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1. 发明申请

US20130231724A1 SYSTEM OF FUNCTIONAL ELECTRICAL STIMULATION 有权
标题翻译：功能电刺激系统
公开(公告)号：US20130231724A1
公开(公告)日：2013-09-05
申请号：US13806952
申请日：2011-06-28
申请人： Zengguang Hou , Min Tan , Yixiong Chen , Pengfeng Li , Hongbo Wang , Long Cheng , Guoqing Hu , Qingling Li , Feng Zhang , Jin Hu , Xinchao Zhang , Yi Hong , Junwei Zhang , Jinzhu Bai , Zhen Lv
发明人： Zengguang Hou , Min Tan , Yixiong Chen , Pengfeng Li , Hongbo Wang , Long Cheng , Guoqing Hu , Qingling Li , Feng Zhang , Jin Hu , Xinchao Zhang , Yi Hong , Junwei Zhang , Jinzhu Bai , Zhen Lv
IPC分类号： A61N1/08
CPC分类号： A61N1/08 , A61N1/36 , A61N1/36003
摘要： 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.
摘要翻译：本发明公开了一种功能电刺激系统，其包括主电源，升压模块，能量存储部，输出控制继电器，自动放电电路，脚/手控开关，电流检测芯片和限流熔断器。升压模块包括串联连接的n个DC斩波电路，并输出100-200V的高电压。根据使能信号和电流检测信号，输出控制继电器禁止/使能直流升压模块。当继电器关闭电源输入时，自动放电电路自动放电储能部分的电容。脚/手控开关，电流检测芯片和限流熔断器构成三重事故保护电路。功能性电刺激系统使人体能承受的范围内的电刺激强度最大化。同时，它提供多种安全保护机制和增强的可靠性，以避免使用过程中的危险。

2. 发明授权

US08755903B2 System of functional electrical stimulation 有权
标题翻译：功能电刺激系统
公开(公告)号：US08755903B2
公开(公告)日：2014-06-17
申请号：US13806952
申请日：2011-06-28
申请人： Zengguang Hou , Min Tan , Yixiong Chen , Pengfeng Li , Hongbo Wang , Long Cheng , Guoqing Hu , Qingling Li , Feng Zhang , Jin Hu , Xinchao Zhang , Yi Hong , Junwei Zhang , Jinzhu Bai , Zhen Lv
发明人： Zengguang Hou , Min Tan , Yixiong Chen , Pengfeng Li , Hongbo Wang , Long Cheng , Guoqing Hu , Qingling Li , Feng Zhang , Jin Hu , Xinchao Zhang , Yi Hong , Junwei Zhang , Jinzhu Bai , Zhen Lv
IPC分类号： A61N1/08 , A61N1/36
CPC分类号： A61N1/08 , A61N1/36 , A61N1/36003
摘要： 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.
摘要翻译：本发明公开了一种功能电刺激系统，其包括主电源，升压模块，能量存储部分，输出控制继电器，自动放电电路，脚/手控开关，电流检测芯片和限流熔断器。升压模块包括串联连接的n个DC斩波电路，并输出100-200V的高电压。根据使能信号和电流检测信号，输出控制继电器禁止/使能直流升压模块。当继电器关闭电源输入时，自动放电电路自动放电储能部分的电容。脚/手控开关，电流检测芯片和限流熔断器构成三重事故保护电路。功能性电刺激系统使人体能承受的范围内的电刺激强度最大化。同时，它提供多种安全保护机制和增强的可靠性，以避免使用过程中的危险。

3. 发明申请

US20140100638A1 FUNCTIONAL ELECTRICAL STIMULATION SYSTEM 有权
标题翻译：功能电刺激系统
公开(公告)号：US20140100638A1
公开(公告)日：2014-04-10
申请号：US13994051
申请日：2011-06-28
申请人： Zengguang Hou , Yixiong Chen , Pengfeng Li , Min Tan , Long Cheng , Qingling Li , Feng Zhang , Jin Hu , Long Peng , Xinchao Zhang
发明人： Zengguang Hou , Yixiong Chen , Pengfeng Li , Min Tan , Long Cheng , Qingling Li , Feng Zhang , Jin Hu , Long Peng , Xinchao Zhang
IPC分类号： A61N1/378 , A61N1/36
CPC分类号： A61N1/378 , A61N1/36 , A61N1/36003 , A61N1/3782
摘要： 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.
摘要翻译：一种功能电刺激系统，具有将主电源的输出电压提高到第一预设电压的升压模块，连接到升压模块的能量存储模块，其被配置为存储第一预设电压的电能;中央控制单元被配置为产生电刺激参数的数据分组，以及连接到能量存储模块的电刺激输出通道，其被配置为接收电刺激参数的数据分组，从数据分组分析电刺激参数，将存储在所述能量存储模块适用于与所述电刺激参数相对应的电刺激脉冲，并将所述电刺激脉冲施加到用户的一部分。功能电刺激系统可以增强电刺激脉冲的灵活性和自主性，使得用户可以根据他/她的实际条件选择个性化的电刺激脉冲类型。

4. 发明授权

US08983621B2 Functional electrical stimulation system 有权
标题翻译：功能电刺激系统
公开(公告)号：US08983621B2
公开(公告)日：2015-03-17
申请号：US13994051
申请日：2011-06-28
申请人： Zengguang Hou , Yixiong Chen , Pengfeng Li , Min Tan , Long Cheng , Qingling Li , Feng Zhang , Jin Hu , Long Peng , Xinchao Zhang
发明人： Zengguang Hou , Yixiong Chen , Pengfeng Li , Min Tan , Long Cheng , Qingling Li , Feng Zhang , Jin Hu , Long Peng , Xinchao Zhang
IPC分类号： A61N1/00 , A61N1/378 , A61N1/36
CPC分类号： A61N1/378 , A61N1/36 , A61N1/36003 , A61N1/3782
摘要： 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.
摘要翻译：一种功能电刺激系统，具有将主电源的输出电压提高到第一预设电压的升压模块，连接到升压模块的能量存储模块，其被配置为存储第一预设电压的电能;中央控制单元被配置为产生电刺激参数的数据分组，以及连接到能量存储模块的电刺激输出通道，其被配置为接收电刺激参数的数据分组，从数据分组分析电刺激参数，将存储在所述能量存储模块适用于与所述电刺激参数相对应的电刺激脉冲，并将所述电刺激脉冲施加到用户的一部分。功能电刺激系统可以增强电刺激脉冲的灵活性和自主性，使得用户可以根据他/她的实际条件选择个性化的电刺激脉冲类型。

5. 发明授权

US08600554B2 System and method for robot trajectory generation with continuous accelerations 有权
标题翻译：具有连续加速度的机器人轨迹生成系统和方法
公开(公告)号：US08600554B2
公开(公告)日：2013-12-03
申请号：US13142540
申请日：2010-06-04
申请人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
发明人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
IPC分类号： G05B19/00 , G06F19/00
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40519 , G05B2219/43062
摘要： 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.
摘要翻译：一种用于连续加速的机器人轨迹生成方法，通过运动命令界面接收用户的运动命令，并将用户的运动命令发送到笛卡尔轨迹发生器; 将用户命令转换为笛卡尔空间中机器人末端执行器的轨迹路径点; 将笛卡尔空间中的机器人末端执行器的轨迹路径点变换为联合空间中的机器人轨迹路径; 计算每个运动伺服循环中机器人关节的位置，速度和加速度; 比较由关节轨迹插值仪产生的机器人关节的位置，速度和加速度，分别以机器人参数数据库中存储的每个机器人关节的速度极限值和加速度极限值。

6. 发明申请

US20120029699A1 SYSTEM AND METHOD FOR ROBOT TRAJECTORY GENERATION WITH CONTINUOUS ACCELERATIONS 有权
标题翻译：用于连续加速的机器人轨迹生成系统和方法
公开(公告)号：US20120029699A1
公开(公告)日：2012-02-02
申请号：US13142540
申请日：2010-06-04
申请人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
发明人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
IPC分类号： G05B15/00
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40519 , G05B2219/43062
摘要： 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.
摘要翻译：一种用于连续加速的机器人轨迹生成方法，通过运动命令界面接收用户的运动命令，并将用户的运动命令发送到笛卡尔轨迹发生器; 将用户命令转换为笛卡尔空间中机器人末端执行器的轨迹路径点; 将笛卡尔空间中的机器人末端执行器的轨迹路径点变换为联合空间中的机器人轨迹路径; 计算每个运动伺服循环中机器人关节的位置，速度和加速度; 比较由关节轨迹插值仪产生的机器人关节的位置，速度和加速度，分别以机器人参数数据库中存储的每个机器人关节的速度极限值和加速度极限值。

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