene camera to a pose in the world coordinate system, thereby determining a pose of the object of interest to the user. The present disclosure can identify the object of interest to the user and estimate the pose of the object, and has the advantages of high recognition accuracy and high pose estimation accuracy.
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公开(公告)号：US10682772B2
公开(公告)日：2020-06-16
申请号：US16011314
申请日：2018-06-18
Inventor： Caihua Xiong , Chenbo Wang , Xuan Wu , Jianbo Tao , Chang He , Wei Mao
Abstract: The present invention belongs to the field of medical rehabilitation training equipment, and particularly discloses a reversible mechanical arm gravitational torque balancing device, comprising a counterweight guide groove module, a counterweight, a mechanical arm joint, a rope, a guide pulley block, a counterweight disc, a mechanical arm joint link and a rack. The counterweight guide groove module is mounted on the rack; the counterweight has a lower end mounted on the counterweight guide groove module and an upper end connected to the rope, and the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack; the mechanical arm joint is mounted on the rack and internally provided with a motor; the counterweight disc is mounted on an output shaft of the motor of the mechanical arm joint; and the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint. The present invention can change the direction of the provided balance torque when the mechanical arm performs the morphological transformation, and features simple, rapid and labor-saving operation as well as reliable structure.
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