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1. 发明授权

US08408918B2 Method and apparatus for haptic simulation 有权
标题翻译：触觉模拟的方法和装置
公开(公告)号：US08408918B2
公开(公告)日：2013-04-02
申请号：US12147863
申请日：2008-06-27
申请人： Jianjuen Hu , Gill Pratt , Jeff Weber
发明人： Jianjuen Hu , Gill Pratt , Jeff Weber
IPC分类号： G09B23/32
CPC分类号： G09B23/285
摘要： A haptic simulation method determines a location of a needle assembly within a magneto-rheological fluid. The needle assembly within the magneto-rheological fluid is associated with a desired resistance value. A viscosity control signal representative of the desired resistance value is generated. The viscosity control signal is applied to a viscosity control device to vary a viscosity of the magneto-rheological fluid to achieve the desired resistance value.
摘要翻译：触觉模拟方法确定针组件在磁流变流体内的位置。磁流变流体内的针组件与期望的电阻值相关联。产生表示所需电阻值的粘度控制信号。将粘度控制信号施加到粘度控制装置以改变磁流变流体的粘度以获得所需的电阻值。

2. 发明申请

US20060209019A1 Magnetic haptic feedback systems and methods for virtual reality environments 审中-公开
标题翻译：用于虚拟现实环境的磁触觉反馈系统和方法
公开(公告)号：US20060209019A1
公开(公告)日：2006-09-21
申请号：US11141828
申请日：2005-06-01
申请人： Jianjuen Hu
发明人： Jianjuen Hu
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G2009/04766
摘要： A haptic feedback system comprises a moveable device with at least three degrees of freedom in an operating space. A display device is operative to present a dynamic virtual environment. A controller is operative to generate display signals to the display device for presentation of a dynamic virtual environment corresponding to the operating space, including an icon corresponding to the position of the moveable device in the virtual environment. An actuator of the haptic feedback system comprises a stator having an array of independently controllable electromagnet coils. By selectively energizing at least a subset of the electromagnetic coils, the stator generates a net magnetic force on the moveable device in the operating space. In certain exemplary embodiments the actuator has a controllably moveable stage positioning the stator in response to movement of the moveable device, resulting in a larger operating area. A detector of the system, optionally multiple sensors of different types, is operative to detect at least the position of the moveable device in the operating space and to generate corresponding detection signals to the controller. The controller receives and processes detection signals from the detection sensor and generates corresponding control signals to the actuator to control the net magnetic force on the moveable device.
摘要翻译：触觉反馈系统包括在操作空间中具有至少三个自由度的可移动装置。显示设备可操作以呈现动态虚拟环境。控制器可操作以向显示设备生成显示信号，以呈现与操作空间相对应的动态虚拟环境，包括与虚拟环境中的可移动设备的位置对应的图标。触觉反馈系统的致动器包括具有可独立控制的电磁线圈阵列的定子。通过选择性地激励电磁线圈的至少一个子集，定子在操作空间中的可移动装置上产生净磁力。在某些示例性实施例中，致动器具有响应于可移动装置的运动而定位定子的可控地移动的台阶，导致更大的操作面积。系统的检测器，可选地，不同类型的多个传感器，可操作以至少检测可移动设备在操作空间中的位置，并产生对控制器的相应检测信号。控制器接收并处理来自检测传感器的检测信号，并向致动器产生相应的控制信号，以控制可移动设备上的净磁力。

3. 发明申请

US20150182403A1 A Mobile Robotic Lifting and Transferring System for Bariatric Patients 审中-公开
标题翻译：用于减肥患者的移动机器人起重和转移系统
公开(公告)号：US20150182403A1
公开(公告)日：2015-07-02
申请号：US14146472
申请日：2014-01-02
申请人： Yi-Je Lim , Jianjuen Hu , Harrison Roberts , Suzana Makowski
发明人： Yi-Je Lim , Jianjuen Hu , Harrison Roberts , Suzana Makowski
IPC分类号： A61G7/10
CPC分类号： A61G7/1025 , A61G7/1019 , A61G7/1036 , A61G7/1048 , A61G7/1057 , A61G2200/16 , A61G2200/327 , A61G2200/34 , A61G2203/14 , A61G2203/18 , Y10S901/01
摘要： Obesity has grown into one of the world's most significant health problems. The field of bariatrics and the quantity of bariatric surgical procedures is projected to continue to increase rapidly each year. This trend presents a challenge to healthcare providers and facilities striving to provide dignified care that is effective and safe both for the patient and the provider. There is a great demand for new approaches to bariatric patient care. The present invention is a robotic patient lifting system, targeted for, but not limited to, bariatric patient care. Without the need for difficult, time consuming slings and hoists associated with currently available systems, the invented lifting and transferring system utilizes rapidly deployable, articulated robotic arms with gentle conveyor belts. A unique linkage system allows powerful, safe, and flexible lifting and positioning of the patient with a minimal number of actuators. The lifting mechanism is mounted on a low profile, stable and flexible footprint, omnidirectional robotic mobile base. A simple, intuitive user interface allows control by a single caregiver with minimal training
摘要翻译：肥胖已经成为世界上最重要的健康问题之一。预防治疗的领域和减肥手术的数量将每年继续迅速增加。这种趋势对医疗保健提供者和设施提出了挑战，努力为患者和提供者提供有效和安全的有尊严的护理。对减肥患者护理的新方法有很大的需求。本发明是一种机器人患者提升系统，其目的是但不限于减肥患者护理。本发明的提升和转移系统不需要与当前可用的系统相关联的困难，耗时的吊索和起重机，利用具有柔和的输送带的快速可展开的铰接的机器臂。独特的联动系统允许用最少数量的执行器强力，安全和灵活地提升和定位患者。提升机构安装在薄型，稳定和灵活的足迹，全方向机器人移动基座上。一个简单，直观的用户界面允许一个照顾者通过最少的培训进行控制

4. 发明申请

US20140100491A1 Lower Extremity Robotic Rehabilitation System 审中-公开
标题翻译：下肢机器人康复系统
公开(公告)号：US20140100491A1
公开(公告)日：2014-04-10
申请号：US13646368
申请日：2012-10-05
申请人： Jianjuen Hu , Yi-Je Lim , Paolo Bonato , Jienan Ding
发明人： Jianjuen Hu , Yi-Je Lim , Paolo Bonato , Jienan Ding
IPC分类号： A61H3/00 , A61H1/00
CPC分类号： A61H3/008 , A61H1/00 , A61H1/0262 , A61H3/00 , A61H2201/1215 , A61H2201/14 , A61H2201/163 , A61H2201/1642 , A61H2201/1659 , A61H2201/5007 , A61H2201/501 , A61H2201/5012 , A61H2201/5061 , A61H2201/5064 , A61H2201/5092 , A61H2201/5097 , A61H2203/0406 , A63B21/00178 , A63B21/00181 , A63B21/0058 , A63B21/154 , A63B21/4009 , A63B21/4015 , A63B21/4043 , A63B23/03541 , A63B23/0405 , A63B23/08 , A63B24/0087 , A63B69/0064 , A63B2022/0094 , A63B2024/0093 , A63B2071/0655 , A63B2208/0204 , A63B2220/13 , A63B2220/51 , A63B2220/54 , A63B2220/805 , A63B2225/20 , A63B2225/50
摘要： To achieve “ecological” robotic rehabilitation therapy, the present invention provides the system capacity of training of patients in different ambulatory tasks utilizing motorized footplates that guide the lower limbs according to human gait trajectories generated for different ambulatory tasks of interest. A lower extremity robotic rehabilitation system comprises an active pelvic/hip device which applies series elastic actuation to achieve an intrinsically safe and desirable impedance control. A robotic unit features the telepresence operation control that allows a patient stay at home or nursing home to continue his or her rehabilitation training under a physician's remote supervision and monitoring. The robot unit utilizes an affective patient-robot interface to capture emotional information of the patient, to allow for real-time adaptation of the robotic system and adjustments of treatment protocol, and to enhance the quality and effectiveness of rehabilitation
摘要翻译：为了实现“生态”机器人康复治疗，本发明提供了利用根据针对感兴趣的不同步行任务生成的人类步态轨迹来引导下肢的电动脚踏板来训练不同移动任务的患者的系统能力。下肢机器人康复系统包括活动的骨盆/髋部装置，其应用串联弹性致动以实现本质上安全和期望的阻抗控制。机器人单元具有远程呈现操作控制，允许患者在家或疗养院停留，根据医生的远程监督和监视继续他或她的康复训练。机器人单元利用情感病人 - 机器人界面来捕获患者的情绪信息，允许机器人系统的实时调整和治疗方案的调整，并提高康复的质量和有效性

5. 发明申请

US20090123896A1 METHOD AND APPARATUS FOR HAPTIC SIMULATION 有权
标题翻译：用于习惯模拟的方法和装置
公开(公告)号：US20090123896A1
公开(公告)日：2009-05-14
申请号：US12147863
申请日：2008-06-27
申请人： Jianjuen Hu , Gill Pratt , Jeff Weber
发明人： Jianjuen Hu , Gill Pratt , Jeff Weber
IPC分类号： G09B23/28
CPC分类号： G09B23/285
摘要： A haptic simulation method determines a location of a needle assembly within a magneto-rheological fluid. The needle assembly within the magneto-rheological fluid is associated with a desired resistance value. A viscosity control signal representative of the desired resistance value is generated. The viscosity control signal is applied to a viscosity control device to vary a viscosity of the magneto-rheological fluid to achieve the desired resistance value.
摘要翻译：触觉模拟方法确定针组件在磁流变流体内的位置。磁流变流体内的针组件与期望的电阻值相关联。产生表示所需电阻值的粘度控制信号。将粘度控制信号施加到粘度控制装置以改变磁流变流体的粘度以获得所需的电阻值。

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