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公开(公告)号：KR101626959B1
公开(公告)日：2016-06-03
申请号：KR1020140167886
申请日：2014-11-27
Applicant: 한국과학기술연구원 , 재단법인 실감교류인체감응솔루션연구단
Abstract: 본발명의일 측면에따르면사용자의신체의일부에착용되되, 자석및 전자석페어를적어도하나포함하는햅틱피드백유닛; 상기햅틱피드백유닛을소정의디스플레이화면의전체영역중 특정영역에접촉또는근접시킴이감지되면, 상기특정영역에대응되는컨텐츠의특정부분에포함되는정보인부분컨텐츠정보를획득하는부분컨텐츠정보획득부; 상기획득된부분컨텐츠정보를참조로하여, 상기햅틱피드백유닛에포함된상기자석및 전자석페어중 적어도하나의페어에포함된자석및 전자석사이에작용하는힘을제어하여상기사용자의상기신체의일부에작용될힘을결정하는제어부를포함하는자극생성장치가제공된다. 본발명에의하면, 터치스크린을통해제공되는컨텐츠를시각과촉각을통해동시에느낄수 있으므로사용자입장에서보다풍부한느낌을전달받을수 있는효과가달성된다.
Abstract translation: 根据本发明，提供了一种刺激产生装置，包括：触觉反馈单元，其可佩戴在使用者身体的一部分上并且包括至少一对磁体和电磁体; 部分内容信息获取单元，用于获取部分内容信息，该部分内容信息是包含在与特定区域对应的内容的特定部分中的信息，如果检测到触觉反馈单元在特定显示器的整个区域中接触或接近特定区域 屏幕; 以及控制单元，通过参照所获得的部分内容信息来控制包括在所述至少一对磁体和所述触觉反馈单元中的电磁体之间的磁体与电磁体之间施加的强度，由此确定要施加的强度 在用户的身体部分。 根据本发明，用户可以通过视觉和触觉感觉同时感受通过触摸屏提供的内容，并且因此从用户的角度来看更为真实。
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公开(公告)号：KR101473947B1
公开(公告)日：2014-12-19
申请号：KR1020130051472
申请日：2013-05-07
Applicant: 한국과학기술연구원
Abstract: 본발명은촉각센서및 촉각센서제조방법에관한것으로, 본발명의일 실시예에따른촉각센서는평행하게배치되는하나이상의압력형제1 촉각센서; 상기제1 촉각센서를가로지르는방향으로평행하게적층되는하나이상의압전형제2 촉각센서및 상기제2 촉각센서에적층되어상기제2 촉각센서의전위차를유도하는전위차유도층을포함한다.
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公开(公告)号：KR1020140002100A
公开(公告)日：2014-01-08
申请号：KR1020120068666
申请日：2012-06-26
Applicant: 한국과학기술연구원
Inventor： 김도익
Abstract: According to an embodiment of the present invention, the present invention relates to a sensory reproduction system capable of making a user and a robot in a remote site interact with each other, and includes: an outer muscular strength device arranged along the exoskeleton of the user for adaptively operating according to operation of the user; and an integument device closely arranged to the skin of the user for delivering stimulus to the skin of the user. The outer muscular strength device operates joints of the robot by delivering joint operation of the user to the robot and delivers a feedback force to the joints of the user by controlling the outer muscular strength device according to the location and size of an external force applied to the joints of the robot. The integument device reproduces stimulus applied to the surface of the robot and delivers to the skin of the user. [Reference numerals] (AA) Voice; (BB) Image
Abstract translation: 根据本发明的实施例，本发明涉及能够使远程站点中的用户和机器人彼此相互作用的感觉再现系统，并且包括：沿着用户的外骨骼布置的外部肌肉力量装置 根据用户的操作进行自适应操作; 以及紧密地布置在用户皮肤上的皮肤装置，用于将刺激递送到使用者的皮肤。 外部肌肉力量装置通过将使用者的关节操作提供给机器人来操作机器人的关节，并且通过根据施加到外部肌肉强度的外力的位置和尺寸控制外部肌肉力量装置，向使用者的关节传递反馈力 机器人的关节。 皮肤设备再现施加到机器人表面的刺激物并传递给使用者的皮肤。 （附图标记）（AA）声音; （BB）图像
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公开(公告)号：KR101266394B1
公开(公告)日：2013-05-22
申请号：KR1020110136646
申请日：2011-12-16
Applicant: 한국과학기술연구원
Abstract: PURPOSE: An error correction method according to an incident angle of a distance measurement sensor is provided to more accurately measure a distance to a measurement object by correcting an error of distance measurement according to an incident angle when a light source of a distance measurement sensor meets a measurement object. CONSTITUTION: An error of measured distance according to an incident angle of a distance measurement sensor is statically calculated(S110). A distance from the distance measurement sensor to a measurement object is measured(S120). A distance of coordinates within a predetermined region of the measurement object through pan-tilt motion of the distance measurement sensor is calculated(S130). A plane vector PT of the surface of the measurement object is calculated utilizing the distance values of the measured predetermined coordinates(S140). An incident angle which a light source of the distance measurement sensor and the measurement object make using a formula is calculated(S150). A correction distance error is calculated according to the incident angle which the measurement object and a corrected distance dc is obtained by correcting the measured distance dm in the distance measurement sensor(S160). [Reference numerals] (AA) Start; (BB) End; (S110) Statically calculate an error of a measured distance according to changes in an incident angle of a distance measurement sensor in advance; (S120) Measure the distance from the distance measurement sensor to an object; (S130) Calculate distances to coordinates within a predetermined region through the pan-tilt motion of the distance measurement sensor; (S140) Calculate a plane vector of the predetermined region; (S150) Calculate an incident angle at which a light source of the distance measurement sensor meets the object; (S160) Calculate a corrected distance error according to the incident angle and correct the measured value of the distance measurement sensor
Abstract translation: 目的：提供根据距离测量传感器的入射角度的误差校正方法，以便在距离测量传感器的光源遇到时根据入射角校正距离测量的误差来更精确地测量到测量对象的距离 测量对象。 构成：静态计算根据距离测量传感器的入射角测量距离的误差（S110）。 测量距离测量传感器到测量对象的距离（S120）。 计算通过距离测量传感器的俯仰运动在测量对象的预定区域内的坐标的距离（S130）。 使用测量的预定坐标的距离值来计算测量对象表面的平面向量PT（S140）。 计算距离测量传感器的光源和测量对象使用公式产生的入射角度（S150）。 根据通过校正距离测量传感器中的测量距离dm获得测量对象和校正距离dc的入射角来计算校正距离误差（S160）。 （附图标记）（AA）开始; （BB）结束; （S110）预先根据距离测量传感器的入射角的变化静态计算测量距离的误差; （S120）测量距离测量传感器到物体的距离; （S130）通过距离测量传感器的俯仰运动计算预定区域内的坐标的距离; （S140）计算预定区域的平面矢量; （S150）计算距离测量传感器的光源与物体的入射角度; （S160）根据入射角计算校正后的距离误差，校正测距传感器的测量值
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公开(公告)号：KR1020120023998A
公开(公告)日：2012-03-14
申请号：KR1020100086500
申请日：2010-09-03
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A framework system for controlling the motion of a robot and a robot motion control method using the same are provided to allow for independent development of device, application, and control modules because the modules are indirectly connected through a core module. CONSTITUTION: A framework system for controlling the motion of a robot comprises a device module(110), an application module(120), a control module(130), and a core module(140). The device module stores information on the structure of a robot. The application module stores information on applications that can be implemented by a robot connected through the device module. The control module receives status parameters of the robot through the device module and implements control algorithm through the applications of the application module using the received status parameters. The core module implements communications by connecting the device, application and control modules.
Abstract translation: 目的：提供一种用于控制机器人的运动的框架系统和使用其的机器人运动控制方法，以允许设备，应用和控制模块的独立开发，因为模块通过核心模块间接连接。 构成：用于控制机器人运动的框架系统包括设备模块（110），应用模块（120），控制模块（130）和核心模块（140）。 设备模块存储关于机器人结构的信息。 应用模块存储关于可以通过设备模块连接的机器人实现的应用的信息。 控制模块通过设备模块接收机器人的状态参数，并通过接收到的状态参数通过应用模块的应用实现控制算法。 核心模块通过连接设备，应用和控制模块来实现通信。
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Patent Agency Ranking
公开(公告)号：KR1020100125794A
公开(公告)日：2010-12-01
申请号：KR1020090044668
申请日：2009-05-21
Applicant: 한국과학기술연구원
CPC classification number: H04L67/125 , H04L41/0266
Abstract: PURPOSE: A method and an apparatus for performing a service using a robot are provided to rapidly perform various services by using a robot having limited computing capability. CONSTITUTION: A communication unit communicates with a robot(110) through a network, and a service server unit(120) processes at least one predetermined service. The service server unit receives, from the robot, a service processing request for a certain service through the communication unit. The service server unit transmits a service processing result to the robot through the communication unit.
Abstract translation: 目的：提供一种使用机器人执行服务的方法和装置，通过使用具有有限计算能力的机器人来快速执行各种服务。 构成：通信单元通过网络与机器人（110）通信，服务服务器单元（120）处理至少一个预定服务。 服务服务器单元通过通信单元从机器人接收对某个服务的服务处理请求。 服务服务器单元通过通信单元向机器人发送服务处理结果。
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公开(公告)号：KR1020100121309A
公开(公告)日：2010-11-17
申请号：KR1020090040399
申请日：2009-05-08
Applicant: 한국과학기술연구원
CPC classification number: B62D57/032
Abstract: PURPOSE: A walking pattern generation system of a biped walking robot, capable of stabilizing a transfer function, is provided to steadily control the walking of a robot using Walking pattern data effectively following goal pattern data. CONSTITUTION: A walking pattern generation system of a biped walking robot comprises a pole-zero controller and a walking pattern generation unit. The pole-zero controller converts the goal pattern data inputted to a system into reference pattern data through a first transfer function. The walking pattern generation unit changes base pattern data into walking pattern data through a second transfer function.
Abstract translation: 目的：提供一种能够稳定传递函数的双足步行机器人的步行图案生成系统，用于根据目标图案数据有效地使用行走图数据来稳定地控制机器人的行走。 构成：两足动作机器人的步行图案生成系统包括极零控制器和步行图案生成单元。 极点零点控制器通过第一传递函数将输入到系统的目标模式数据转换成参考模式数据。 步行图案生成单元通过第二传递函数将基本图案数据变更为步行图案数据。
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公开(公告)号：KR1020100052177A
公开(公告)日：2010-05-19
申请号：KR1020080111081
申请日：2008-11-10
Applicant: 한국과학기술연구원
IPC: G10L25/48 , G10L21/0272
Abstract: PURPOSE: Sound source localization measuring method and device are provided, which extract direction value and high angle of the speaker whereof measured arrival time delay value which is measured by the arrival time delay characteristic matrix and increase a sound source localization performance on the space. CONSTITUTION: An arrival time delay feature matrix is in advance saved in a sound source location system(S11). A voice signal is inputted to a plurality of microphone(S12). An arrival time delay value of a voice is obtained against a plurality of microphone(S13). A direction angle and elevation angle of a speaker of the voice signal are extracted through the arrival time delay characteristic matrix(S14). Using the direction angle and elevation angle, the location of a speaker is recognized(S15).
Abstract translation: 目的：提供声源定位测量方法和装置，提取通过到达时间延迟特性矩阵测量的测量到达时间延迟值的扬声器的方向值和高角度，并增加空间上的声源定位性能。 构成：提前保存到达时间延迟特征矩阵的声源定位系统（S11）。 语音信号被输入到多个麦克风（S12）。 针对多个麦克风获得声音的到达时间延迟值（S13）。 通过到达时间延迟特性矩阵提取语音信号的扬声器的方向角和仰角（S14）。 使用方向角和仰角，识别扬声器的位置（S15）。
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公开(公告)号：KR101831760B1
公开(公告)日：2018-02-27
申请号：KR1020150145391
申请日：2015-10-19
Applicant: 한국과학기술연구원
Abstract: 센서네트워크에서의정보서비스제공방법이개시된다. 일실시예에따른정보서비스제공방법은복수의센서장치를복수의센서그룹으로형성하는단계와, 각센서장치와연관된하나이상의센서속성및 각센서장치가부착된객체와연관된하나이상의객체속성중 적어도하나에기초하여, 각센서그룹내에복수의센서계층을정의하는단계와, 센서장치와연관된정보, 센서계층과연관된정보및 센서그룹과연관된정보중 적어도하나에기초하여, 하나이상의레벨을갖는계층적정보를생성하는단계를포함할수 있다. 이때, 복수의센서계층은, 하나이상의센서장치를포함하는센서요소로구성된제1 센서계층, 하나이상의센서요소를포함하는센서집합으로구성된제2 센서계층및 센서요소와센서집합을포함하는센서공간으로구성된제3 센서계층을포함할수 있다.
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