Southeast University

Aiguo Song

Baoguo Xu

Huijun Li

Hong Zeng

Jianwei Lai

Huanhuan Qin

Shuyan Yang

Jun Zhang

Yiting Mo

Ke Shi

Ye Li

Suinan Zhang

Xinyu Tang

Xuhui Hu

Bo Xu

Bincheng Shao

Xiao Li

Qingqing Chen

Chaolong Qin

Jianxi Zhang

Jianqing Li

Linhu Wei

Tianyuan Miao

Yu Zhao

Fan Li

Qinjie Ji

Mingxin Leng

Ming Wei

Lifeng Zhu

Chunhui Wang

Hui Zhang

Xin Wang

Lu Wang

Yanjun Li

Lei Tian

Shaohu Wang

Qiong Jin

Yuhua Yao

Maozeng Zhang

Fanzhang Huang

Yezhen Han

Ting Wu

Yunxia Ouyang

Juan Wu

Changchun Liang

Qimeng Tan

Yonghui Zhou

Yuqing Yu

Wenbin Zhang

Yinxin Duan

Haihua Hu

Shuang Liu

Jiahang Zhu

Jingjing Xu

Ruqi Ma

Jihai Min

Guangming Song

Ye Lu

Qianqian Lu

Weifeng Peng

Zhikai Wei

Yuefeng Xu

A pipeline inspection robot with crisscross structure-changeable crawler belts 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.

Pipeline inspection robot with crisscross structure-changeable crawler belts and control method thereof

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 μof the auxiliary cable Bowden system, and a friction coefficient μof the power cable Bowden system; calculating the auxiliary cable Bowden system θin 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 F=F·eaccording to the friction model, and bringing the power cable Bowden system θinto the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.

Cable force control method applicable to time-varying configuration

A variable stiffness hand exoskeleton device based on antagonistic driving, includes a power mechanism, a support base, a spring-link composite transmission mechanism, and a distal finger sleeve connected to a power output end of the spring-link composite transmission mechanism for fingers. The power mechanism drives the fingers to perform rotational movements through the spring-link composite transmission mechanism. The distal finger sleeve is fixed to a distal joint periphery of a finger joint using a first elastic adjustment band, and provides force feedback to an end of the finger joint under driving force of a link structure. An inner surface of the support base is contoured to match a palm, and a back of the support base is provided with a rotary support seat and a motor fixing seat. A motor group of the power mechanism is mounted on the motor fixing seat.

Variable stiffness hand exoskeleton device based on antagonistic driving

Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

Lightweight hand exoskeleton force feedback apparatus

Provided are a multi-degree-of-freedom myoelectric artificial hand control system and a method for using same. The system comprises a robotic hand, a robotic wrist (), a stump receiving cavity () and a data processor (), wherein the robotic hand and the stump receiving cavity () are respectively mounted on two ends of the robotic wrist (); a multi-channel myoelectric array electrode oversleeve, a control unit circuit board, and a battery are connected in the stump receiving cavity (); and the other end of the control unit circuit board is connected to the robotic hand and the robotic wrist (). The method for using the system comprises the following steps: (S1) a user wearing a multi-channel myoelectric array electrode oversleeve, and connecting a battery and a control unit circuit board; (S2) the user completing a gesture, collecting a surface electromyography signal and then uploading same to a data processor (); (S3) the data processor () receiving the surface electromyography signal and inputting same into a neural network algorithm to generate a gesture prediction model; and (S4) the user controlling the multi-degree-of-freedom movement of the robotic wrist () and the robotic hand. By means of the system, continuous gestures and the gesture strength thereof can be identified, and multi-degree-of-freedom gestures can be made.

Multi-degree-of-freedom myoelectric artificial hand control system and method for using same

The present invention discloses a dual-airway bionic snail soft robot, which includes ventral muscular feet, an air pressure controlling device and mucus, wherein the ventral muscular foot includes an upper deformation layer, a lower deformation layer and a strain sensor. Snail ventral muscular feet are simulated by the upper deformation layer and the lower deformation layer to produce wave motion. The strain sensor senses a wave motion state of the soft robot to provide a basis for the air pressure controlling device to output air pressure. In another aspect, snail mucus is replaced with glycerin to produce a suction force and improve crawling efficiency. The designed bionic snail soft robot can move forward, move backward and turn in situ, thereby realizing free movement in a microgravity environment.

Dual-airway bionic snail soft robot

The present disclosure discloses an autonomous mobile grabbing method for a mechanical arm based on visual-haptic fusion under a complex illumination condition, which mainly includes approaching control over a target position and feedback control over environment information. According to the method, under the complex illumination condition, weighted fusion is conducted on visible light and depth images of a preselected region, identification and positioning of a target object are completed based on a deep neural network, and a mobile mechanical arm is driven to continuously approach the target object; in addition, the pose of the mechanical arm is adjusted according to contact force information of a sensor module, the external environment and the target object; and meanwhile, visual information and haptic information of the target object are fused, and the optimal grabbing pose and the appropriate grabbing force of the target object are selected. By adopting the method, the object positioning precision and the grabbing accuracy are improved, the collision damage and instability of the mechanical arm are effectively prevented, and the harmful deformation of the grabbed object is reduced.

Autonomous mobile grabbing method for mechanical arm based on visual-haptic fusion under complex illumination condition

A rope-driven soft hand function rehabilitation device includes four finger exoskeleton mechanisms, a thumb exoskeleton mechanism, and a soft rubber glove. An index-finger exoskeleton mechanism includes an index-finger distal phalanx loop, an index-finger middle phalanx loop, and an index-finger proximal phalanx loop which are mutually connected via a hinge structure. The thumb exoskeleton mechanism includes a thumb proximal phalanx loop and a thumb distal phalanx loop which are connected via a hinge structure. The rope is fastened to the hand function rehabilitation device via an aluminum sleeve which prevents the rope from slipping off during finger flexion/extension and abduction/adduction when the fingers are pulled by the rope at the palm and the hand back.

Rope-driven soft hand function rehabilitation device

A exoskeleton finger rehabilitation training device includes an exoskeleton finger rehabilitation training mechanism including a supporting base, a finger sleeve actuating mechanism, and a finger joint sleeve connected to a power output end of the finger sleeve actuating mechanism, wherein the finger joint sleeve can be sheathed at the periphery of a finger joint to be rehabilitated, and the finger joint sleeve can be driven by the power actuation of the finger sleeve actuating mechanism to drive the finger joint to be rehabilitated in order to passively bend or stretch; the supporting base includes a profiled shell, with an inner surface of the profiled shell being configured based on the profile of the complete back of a palm or part of the back of the palm, and with the back of the profiled shell being provided with a power fixed base.

Exoskeleton finger rehabilitation training device and usage method thereof

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.

Automated calibration system and calibration method for flexible robot actuator

A robot-assisted hand-eye coordination training system based on a smooth pursuit eye movement and a guidance force field includes a virtual interactive scene module, a smooth pursuit eye movement detection module, a robot-assisted interception module and an impact force rendering module. The virtual interactive scene module can generate a virtual interactive scene having a virtual moving object and a virtual handle agent. The smooth pursuit eye movement detection module collects an eye movement signal of a user when the user performs pursuit eye movements on the virtual moving object to detect a smooth pursuit eye movement event. The robot-assisted interception module estimates a movement direction of the virtual moving object, generates an interception and guidance force field, and therefore generates assisting force to assist the user in interception. The impact force rendering module generates impact force according to an impact force computation model after collision is detected.

Robot-assisted hand-eye coordination training system based on smooth pursuit eye movement and guidance force field

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.

Adaptive control method and system for upper limb rehabilitation robot based on game theory and surface electromyography (sEMG)

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.

Pipeline patrol inspection robot having variable tracks and control method therefor

A miniature combined multi-axis force sensor structure includes a sensor body, a first shell and a second shell, two horizontal main beams and two vertical main beams are arranged on the periphery of an inner round platform in a cross shape, tail ends of the horizontal main beams and the vertical main beams are each connected to a vertical floating beam, and the horizontal floating beams consist of two thin-walled cambered beams; two ends of the horizontal floating beam are each connected to an outer round platform by means of an annular platform; the sensor body is arranged between the first shell and the second shell; strain gauges are stuck on the horizontal main beams and the vertical main beams to form two Wheatstone bridges; and when force/torque acts on the cross beam, the sensor deforms, and the resistance value of strain gauge at corresponding position changes.

Miniature combined multi-axis force sensor structure

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.

High-precision and miniaturized on-orbit calibration device for six-dimensional force sensor of space station manipulator and calibration method thereof

Growing community of inventors

Jiangsu, China

Aiguo Song