公开(公告)号：KR1020040033998A

公开(公告)日：2004-04-28

申请号：KR1020020063311

申请日：2002-10-16

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  김덕호 ,  김경환 ,  심재홍 ,  김상민 ,  이승훈

IPC: B25J15/06

Abstract: PURPOSE: A gripper device for a microrobot is provided to improve the precision of position and gripping force control by having a voice-coil motor and a gripper hand having super-elasticity. CONSTITUTION: A gripper device for a microrobot is composed of a driving mechanism(10) having a voice-coil motor, and a gripper hand having super-elasticity. The voice-coil motor includes a pushing shaft(11) on which coil(12) is wound, magnets(13) located at both sides of the coil, and oilless bearings(15) installed between front and rear sides of the pushing shaft and a frame(14).

Abstract translation: 目的：提供一种用于微型机器的夹持装置，通过使音圈电机和具有超弹性的夹爪手来提高位置和夹持力控制的精度。 构成：用于微型机器的夹持装置由具有音圈马达的驱动机构（10）和具有超弹性的夹爪手构成。 音圈马达包括卷绕线圈（12）的推动轴（11），位于线圈两侧的磁体（13）和安装在推动轴的前侧和后侧之间的无油轴承（15），以及 框架（14）。

公开(公告)号：KR1020040013232A

公开(公告)日：2004-02-14

申请号：KR1020020046071

申请日：2002-08-05

Applicant: 한국과학기술연구원

Inventor： 김경환 ,  김덕호 ,  이석주 ,  박귀태

IPC: B81C1/00

CPC classification number: B81C3/008 ,  B81C2203/057 ,  B81C2900/00

Abstract: PURPOSE: An apparatus and a method for assembling micro parts are provided to recognize objects having various magnifications in real time and to control positions of the objects by using one optical microscope. CONSTITUTION: A micro parts assembling apparatus includes an optical microscope(1), CCD cameras(2), and an XYZ stage(6). The optical microscope(1) is connected to three CCD cameras(2) through three video adapters. Images obtained by using the optical microscope(1) have magnifications different from each other. A control computer(3) is provided to control graphic user interfaces(4,5), an image processor(7) and the XYZ stage(6) in real time. The graphic user interfaces(4,5) represent multiple magnification images and a position of the XYZ stage(6) by using images.

Abstract translation: 目的：提供一种用于组装微型部件的装置和方法，用于通过使用一个光学显微镜来实时地识别具有各种放大率的物体并且控制物体的位置。 构成：微型零件组装装置包括光学显微镜（1），CCD照相机（2）和XYZ平台（6）。 光学显微镜（1）通过三个视频适配器连接到三个CCD摄像机（2）。 使用光学显微镜（1）获得的图像具有彼此不同的倍率。 控制计算机（3）被实时地控制图形用户界面（4,5），图像处理器（7）和XYZ平台（6）。 图形用户界面（4,5）通过使用图像表示多个放大图像和XYZ平台（6）的位置。

公开(公告)号：KR1020040011612A

公开(公告)日：2004-02-11

申请号：KR1020020044423

申请日：2002-07-27

Applicant: 한국과학기술연구원

Inventor： 김경환 ,  김근영 ,  김덕원 ,  김수찬

IPC: G06F3/00

Abstract: PURPOSE: A system and a method for a human interface using a biometric signal are provided to presume the biometric information by measuring, processing, and analyzing the biometric signal, and to adjust an application system according to an adjusting signal by transforming the biometric information into the adjusting signal. CONSTITUTION: A biometric signal measuring module(10) detects and amplifies the biometric signal such as an electromyography signal and an electroencephalography signal of a human body. A biometric signal processing module(20) receives, preprocesses, and collects the amplified biometric signal. A biometric signal transforming module(30) extracts a characteristic point by receiving and transforming the collected biometric signal. A biometric signal analysis module(40) presumes the biometric information by using the characteristic point. A biometric information transforming module(50) transforms the biometric information into the adjusting signal for an object device.

Abstract translation: 目的：提供一种使用生物统计信号的人机接口的系统和方法，通过测量，处理和分析生物信号来设定生物特征信息，并根据调整信号调整应用系统，将生物信息转化为 调整信号。 构成：生物测定信号测量模块（10）检测并放大生物体信号，例如人体的肌电信号和脑电图信号。 生物特征信号处理模块（20）接收，预处理和收集放大的生物信号。 生物体信号变换模块（30）通过接收和变换收集的生物特征信号来提取特征点。 生物特征信号分析模块（40）通过使用特征点来假设生物信息。 生物体信息变换模块（50）将生物体信息变换为对象装置的调整信号。

公开(公告)号：KR1020030039759A

公开(公告)日：2003-05-22

申请号：KR1020010070802

申请日：2001-11-14

Applicant: 한국과학기술연구원

Inventor： 김태송 ,  박종오 ,  문성욱 ,  김병규 ,  김경환 ,  강지윤 ,  정한

IPC: H04B13/00

CPC classification number: A61B5/0031 ,  H04B13/005

Abstract: PURPOSE: A device of communicating between internal and external media using a medium like human body as a communication line is provided to locate a transmitter inside of a medium, and to apply an electric signal by the transmitter through the medium, in order to receive the signal, thereby improving a receiving rate of the signal without damaging to the medium. CONSTITUTION: A sensor(2) collects information on human body(1) inside of the human body(1). A transmitter(3) receives an electric signal of the sensor(2), and applies the received signal through the human body(1). A receiver(4) receives the electric signal from the transmitter(3) on the surface of the human body(1). An analyzer(5) analyzes the signal received from the receiver(4). Except the human body(1), materials having high resistance are able to be used as media. Information on the human body(1) includes predetermined image information, sound information, and analyzed results on the media.

Abstract translation: 目的：提供使用诸如人体之类的媒体作为通信线路的内部和外部介质之间的通信设备，以将发射机定位在介质内部，并通过介质施加电信号，以便接收 信号，从而提高信号的接收速率，而不损坏介质。 构成：传感器（2）收集人体内部人体（1）的信息（1）。 发射机（3）接收传感器（2）的电信号，并通过人体（1）施加接收到的信号。 接收器（4）从人体（1）的表面上的发射器（3）接收电信号。 分析器（5）分析从接收器（4）接收的信号。 除人体（1）以外，具有高阻力的材料可以作为介质。 关于人体（1）的信息包括媒体上的预定图像信息，声音信息和分析结果。

公开(公告)号：KR100483790B1

公开(公告)日：2005-04-20

申请号：KR1020020015679

申请日：2002-03-22

Applicant: 한국과학기술연구원

Inventor： 김경환 ,  김덕호

IPC: B25J9/00

CPC classification number: G09B23/28 ,  G06F19/00

Abstract: 본 발명은 마이크로 조립용 다자유도 원격조종 로봇 시스템에 관한 것이다. 특히, 인간 조작자의 다자유도 운동정보를 추출하여 네트워크를 통해 다자유도 로봇에 전달하여 로봇의 동작을 교시(teaching), 프로그래밍하는 원격조종에 의해 마이크로 조립을 구현하는 기술에 관한 것이다.
본 발명에 따르면, 인간 조작자의 다자유도 운동정보를 추출하여 전기적 신호로 변환하는 다자유도 교시장치와, 상기 추출된 다자유도 운동정보를 네트워크 장치를 통하여 로봇으로 전송하기 위한 원격제어 처리장치를 구비하는 다자유도 교시수단과; 상기 다자유도 교시수단으로부터 전송된 다자유도 운동정보를 받아 로봇의 운동을 제어하는 다자유도 마이크로 로봇 구동 제어수단과; 마이크로 부품 조립환경의 시각적인 정보를 효과적으로 제공하기 위한 마이크로 비전수단과; 상기 원격제어 처리수단으로부터 전송된 다자유도 운동정보를 그래픽 영상으로 생성하기 위한 그래픽영상 생성수단; 및 상기 마이크로 비전수단으로부터의 작업영역 시각정보를 실제 영상으로 표시하며, 상기 그래픽영상 생성수단으로부터의 그래픽 영상을 가상 영상으로 표시하기 위한 영상표시수단을 포함하는 것을 특징으로 하는 마이크로 조립용 다자유도 원격조종 로봇 시스템이 제시된다.

公开(公告)号：KR100466095B1

公开(公告)日：2005-01-13

申请号：KR1020020046071

申请日：2002-08-05

Applicant: 한국과학기술연구원

Inventor： 김경환 ,  김덕호 ,  이석주 ,  박귀태

IPC: B81C1/00

Abstract: PURPOSE: An apparatus and a method for assembling micro parts are provided to recognize objects having various magnifications in real time and to control positions of the objects by using one optical microscope. CONSTITUTION: A micro parts assembling apparatus includes an optical microscope(1), CCD cameras(2), and an XYZ stage(6). The optical microscope(1) is connected to three CCD cameras(2) through three video adapters. Images obtained by using the optical microscope(1) have magnifications different from each other. A control computer(3) is provided to control graphic user interfaces(4,5), an image processor(7) and the XYZ stage(6) in real time. The graphic user interfaces(4,5) represent multiple magnification images and a position of the XYZ stage(6) by using images.

Abstract translation: 目的：提供一种用于组装微型部件的装置和方法，以实时识别具有各种放大率的物体，并通过使用一个光学显微镜来控制物体的位置。 一种微型零件组装装置，包括光学显微镜（1），CCD照相机（2）和XYZ台（6）。 光学显微镜（1）通过三个视频适配器连接到三个CCD摄像头（2）。 通过使用光学显微镜（1）获得的图像具有彼此不同的放大率。 提供控制计算机（3）以实时控制图形用户界面（4,5），图像处理器（7）和XYZ台（6）。 图形用户界面（4,5）通过使用图像表示多个放大图像和XYZ台（6）的位置。

公开(公告)号：KR1020030076036A

公开(公告)日：2003-09-26

申请号：KR1020020015679

申请日：2002-03-22

Applicant: 한국과학기술연구원

Inventor： 김경환 ,  김덕호

IPC: B25J9/00

CPC classification number: G09B23/28 ,  G06F19/00

Abstract: PURPOSE: A multi-degree-of-freedom remote control robot system for micro-assembly is provided to perform micro-assembling by extracting multi-degree-of-freedom information of an operator and transmitting information through the network to the robot and by teaching the robot and programming with remote control. CONSTITUTION: A multi-degree-of-freedom remote control robot system comprises a multi-degree-of-freedom teaching apparatus(10) having a multi-degree-of-freedom teaching unit converting multi-degree-of-freedom motion into electric signals, and a remote control processing unit(18) transmitting information on extracted motion through a network unit(30) to a robot; a multi-degree-of-freedom micro-robot driving control unit(50) receiving the motion information from the teaching unit and controlling motion of the robot; a micro vision unit(70) providing visual information of assembling condition for micro components; a graphic image generating unit(80) generating graphic image on motion information from the remote control processing unit; and an image display unit(90) displaying visual information from the micro vision unit into real image, and graphic image from the graphic image generating unit into virtual image.

Abstract translation: 目的：提供一种用于微组装的多自由度遥控机器人系统，通过提取操作者的多自由度信息和通过网络向机器人发送信息并通过教学来执行微组装 机器人和遥控器编程。 一种多自由度遥控机器人系统，包括具有多自由度教学单元的多自由度教学装置（10），所述多自由度教学装置将多自由度运动转换为电动 信号，以及远程控制处理单元（18），通过网络单元（30）向机器人发送关于提取的运动的信息; 多自由度微机器人驱动控制单元（50），从所述教学单元接收运动信息并控制所述机器人的运动; 微视觉单元（70），用于提供微组件的装配条件的视觉信息; 图形图像生成部，生成来自遥控处理部的运动信息的图像; 以及从微视觉单元将视觉信息显示为真实图像的图像显示单元（90）和从图形图像生成单元到虚像的图形图像。