Southeast University

Baoguo Xu

Aiguo Song

Huijun Li

Hong Zeng

Huanhuan Qin

Jianwei Lai

Shuyan Yang

Yiting Mo

Jun Zhang

Ke Shi

Xinyu Tang

Xuhui Hu

Bincheng Shao

Jianqing Li

Ming Wei

Chunhui Wang

Fan Li

Suinan Zhang

Mingxin Leng

Lifeng Zhu

Hui Zhang

Ye Li

Xin Wang

Yanjun Li

Bo Xu

Chaolong Qin

Tianyuan Miao

Linhu Wei

Yu Zhao

Changchun Liang

Qimeng Tan

Yonghui Zhou

Shuang Liu

Jingjing Xu

Ruqi Ma

Jihai Min

Jiahang Zhu

Guangming Song

Ye Lu

Qianqian Lu

Weifeng Peng

Wenbin Zhang

Zhikai Wei

Qiong Jin

Yuqing Yu

Yuhua Yao

Ting Wu

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

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

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

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.

Robot system for active and passive upper limb rehabilitation training based on force feedback technology

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.

Palm-supported finger rehabilitation training device and application method thereof

A rehabilitation glove based on a bidirectional driver of a honeycomb imitating structure, including five bidirectional drivers and a cotton glove. The drivers are fixed to a back of the glove through hook and loop fasteners. Each driver includes a hollow buckling air bag in a continuous bent state, a middle guide layer in a continuous bent state and a hollow stretching air bag. The buckling air bag and the middle guide layer are symmetrically arranged, and the stretching air bag in a straightened state is arranged below the middle guide layer. A novel bidirectional driver of a honeycomb imitating structure is provided, which may provide a patient with rehabilitation training in two degrees of freedom: buckling and stretching. A control algorithm of the bidirectional driver is further provided to perform force control output for the driver, which may better help the patient recover hand functions.

Method for manufacturing and controlling rehabilitation glove based on bidirectional driver of honeycomb imitating structure

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.

Wearable upper limb rehabilitation training robot with precise force control

A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: stepcalibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; stepaveraging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; stepfitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; stepmeasurement; stepnoise filtering; stepstroke direction discrimination; and stepresolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.

Method for reducing the hysteresis error and the high frequency noise error of capacitive tactile sensors

The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.

Six-dimensional force sensor with high sensitivity and low inter-dimensional coupling

Growing community of inventors

Jiangsu, China

Baoguo Xu