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公开(公告)号：KR1020140091381A
公开(公告)日：2014-07-21
申请号：KR1020130003585
申请日：2013-01-11
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/00 , A61B5/0488 , A61N1/36 , A61B5/05
CPC classification number: A61N1/36014 , A61B5/026 , A61B5/0482 , A61B5/0488 , A61B2505/09 , A61N1/36003
Abstract: The present invention relates to a self-directed rehabilitation training method for providing a patient, who requires rehabilitation, with rehabilitation training upon the will of the patient. The rehabilitation training method provides a patient with an environment capable of encouraging the patient to have rehabilitation will and provides the patient with an appropriate exercise for the patient by measuring the condition of the patient. According to an embodiment of the present invention, by measuring the brain signals of a patient and adjusting the duration or intensity of a rehabilitation exercise, the patient is enabled to take the rehabilitation exercise in an active environment.
Abstract translation: 本发明涉及一种自我导向的康复训练方法，用于根据患者的意愿提供需要康复的患者康复训练。 康复训练方法为患者提供能够鼓励患者康复的环境，并通过测量患者的状况向患者提供适当的运动。 根据本发明的实施例，通过测量患者的脑信号并调整康复锻炼的持续时间或强度，患者能够在活跃的环境中进行康复锻炼。
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公开(公告)号：KR101414975B1
公开(公告)日：2014-07-04
申请号：KR1020120139668
申请日：2012-12-04
Applicant: 재단법인대구경북과학기술원
IPC: A61B5/0488
Abstract: 본 발명은 상지 근육의 근전도 신호를 이용한 재활 평가 방법 및 그 재활 평가 장치에 관한 것으로, 본 발명의 일 실시예에 따른 상지 근육의 근전도 신호를 이용한 재활 평가 방법은, 사용자로부터 상지 근육에 대한 근전도 신호를 획득하는 단계와, 상기 근전도 신호의 진폭을 이용하여 상기 상지 근육의 활성도를 연산하는 단계와, 상기 근전도 신호의 주파수를 이용하여 상기 상지 근육의 피로도를 연산하는 단계와, 상기 상지 근육의 활성도 및 상기 상지 근육의 피로도를 이용하여 상기 상지 근육의 재활 정도를 판단하는 단계를 포함한다.
이에 따라, 상지 근육의 근전도 신호에 대한 진폭 및 주파수를 분석하여 재활 정도를 판단함으로써 보다 객관적이고 정량적으로 근육의 재활 정도를 판단할 수 있다.-
公开(公告)号：KR1020140061170A
公开(公告)日：2014-05-21
申请号：KR1020120128419
申请日：2012-11-13
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06F19/3481 , G06F19/00
Abstract: The present invention relates to a system and a method for providing active rehabilitation training to rehabilitation patients. The system induces patient′s rehabilitation intention by providing information on rehabilitation to patients and provides active rehabilitation training suitable for patients by continuously measuring patient′s vital signals and monitoring a state.
Abstract translation: 本发明涉及一种为康复患者提供主动康复训练的系统和方法。 该系统通过向患者提供康复信息来引导患者的康复意图，并通过持续测量患者的生命信号和监测状态，为患者提供适合患者的积极康复训练。
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公开(公告)号：KR101383450B1
公开(公告)日：2014-04-08
申请号：KR1020130043217
申请日：2013-04-18
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A61H1/0285 , A63B23/12 , B25J11/00
Abstract: The present invention relates to an upper extremity rehabilitation robot control method for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. More specifically, the upper extremity rehabilitation robot control method for meal assistance comprises a step of detecting the movement of an upper extremity of a user by a detection member after a dish is disposed at a predetermined position, and the upper extremity of the user is mounted at an arm end of an articulated robot; a step of calculating the direction where the upper extremity wants to go and the power by the detected movement in the detection member; a step of generating and outputting control signals to be output to the articulated robot based on a calculated value; and a step of assisting the upper extremity of the user with the power in the direction where the upper extremity wants to go and moving the upper extremity by driving the arm of the articulated robot based on the output control signals. [Reference numerals] (AA) Start; (BB) End; (S100) Detect the minute movement of an upper extremity by a detection member; (S200) Calculate the direction where the upper extremity wants to go and the power by the detected minute movement; (S310) Compare a calculated value relative to the power and a reference value of the power previously inputted; (S320) Output control signals by converting any one of magnetic polarity among the detection member and an articulated robot if the calculated value is greater than or equal to the reference value; (S400) Generate each control signal of X-axis, Y-axis, and Z-axis to be outputted to the articulated robot based on the calculated value and output the same; (S500) Selectively drive arms of the articulated robot on the line of the X-axis, Y-axis, and Z-axis based on the each control signal of the outputted X-axis, Y-axis, and Z-axis
Abstract translation: 本发明涉及一种用于辅助老年人膳食的膳食辅助的上肢康复机器人控制方法和上肢体力小于正常人的康复患者。 更具体地，用于膳食辅助的上肢康复机器人控制方法包括以下步骤：在将餐具设置在预定位置之后检测用户的上肢的移动，并且使用者的上肢被安装 在关节式机器人的臂端; 计算上肢想要去的方向的动作和通过检测动作的动力的步骤; 基于计算值生成并输出要输出到关节式机器人的控制信号的步骤; 以及通过基于输出控制信号驱动关节式机器人的臂，辅助用户上肢在上肢想要走的方向上移动上肢的步骤。 （附图标记）（AA）开始; （BB）结束; （S100）通过检测部件检测上肢的微小移动; （S200）通过检测到的微小运动计算上肢想要走的方向和动力; （S310）比较相对于功率的计算值和预先输入的功率的参考值; （S320）如果计算值大于或等于参考值，则通过转换检测构件和关节式机器人中的任何一个磁极来输出控制信号; （S400）根据计算值生成X轴，Y轴和Z轴的各个控制信号输出到关节式机器人，并输出; （S500）根据输出的X轴，Y轴和Z轴的各个控制信号，选择性地将关节式机器人的臂驱动在X轴，Y轴和Z轴的线上
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公开(公告)号：KR101330532B1
公开(公告)日：2013-11-18
申请号：KR1020120127633
申请日：2012-11-12
Applicant: 재단법인대구경북과학기술원
IPC: A63B21/018 , A63B23/04
CPC classification number: A63B21/153 , A63B21/154 , A63B21/4011
Abstract: The present invention relates to a hip joint rehabilitation training device, more specifically, to a hip joint rehabilitation training device which includes a fixed frame which is formed in a sickle shape and of which the bottom is fixed by a frame fixing unit, a fixed pulley which is fixed to the upper part of the fixed frame and changes the direction of a force applied on a first rope, a moving pulley which is fixed to the lower part of the fixed pulley, is hung on the lower part of a fixed pulley, and moves up and down as a user pulls the first rope, a lower body mount board which connects to the lower part of the moving pulley and mounts the lower body of the user, and a handle which is formed on one end of the first rope and allows the user to pull the first rope by a hand. The hip joint rehabilitation training device is installed on one side of a bed and allows the user to rehabilitation exercise by pulling and loosening the rope while lying on the bed without other's help.
Abstract translation: 髋关节康复训练装置技术领域本发明涉及一种髋关节康复训练装置，更具体地说，涉及一种髋关节康复训练装置，其包括以镰刀形状形成的固定框架，其底部由框架固定单元固定，固定滑轮 固定在固定框架的上部并改变施加在第一绳索上的力的方向，固定在固定滑轮下部的移动滑轮悬挂在固定滑轮的下部， 并且当用户拉动第一绳索时，上下移动，连接到移动滑轮的下部并且安装用户的下体的下主体安装板和形成在第一绳索的一端上的手柄 并允许用户用手拉第一根绳索。 髋关节康复训练装置安装在床的一侧，允许用户在躺在床上时松开绳索进行康复锻炼，无需其他帮助。
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Patent Agency Ranking
公开(公告)号：KR101321984B1
公开(公告)日：2013-10-28
申请号：KR1020120048449
申请日：2012-05-08
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A route compensation method of robots for controlling valves based on the cooperation and a system thereof are provided to prevent the damage of components forming a robot and a valve from an excessive operation work when a route of the robot cannot be followed by the unexpected intervention of obstacles when the robot follows a generated route. CONSTITUTION: A route compensation method of robots comprises the following steps: storing each gripper coordinate system of a slave robot, generating a movement route of a robot arm, and moving to the initial position of the generated route (S230); observing whether or not the contact force is generated due to a route generating error and it is generated over a reference value when the robot arm moved to the initial position follows the route (S260); stopping the following of the robot arm and displaying alarms and an error message when the contact force is generated over the reference value (S270); observing whether or not a valve gauge reach a target value in case a work locking the valve operation is completed as the contact force is generated over the reference value (S280); returning the robot arm to the initial position and finishing the work when the valve gauge reaches the target value (S300). [Reference numerals] (AA) Remote control of an operator; (BB) Start working; (CC) Robot's autonomous motion; (DD,GG,II) No; (EE,FF,HH) Yes; (JJ) Finish working; (S110) Move each slave robot to a specific position; (S120) Grip a jig handle with a gripper of each slave robot; (S130) Turn the switch of the autonomous motion of a robot on; (S140) Input information about distance measured by a jig; (S210) Store the gripper of each robot on a coordinate; (S220) Generate a route for the movement of arm each slave robot's arm; (S230) Move the robot's arm to an initial position of the generated route; (S240) Generate contact force by a route generating error; (S242) Display a notice light and an error message; (S244,S262) Execute a route compensating work; (S250) Follow the route of a robot along the generated route; (S260) Contact force above a reference value occurs; (S270) Stop following the route of the robot's arm; (S280) Valve gauge reaches a target value; (S290) Back to the initial position; (S300) Display the state of finishing the work
Abstract translation: 目的：提供一种基于协作的控制阀的机器人的路径补偿方法及其系统，用于当机器人的路线不能被意外地跟随时，防止在形成机器人的部件和阀的过度的操作作业中的损坏 当机器人遵循生成的路线时干预障碍物。 构成：机器人的路径补偿方法包括以下步骤：存储从机器人的每个夹具坐标系，生成机器人手臂的移动路线，并移动到所生成的路线的初始位置（S230）; 观察由于路径产生错误而产生接触力，并且当机器人臂移动到初始位置时，在参考值之后产生超过参考值（S260）; 停止以下机器人手臂并且当在参考值上产生接触力时显示报警和错误消息（S270）; （S280）产生接触力时，观察阀门是否达到目标值（S280）; 当机械手达到目标值（S300）时，将机器人臂返回初始位置并完成工作。 （附图标记）（AA）操作者的遥控; （BB）开始工作; （CC）机器人自主运动; （DD，GG，II）否; （EE，FF，HH）是; （JJ）完成工作; （S110）将每个从机器人移动到特定位置; （S120）用每个从机器人的夹具握住夹具手柄; （S130）打开机器人自动运动的开关; （S140）通过夹具测量的距离的输入信息; （S210）将各机器人的夹具存放在坐标上; （S220）为每个从机器人的手臂移动臂产生一条路线; （S230）将机器人手臂移动到生成路线的初始位置; （S240）通过路由生成错误产生接触力; （S242）显示通知灯和错误信息; （S244，S262）执行路由补偿工作; （S250）沿着生成的路线跟随机器人的路线; （S260）出现高于参考值的接触力; （S270）停止跟随机器人手臂的路线; （S280）阀杆达到目标值; （S290）回到初始位置; （S300）显示工作完成的状态
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公开(公告)号：KR101799058B1
公开(公告)日：2017-11-17
申请号：KR1020160066946
申请日：2016-05-31
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은, 능동형상지운동보조장치의동작을제어하기위한장치에있어서, 상기상지운동보조장치에사용자가상지하박부를안착시킨상태에서동작시에상기상지운동보조장치에부착된복수의센서로부터측정된힘에대한센싱값을입력받는입력부와, 상기복수의센서중 기매칭된복수의센서조합에포함되는센서간의센싱값의비율을연산하는연산부와, 각각의센서조합에대하여연산된상기센싱값의비율을이용하여사용자의동작의도정보를추출하는동작의도추출부, 및상기추출된동작의도정보에기초하여상기사용자가의도하는동작을보조하기위한외력에대한제어신호를생성하여상기상지운동보조장치에연결된다관절로봇에전달하는신호생성부를포함하는제어장치를제공한다. 본발명에따르면, 상지운동보조장치에구비된다수의센서를조합하여사용자동작의도를파악하고파악한동작의도에대한제어신호를생성하여다관절로봇에전달함에따라, 다관절로봇이사용자가의도한동작을보조할수 있도록함은물론, 사용자의안정적인상지운동이가능하게하는효과가있다.
Abstract translation: 本发明中，在装置中的有源上肢运动，用于控制辅助设备的操作，在操作中，上肢运动测量的状态下使座椅用户虚拟地薄从多个连接到上肢传感器的次级装置，该运动辅助设备 计算单元，用于计算多个传感器中的多个匹配的传感器中包括的传感器之间的传感值的比率; 基于所提取的操作意图信息，基于所提取的操作意图信息，提供用于辅助用户的预期操作的外力的控制信号 信号发生单元连接到上肢运动辅助装置并将信号发送到关节机器人。 由于根据本发明，上肢运动被提供给辅助设备组合的数量的传感器，以确定用户的操作的程度，并产生被发送到多关节型机器人针对所识别的操作的示图的控制信号，并且所述多关节型机器人的用户的 从而有助于使用者上肢的稳定运动。
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公开(公告)号：KR101696362B1
公开(公告)日：2017-01-24
申请号：KR1020150078481
申请日：2015-06-03
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은파이프를설치하기위한로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른복수의필드로봇을원격제어하여파이프를설치하기위한로봇원격제어장치는, 사용자원격조작장치로부터원격조종의대상이되는상기필드로봇을선택받고, 상기필드로봇의동작을제어하기위한파이프파지조작명령신호및 파이프설치조작명령신호를입력받는인터페이스부, 상기파이프파지조작명령신호에대응하여상기필드로봇이파이프를파지하도록하는작업명령신호를생성하는작업명령생성부, 상기파이프설치조작명령신호에대응하여상기파이프를파지한상기복수의필드로봇을작업위치로이동시키고, 상기복수의필드로봇에게상기파이프를서로이격되어있는 2개의플렌지사이에설치하도록하는자율명령신호를생성하는자율명령생성부, 그리고생성된상기파이프파지조작명령신호, 상기파이프설치조작명령신호및 상기자율명령신호를상기필드로봇으로전송하는통신부를포함한다. 이와같이본 발명에의하면, 파이프를설치하기위한로봇원격제어장치및 그방법을이용함으로써, 기존의 1:1 원격제어로봇시스템의기술적한계로적용이불가능했던파이프설치작업을원격으로조종하여수행할수 있다.
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公开(公告)号：KR1020160040991A
公开(公告)日：2016-04-15
申请号：KR1020150110670
申请日：2015-08-05
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은전방향이동로봇장치, 복수의이동로봇장치를이용한대상물이송시스템및 그방법에관한것이다. 본발명의실시예에따른힘토크센서를포함하는전방향이동로봇을이용한대상물이송시스템은제1 힘토크센서를포함하는마스터이동로봇및 제2 힘토크센서가획득한데이터를마스터이동로봇으로전송하고, 마스터이동로봇으로부터주행명령신호를전송받아주행하는슬레이브이동로봇을포함한다.
Abstract translation: 本发明涉及一种全方向运动机器人装置和一种使用该装置的物体移动系统及方法。 根据本发明的实施例的使用具有力矩传感器的全方向移动机器人装置的物体移动系统包括：具有第一力矩传感器的主移动机器人; 以及从动机器人，其将通过第二力矩传感器获得的数据传送到主动移动机器人，并且通过从主机移动机器人接收移动指令信号而移动。
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公开(公告)号：KR1020150041899A
公开(公告)日：2015-04-20
申请号：KR1020130120432
申请日：2013-10-10
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은이동장치의배토판에가해지는외부모멘트의산출방법에관한것으로서, 특히배토판의한쪽에외력이작용할경우, 유압실린더의압력과각도를이용하여이동장치의배토판에가해지는외부모멘트를산출하는방법에관한것이다. 본발명의이동장치의배토판에가해지는외부모멘트의산출방법은, 전방에배토판이구비된이동장치에서상기배토판에가해지는외부모멘트를산출하는방법에있어서, 상기배토판의좌측에연결된제1유압실린더의압력과, 우측에연결된제2유압실린더의압력과, 상기제1유압실린더및 제2유압실린더가상기배토판과이루는각도를이용하여, 상기배토판에가해지는외부모멘트를산출하는것을특징으로한다.
Abstract translation: 本发明涉及一种用于计算施加到车辆的叶片的外力的方法，更具体地，涉及一种使用液压缸的压力和角度计算施加到车辆的叶片的外力的方法， 当外力作用在叶片的一侧时。 本发明的方法是计算在前方配备有叶片的车辆的叶片施加的外力矩。 该方法使用连接到叶片左侧的第一液压缸的压力，连接到右侧的第二液压缸的压力以及第一和第二液压缸之间的角度来计算施加到叶片的外力矩 。
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