Abstract: The present invention discloses a brain-computer interface method and system based on real-time closed loop vibration stimulation enhancement.

Abstract: A virtual scene interactive rehabilitation training robot based on a lower limb connecting rod model and force sense information and a control method thereof are disclosed. The thigh, calf and foot of a leg of a human body are equated to a three-connecting rod series-connected mechanical arm. A human body leg gravity compensation model is constructed. The leg posture of a patient is detected by Kinect. An interaction force between a limb of the patient and a rehabilitation robot is detected by a force sensor on the rehabilitation robot. Then, a progressive rehabilitation training method is designed for the model. According to a set weight reduction ratio, the motion of the rehabilitation robot is controlled by judging plantar force data.

Abstract: The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.

Abstract: The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.

Abstract: The present invention discloses a multi-dimensional surface electromyogram signal prosthetic hand control method based on principal component analysis. The method comprises the following steps. Wear an armlet provided with a 24-channel array electromyography sensor to a front arm of a subject, and respectively wear five finger joint attitude sensors at a distal phalanx of a thumb and at middle phalanxes of remaining fingers of the subject. Perform independent bending and stretching training on the five fingers of the subject, and meanwhile, collect data of an array electromyography sensor and data of the finger joint attitude sensors. Decouple the data of the array electromyography sensor by principal component analysis to form a finger motion training set. Perform data fitting on the finger motion training set by a neural network method, and construct a finger continuous motion prediction model. Predict a current bending angle of the finger through the finger continuous motion model.

Abstract: A whisker sensor includes an upper circuit board, a lower circuit board, a flexible whisker, and a magnet. The magnet is fixed to the flexible whisker through a central through hole, and the location of the magnet changes with the swinging of the whisker; the upper and lower circuit boards are identical in shape and size, and are connected through an upright column. A circular hole is formed at the center of the upper circuit board, four Hall sensors are symmetrically distributed on the edge of the circular hole, and the displacement of the whisker in X and Y directions can be obtained by detecting the change in magnetic field generated by the change in location of the magnet; a contact sensor is mounted on the lower circuit board, and is connected to the whisker through a connecting piece, to detect displacement of the whisker in the Z direction.