Chinese Academy of Sciences

Zengguang Hou

Long Cheng

Min Tan

Xiaoliang Xie

Guibin Bian

Zhenqiu Feng

Xiaohu Zhou

Feng Zhang

Liang Peng

Jin Hu

Lingwu Meng

Shiqi Liu

Weiqun Wang

Long Peng

Yixiong Chen

Pengfeng Li

Qingling Li

Xinchao Zhang

Wei He

Hao Li

Kailiang Zhang

Junwei Zhang

Junzhi Yu

Zhengxing Wu

Zhijie Liu

Fengshui Jing

Hongjun Yang

En Li

Zize Liang

Hongbo Wang

Degang Yang

Xu Liang

Guoqing Hu

Yi Hong

Jinzhu Bai

Zhen Lv

Yanhui Qiang

Meijiang Gui

Yanjie Zhou

Lincong Luo

Tairen Sun

Provided are a device, a system and a method for acquiring a force information based on a bionic structure, including: a force information acquisition layer and a magnetic field signal acquisition chip; wherein a permanent magnet is embedded in the force information acquisition layer; wherein the force information acquisition layer has an elastic structure configured to generate a deformation corresponding to a first force information of a force after being subjected to the force, so that the permanent magnet moves with the deformation to generate a magnetic field signal corresponding to the force information; wherein the magnetic field signal acquisition chip is arranged in parallel with the force information acquisition layer, and is configured to acquire the magnetic field signal and convert the magnetic field signal into an electrical signal.

Device, system and method for acquiring force information based on bionic structure

A control method, system and device for a flexible carbon cantilever beam actuated by a smart material is provided. The new control method, system and device aims to solve the problems of control overflow and instability that are likely to occur in the distributed parameter system constructed in the prior art. The method includes: acquiring an elastic displacement of the flexible carbon cantilever beam in real time as input data; and obtaining, based on the input data, a control torque through a distributed parameter model constructed in advance, and performing vibration control on the flexible carbon cantilever beam. The new control method, system and device improves the control accuracy and stability of the distributed parameter system.

Control method for flexible carbon cantilever beam actuated by smart material

A vascular interventional instrument control device capable of operating double guide wires or balloons, includes a main finger assembly, a first sub-finger assembly, a second sub-finger assembly, a driving assembly and a clamping assembly, wherein the main finger assembly, the sub-finger assembly, the driving assembly and the clamping assembly are separately installed to the body structural member and separately connected to the controller through a communication link, one of the operated double guide wires or balloons is clamped by the main finger assembly and the first sub-finger assembly, and the other is clamped by the main finger assembly and the second sub-finger assembly; and the operated double guide wires or double balloons can be separately moved axially or rotated about its own axial direction.

Vascular interventional instrument control device with double guide wires or balloons

The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.

Multi-posture lower limb rehabilitation robot

The present invention discloses an upper limb rehabilitation robot system comprising a computer () and a rehabilitation robot (), wherein the computer () is used for performing information interaction () with the rehabilitation robot (), recording training information, sending control command to the rehabilitation robot (), showing the virtual training environment, providing rehabilitation training visual feedback (), and showing the control interface and rehabilitation training information; wherein the rehabilitation robot (), acting as a system actuator, is connected to the computer () for receiving the control command from the computer () to complete the motion control and terminal force output, and sending sensor data to the computer () at the same time. The upper limb rehabilitation robot system according to the present invention may provide a various ways of active and passive training of upper limb rehabilitation, which can enhance enthusiasm for trainings of a patient and increase the efficiency of rehabilitation.

Upper limb rehabilitation robot system

A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (), a forefinger component (), a driving component () and a catheter/guide wire support component (); the thumb component () comprises a pair of rollers () configured to advance or retreat the catheter/guide wire; the thumb component () is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component () is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (), and returning by a pull force of a spring () after being released; the driving component () is configured to drive the thumb component () and the forefinger component (); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

Catheter or guide wire manipulating device with two-point-clamping for vascular intervention

A catheter or guide wire manipulating device for vascular intervention is provided, comprising a thumb component (), a forefinger component (), a driving component () and a catheter/guide wire support component (); the thumb component comprises a roller () configured to advance or retreat the catheter/guide wire; the thumb component () is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component () is configured to cooperate with the thumb component () to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component, and returning by a pull force of a spring () after being released; the driving component () is configured to drive the thumb component () and the forefinger component (); the catheter/guide wire support component () comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

Catheter or guide wire manipulating device for vascular intervention

A functional electrical stimulation system having a boost module to raise an output voltage of a primary power to a first preset voltage, an energy storage module, connected to the boost module, configured to store electrical energy of the first preset voltage, a central control unit configured to generate data packets of electrical stimulation parameters, and an electrical stimulation output channel, connected to the energy storage module, configured to receive the data packets of electrical stimulation parameters, analyze the electrical stimulation parameters from the data packets, convert electrical energy stored in the energy storage module to an electrical stimulation pulse corresponding to the electrical stimulation parameters and apply the electrical stimulation pulse to a part of a user. The functional electrical stimulation system can enhance flexibility and autonomy of an electrical stimulation pulse so that the user can select a personalized electrical stimulation pulse type according to his/her actual conditions.

Functional electrical stimulation system

The present invention discloses a functional electrical stimulation system comprising a primary power, a boost module, an energy storage section, an output control relay, an automatic discharge circuit, a foot/hand controlled switch, a current detection chip and a current limiting fuse. The boost module comprises n DC chopper circuits connected in series, and outputs a high voltage of 100-200V. According to an enable signal and a current detection signal, the output control relay disables/enables the DC boost module. The automatic discharge circuit discharges capacitance of the energy storage section automatically when the relay turns off the power input. The Foot/hand controlled switch, the current detection chip and the current limiting fuse form a triple accident protection circuit. The functional electrical stimulation system maximizes the intensity of electrical stimulation within the range that the human body can withstand. Meanwhile, it provides multiple security protection mechanisms and enhanced reliability to avoid danger during the use.

System of functional electrical stimulation

A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.

System and method for robot trajectory generation with continuous accelerations

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Beijing, China

Zengguang Hou