Patents by Inventor Baoguo XU

Baoguo XU has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20250083311
    Abstract: Disclosed is an optimization modeling and robust control method for a soft robot based on a fusion prediction equation, including the following steps: deriving measurement coordinates based on the fusion prediction equation; designing an observation function based on the measurement coordinates; identifying a Koopman model based on the observation function; and designing a robust model predictive controller based on the Koopman model. Further disclosed are a fusion prediction equation and a derivation method thereof, which can derive correct, abundant but non-redundant measurement coordinates, overcoming the problem of single measurement coordinates in a soft robot system, thereby being conducive to simplifying a design process of the observation function and further improving the accuracy of the Koopman model for the soft robot.
    Type: Application
    Filed: September 8, 2024
    Publication date: March 13, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Jiajin WANG, Xin WANG, Weifeng PENG, Aiguo SONG
  • Publication number: 20250076986
    Abstract: Disclosed are an affective haptic regulation system and method based on multimodal fusion, including a haptic optimal parameter adjustment module, a haptic generation module, a visual-auditory generation module, a multi-physiological signal acquisition module, a multi-sensory signal acquisition module, and a multimodal fusion emotion recognition module.
    Type: Application
    Filed: August 27, 2024
    Publication date: March 6, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Xin WANG, Jiajin WANG, Aiguo SONG
  • Publication number: 20250073907
    Abstract: Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights.
    Type: Application
    Filed: August 20, 2024
    Publication date: March 6, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Weifeng PENG, Qianqian LU, Aiguo SONG
  • Publication number: 20250076981
    Abstract: 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.
    Type: Application
    Filed: April 14, 2024
    Publication date: March 6, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Qianqian LU, Weifeng PENG, Aiguo SONG
  • Publication number: 20250072812
    Abstract: Disclosed is an EEG recognition method for a natural hand movement based on a time-domain and frequency-domain multi-layer brain network, including: (1) acquiring a multi-channel EEG signal of the natural hand movement; (2) preprocessing the multi-channel EEG signal, and extracting a ? wave, a ? wave, a ? wave, a ? wave, and a ? wave at each time point; (3) constructing a time-domain multi-layer brain network using a wSAR model; (4) calculating the frequency-domain multi-layer brain network using the phase-amplitude coupling; (5) combining the time-domain multi-layer brain network and the frequency-domain multi-layer brain network, and performing standardization; and (6) calculating metrics of the time-domain and frequency-domain multi-layer brain network and a super-adjacency matrix of a decomposed time-domain and frequency-domain multi-layer brain network, inputting the same to a two-layer graph convolutional network (GCN), and fusing manual, shallow, and deep features for analysis.
    Type: Application
    Filed: August 19, 2024
    Publication date: March 6, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Zelin GAO, Xinhao YANG, Aiguo SONG
  • Publication number: 20250077837
    Abstract: Disclosed is an online estimation method for wrist torque based on neural features and LSTM, including following steps: (1) an experimenter keeps his/her arms stationary and applies torque to a torque sensor through his/her wrist; (2) acquiring data from the torque sensor and high-density surface EMG ((HD-sEMG) synchronously; (3) decomposing the HD-sEMG using a blind source separation algorithm to obtain a motor unit spike train (MUST); (4) constructing input and output vectors on the basis of the original HD-sEMG and the decomposed MUST, performing training of the LSTM, and performing polynomial regression of a discharge rate and torque of a neural feature; and (5) calculating a real-time discharge rate (DR) of the CST using a sliding window approach for real-time estimation of the torque.
    Type: Application
    Filed: August 11, 2024
    Publication date: March 6, 2025
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Baoguo XU, Xinhao YANG, Zelin GAO, Aiguo SONG
  • Publication number: 20240359320
    Abstract: Disclosed in the present disclosure is a method for identifying skills of a human-machine cooperation robot based on a generative adversarial imitation learning, which includes: firstly, defining classifications of human-machine cooperation skills that needed to be conducted; conducing demonstrations on different classifications of the skills by human experts, and collecting image information and data in the demonstrations to make calibrations; identifying the image information by means of image processing, extracting effective feature vectors capable of clearly distinguishing the different classifications of the skills and taking the effective feature vectors as demonstration teaching data; training a plurality of discriminators respectively by utilizing the acquired demonstration teaching data through a method of the generative adversarial imitation learning; extracting user's data after the training and putting the data into different discriminators, and taking a discriminator corresponding to a maximum va
    Type: Application
    Filed: August 12, 2022
    Publication date: October 31, 2024
    Inventors: Baoguo XU, Yifei WANG, Xin WANG, Jiajing WANG, Aiguo SONG
  • Publication number: 20240328876
    Abstract: A six-dimensional force sensor elastomer structure based on improved cross beam includes main beams, first floating beams, second floating beams, square corners and thin film strain gauges. Strain gauges are sputtered on the main beams and the first floating beams to form a plurality of sets of Wheatstone bridges. When an input force/moment of a certain dimension acts on the center of an elastomer, the sensor is deformed and resistance values of strain gauges at corresponding positions change, so that output voltages of corresponding bridges are changed.
    Type: Application
    Filed: April 28, 2024
    Publication date: October 3, 2024
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Aiguo SONG, Jingjing XU, Yuhan CHEN, Baoguo XU, Huijun LI
  • Publication number: 20240328873
    Abstract: A combined structure for thin film sputtering high-precision six-dimensional force sensor includes a cross beam, a double U-shaped beam, a base, a top cover, a bottom cover and thin film strain gauges. Strain gauges are sputtered on the main beam to form six sets of Wheatstone bridges, with three sets on the cross beam and three sets on the double U-shaped beam. The measurement method of the six-dimensional force sensor is that: an input force/moment of a certain dimension acts on the center of the cross beam and the center of the double U-shaped beam, so that the sensor is deformed and resistance values of strain gauges at corresponding positions change, thereby changing output voltages of corresponding bridges.
    Type: Application
    Filed: May 5, 2024
    Publication date: October 3, 2024
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Aiguo SONG, Jingjing XU, Yuhan CHEN, Baoguo XU, Huijun LI
  • Publication number: 20240328872
    Abstract: A combined six-dimensional force sensor based on thin-film sputtering technology includes a force transmission table, a cross beam, a base, a top cover, a bottom cover and strain gauges. Strain gauges are sputtered on the elastomer structure to form six sets of Wheatstone bridges. The measurement method of the six-dimensional force sensor is that: an input force/moment of a certain dimension acts on the elastomer structure including the force transmission table and the cross beam through the top cover, the cross beam is deformed and resistance values of strain gauges at corresponding positions change, and output voltages of corresponding bridges change.
    Type: Application
    Filed: April 29, 2024
    Publication date: October 3, 2024
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Aiguo SONG, Yuhan CHEN, Jingjing XU, Baoguo XU, Huijun LI
  • Publication number: 20240324649
    Abstract: A multi-frequency ultrasound coupled multi-nozzle food additive manufacturing device and method are provided. A multi-frequency ultrasound coupling printing system is set up on a multi-nozzle additive manufacturing device, which improves the rheological properties of high-viscosity and large-particle food ink by generating a cavitation effect through the high-frequency vibration of ultrasound and improves the printability of food ink while retaining the nutrients and texture of the food ink. The application of the multi-frequency ultrasound coupled multi-nozzle device to food additive manufacturing enables it to achieve a smaller nozzle diameter and higher printing speed than conventional additive manufacturing systems, which improves the printability of the food ink while realizing large-scale production.
    Type: Application
    Filed: June 28, 2023
    Publication date: October 3, 2024
    Applicant: JIANGSU UNIVERSITY
    Inventors: Baoguo XU, Min FENG, Lin LIN, Jingfu PAN, Xiaofeng REN, Cunshan ZHOU, Haile MA
  • Patent number: 12083064
    Abstract: 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.
    Type: Grant
    Filed: June 28, 2020
    Date of Patent: September 10, 2024
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Jianqing Li, Baoguo Xu, Hong Zeng, Jun Zhang
  • Patent number: 12064884
    Abstract: 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.
    Type: Grant
    Filed: January 6, 2022
    Date of Patent: August 20, 2024
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Hong Zeng, Baoguo Xu
  • Publication number: 20240189995
    Abstract: 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 ?a of the auxiliary cable Bowden system, and a friction coefficient ?p of the power cable Bowden system; calculating the auxiliary cable Bowden system ?a in 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 ?; and obtaining an inverse control formula Fin=FoutĀ·e?u?? according to the friction model, and bringing the power cable Bowden system ?p into the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.
    Type: Application
    Filed: December 27, 2023
    Publication date: June 13, 2024
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Huijun LI, Ye LU, Aiguo SONG, Ye LI, Baoguo XU
  • Patent number: 11965620
    Abstract: 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.
    Type: Grant
    Filed: January 4, 2021
    Date of Patent: April 23, 2024
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Tianyuan Miao, Bincheng Shao, Baoguo Xu, Guangming Song, Bo Xu, Shuang Liu, Jihai Min
  • Publication number: 20240094072
    Abstract: 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.
    Type: Application
    Filed: May 12, 2022
    Publication date: March 21, 2024
    Applicant: SOUTHEAST UNIVERSITY
    Inventors: Aiguo SONG, Jingjing XU, Shuyan YANG, Baoguo XU, Huijun LI, Ruqi MA
  • Patent number: 11920993
    Abstract: 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.
    Type: Grant
    Filed: May 12, 2022
    Date of Patent: March 5, 2024
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jingjing Xu, Shuyan Yang, Baoguo Xu, Huijun Li, Ruqi Ma
  • Patent number: 11867578
    Abstract: 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 ? 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.
    Type: Grant
    Filed: February 1, 2021
    Date of Patent: January 9, 2024
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Shuyan Yang, Baoguo Xu, Yonghui Zhou, Qimeng Tan, Changchun Liang, Ming Wei, Chunhui Wang, Fan Li, Suinan Zhang
  • Patent number: 11771613
    Abstract: 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.
    Type: Grant
    Filed: August 18, 2020
    Date of Patent: October 3, 2023
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Yiting Mo, Huanhuan Qin, Huijun Li, Baoguo Xu
  • Patent number: 11717461
    Abstract: 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.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: August 8, 2023
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Hong Zeng, Baoguo Xu