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公开(公告)号：KR1020140062605A
公开(公告)日：2014-05-26
申请号：KR1020120128363
申请日：2012-11-13
Applicant: 한국과학기술연구원
CPC classification number: A61H1/02 , A61H1/0237 , A61H2201/50 , A63B23/04 , B25J13/00
Abstract: The present invention relates to an apparatus for rehabilitation training and a method for rehabilitation training using the same and, more particularly, to an apparatus for rehabilitation training that guide a rehabilitant to conduct rehabilitation training step by step in accordance with the rehabilitation state of the rehabilitant; and a method for rehabilitation training using the same. The apparatus for rehabilitation training according to an embodiment of the present invention comprises: a supporting member including an extension part having a first rotating joint formed thereon, and having a second rotating joint formed at an end; an auxiliary link member combined with the second rotating joint and having integrally formed links extending in two or more directions; a variable link member combined with the first rotating joint and a third rotating joint to be able to rotate and varying length thereof according to the operation of a motor; a random signal generator for generating a random signal so that the auxiliary link member connected to the variable link member and the supporting member can rotate along an arbitrary track; and a controller for controlling the motor so that the auxiliary link member can rotate continuously according to the random signal generated by the random signal generator.
Abstract translation: 本发明涉及一种用于康复训练的装置和一种使用该装置的康复训练方法，更具体地说，涉及一种康复训练装置，该康复训练指导康复者根据康复者的康复状态逐步进行康复训练 ; 以及使用其进行康复训练的方法。 根据本发明的实施例的用于康复训练的装置包括：支撑构件，包括具有形成在其上的第一旋转接头的延伸部分，并且具有形成在一端的第二旋转接头; 辅助连杆构件与第二旋转接头组合并且具有沿两个或更多个方向延伸的整体形成的连杆; 与第一旋转接头组合的可变连杆构件和能够根据电动机的操作使其能够旋转和变长其长度的第三旋转接头; 随机信号发生器，用于产生随机信号，使得连接到可变连杆构件的辅助连杆构件和支撑构件可以沿任意轨道旋转; 以及用于控制电动机的控制器，使得辅助连杆构件可以根据由随机信号发生器产生的随机信号而连续旋转。
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公开(公告)号：KR101338049B1
公开(公告)日：2013-12-09
申请号：KR1020120128362
申请日：2012-11-13
Applicant: 한국과학기술연구원
IPC: A61B5/0482 , A61B5/11
Abstract: The present invention relates to a device and a method for measuring motor coordination and, more in detail, to a device and a method for measuring motor coordination capable of measuring, quantitatively and precisely, operational performance according to a will of a person under test via a simple measuring device. A device for measuring motor coordination according to one embodiment of the present invention comprises: a support member having an extension part where a first rotary joint is formed and having a second rotary joint at an end; an assistant link member coupled to the second rotary joint and having links formed in one body while extending in two or more directions; a variable link member rotatable by being coupled to the first rotary joint and the third rotary joint and whose length is changed according to drive of a motor; and a load cell equipped at an end of the variable link member for measuring a torque occurring between a person under test and the assistant link member.
Abstract translation: 本发明涉及一种用于测量电动机协调的装置和方法，并且更详细地涉及一种用于测量电动机协调的装置和方法，该装置和方法可以根据被测试人员的意志来测量，定量和精确地操作性能 一个简单的测量设备。 根据本发明的一个实施例的用于测量电动机协调的装置包括：支撑构件，其具有延伸部分，其中第一旋转接头形成并且在端部具有第二旋转接头; 辅助连杆构件，其联接到所述第二旋转接头，并且在两个或更多个方向上延伸地形成在一个主体中的连杆; 通过联接到第一旋转接头和第三旋转接头可旋转的可变连杆构件，其长度根据电动机的驱动而改变; 以及装配在所述可变连杆构件的端部处的测力传感器，用于测量在被测试者和所述辅助连杆构件之间发生的扭矩。
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公开(公告)号：KR101227092B1
公开(公告)日：2013-01-29
申请号：KR1020100109554
申请日：2010-11-05
Applicant: 한국과학기술연구원
Abstract: 본 발명의 일 측면에 따르면 로봇의 현재 위치에서 목표 위치까지의 목표 궤적을 생성하는 목표 궤적 생성 모듈 및 상기 목표 궤적을 따라 상기 로봇을 동작시키는 동작 제어기를 포함하고, 상기 동작 제어기는, 상기 목표 궤적을 기준 입력으로 하여 가상의 힘을 계산하고, 상기 가상의 힘 값을 상기 로봇에 부여하여 상기 로봇의 동작이 상기 목표 궤적을 추종하도록 제어하는 가상 힘 기반의 동작 제어기인 로봇의 동작을 제어하기 위한 동작 제어 시스템이 제공된다.
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