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公开(公告)号：KR101501527B1
公开(公告)日：2015-03-11
申请号：KR1020130109735
申请日：2013-09-12
Applicant: 재단법인대구경북과학기술원
IPC: A63B21/015 , A63B23/12
CPC classification number: A63B23/14
Abstract: 본 발명은 상지 재활 훈련 장치에 관한 것으로서, 특히 사용자(편마비환자)의 손목 등을 다양한 방향으로 회전시켜 재활운동을 할 수 있는 상지 재활 훈련 장치에 관한 것이다.
본 발명의 상지 재활 훈련 장치는, 내부에 빈공간이 형성된 본체와; 상기 본체에 상호 이격되게 장착되어 회전하는 제1회전부재와 제2회전부재로 구성된 회전부재와; 상기 본체에 내장되고, 상기 제1회전부재와 제2회전부재를 상호 연결하여 상호간의 회전력을 전달하는 연결부재로 이루어지되, 상기 회전부재는, 일단이 상기 연결부재에 결합되어 상기 본체의 외부로 돌출된 회전축과; 일단이 상기 회전축의 타단에 결합된 로드와; 일단이 상기 로드의 타단에 결합되고, 사용자가 손으로 파지하는 손잡이부로 이루어지며, 상기 손잡이부는 상기 회전축과 평행 또는 수직으로 배치되게 회전되는 것을 특징으로 한다.Abstract translation: 上肢康复训练装置技术领域本发明涉及一种上肢康复训练装置，其能够使部分瘫痪的使用者的手腕在各个方向上旋转并导致康复训练，所述上肢康复训练装置包括：内部空间的主体; 旋转构件，其包括安装在要旋转的不同位置的第一旋转构件和第二旋转构件; 以及连接构件，其内置在所述主体中并将所述第一旋转构件与所述第二旋转构件相互连接以传递所述往复旋转力，其中所述旋转构件具有一侧连接到所述连接构件的旋转轴， 朝向主体的外侧突出; 杆的一侧连接到旋转轴的另一侧; 以及其一侧连接到杆的另一侧的把持部，从而能够使用者握持握持部，其中握持部平行或垂直地安装以旋转的旋转轴。
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公开(公告)号：KR1020150019084A
公开(公告)日：2015-02-25
申请号：KR1020130095470
申请日：2013-08-12
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A61H1/0214 , A63B23/12
Abstract: 본 발명은 크랭크-로커 기구의 구조를 활용한 상지 재활 장치 및 그 방법에 관한 것으로서, 복수의 체결 홀을 포함하는 커플러를 크랭크 축과 로커 축 사이에 연결하고 커플러의 체결 홀에 거치대를 부착한 상태에서 사용자가 재활 운동을 할 수 있도록 함으로써, 다양한 체결 홀이 형성하는 서로 다른 회전운동 궤적에 따라 사용자가 다양한 재활 운동을 용이하게 제공받을 수 있도록 한다.
Abstract translation: 本发明涉及使用曲柄储物柜装置的结构来修复上肢的装置和方法。 包括多个连接孔的联接器连接在曲柄轴和储物柜轴之间。 用户可以在安装件附接到联接器的连接孔的同时进行康复训练。 用户可以容易地沿着旋转运动轨迹进行各种康复练习，旋转运动轨迹由各种连接孔形成，并且使用该装置彼此不同。
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公开(公告)号：KR101478462B1
公开(公告)日：2014-12-31
申请号：KR1020130119230
申请日：2013-10-07
Applicant: 재단법인대구경북과학기술원
Abstract: A driving control device according to the present invention includes a modeling unit that models a critical vibration behavior of the legged moving robot by using a virtual spring model to calculate a virtual spring constant; and a driving force determination unit that determines a driving force corresponding to a body height of the legged moving robot by using the virtual spring constant and transmits the result to a linear driving unit of the legged moving robot. According to the present invention, the critical vibration behavior of the legged moving robot can be easily realized by using the virtual spring model. In addition, energy exchange generating during walking and traveling of the legged moving robot is calculated even without considering every physical element, and thus the present invention can be used as a movement algorithm development platform for every legged moving mechanism.
Abstract translation: 根据本发明的驱动控制装置包括建模单元，其通过使用虚拟弹簧模型来计算虚拟弹簧常数来对腿式移动机器人的临界振动行为进行建模; 以及驱动力确定单元，其通过使用虚拟弹簧常数来确定与腿式移动机器人的身高相对应的驱动力，并将结果发送到有腿的移动机器人的线性驱动单元。 根据本发明，通过使用虚拟弹簧模型，能够容易地实现腿式移动机器人的临界振动特性。 此外，即使不考虑每个物理元件也可以计算腿式移动机器人的行走和行走期间产生的能量交换，因此本发明可以用作每个有腿移动机构的运动算法开发平台。
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公开(公告)号：KR101443539B1
公开(公告)日：2014-09-22
申请号：KR1020130144317
申请日：2013-11-26
Applicant: 재단법인대구경북과학기술원
IPC: F16D65/18 , F16D65/095 , F16H48/08
CPC classification number: F16D65/14 , F16D65/18 , F16D2121/24 , F16D2125/24 , F16H48/08
Abstract: The present invention relates to an electronic brake using a differential gear, comprising: a driving part generating a rotatory power by a power optionally applied along operation of a brake pedal; a differential gear part connected with the driving part by a gear and arranged in a straight line along the rotatory power by the driving part, wherein a first shaft and a second shaft configuring to a rotation shaft are rotated at the same directions; an outer brake connected with the first shaft of the differential gear, and supplying a braking force to the outer side of a disk along a rotation of the first shaft of the differential gear; and an inner brake connected with the second shaft of the differential gear, and supplying a braking force to the inner side of the disk along a rotation of the second shaft of the differential gear. When the driving part is operated, the rotatory power of the driving part is transferred to the differential gear. The outer brake and the inner brake connected with the differential gear provide braking forces to the disk at the same time along a rotation of the differential gear.
Abstract translation: 本发明涉及一种使用差速齿轮的电子制动器，其特征在于，包括：驱动部，通过可选地沿制动踏板的操作施加的动力产生旋转动力; 差动齿轮部，其通过齿轮与所述驱动部连接，并且通过所述驱动部沿所述旋转动力沿直线配置，其中，构成为旋转轴的第一轴和第二轴沿相同的方向旋转; 与所述差速齿轮的所述第一轴连接的外部制动器，并且沿着所述差速齿轮的所述第一轴的旋转向盘的外侧供应制动力; 以及与差速齿轮的第二轴连接的内部制动器，并且沿着差动齿轮的第二轴的旋转向盘的内侧提供制动力。 当驱动部件被操作时，驱动部件的旋转动力传递到差动齿轮。 与差速齿轮连接的外制动器和内制动器沿着差速齿轮的转动同时向盘提供制动力。
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公开(公告)号：KR101384305B1
公开(公告)日：2014-04-10
申请号：KR1020120067527
申请日：2012-06-22
Applicant: 재단법인대구경북과학기술원
Abstract: 본 발명은, 의료, 게임 및 로봇 분야에서 활용될 수 있는 상지 운동 제공 장치에 관한 것으로서, 장치의 수직 운동부와 복수의 스위블 바퀴를 포함하는 수평 운동부에 의하여 사용자에게 전 방향의 상지 운동을 제공하고 휴대가 용이한 상지 운동 장치이다.
또한, 장치의 동작에 대한 피드백 신호를 수신하여 장치의 작동을 제어함으로써, 사용자의 근감각 또는 촉감각을 자극하는 햅틱(Haptic) 기능을 제공할 수 있다.-
Patent Agency Ranking
公开(公告)号：KR101371962B1
公开(公告)日：2014-03-10
申请号：KR1020120140376
申请日：2012-12-05
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/02 , A61H2201/501 , A61H2201/5043 , A63B23/12
Abstract: The present invention relates to a method for rehabilitating the upper extremities by using a smart device and to a device thereof. According to the present invention, provided is a method for rehabilitating the upper extremities by using a smart device which is able to dock with steering means, the method comprising the steps of: providing training waveforms on a screen to induce a user to perform a rotating operation of the steering means; generating operation waveforms corresponding to the rotating operation by using a gyro sensor installed inside the smart device; comparing the training waveforms to the operation waveforms; and adjusting the level of difficulty of the training waveforms depending on the result of comparison. According to the method for rehabilitating the upper extremities by using a smart device and the device thereof, an upper extremity rehabilitation program can be provided to a user by using a smart device which is able to dock with steering means. Accordingly, fun and interest, which are not found in general rehabilitation exercise devices, are evoked to induce a user to concentrate highly on the exercise. [Reference numerals] (AA) Start; (BB) Finish; (S310) Provide training waveforms inducing operation to rotate steering means on the screen; (S320) Generate operation waveforms corresponding to the operation for rotation by using a gyro sensor installed inside the smart device; (S330) Compare the training waveforms to the operation waveforms; (S340) Adjust the level of difficulty of the training waveforms depending on the result of comparison
Abstract translation: 本发明涉及通过使用智能装置及其装置来恢复上肢的方法。 根据本发明，提供一种通过使用能够与转向装置对接的智能装置来恢复上肢的方法，所述方法包括以下步骤：在屏幕上提供训练波形以引导用户执行旋转 转向装置的操作; 通过使用安装在智能装置内的陀螺仪传感器产生与旋转操作相对应的操作波形; 将训练波形与运算波形进行比较; 并根据比较结果调整训练波形的难度级别。 根据通过使用智能装置及其装置来恢复上肢的方法，可以通过使用能够与转向装置对接的智能装置向用户提供上肢康复程序。 因此，诱发在普通康复训练装置中没有发现的乐趣和兴趣，以诱使用户高度集中于运动。 （附图标记）（AA）开始; （BB）完成; （S310）提供训练波形，引导操作以在屏幕上旋转转向装置; （S320）通过使用安装在智能装置内的陀螺仪传感器生成与旋转操作相对应的操作波形; （S330）将训练波形与运算波形进行比较; （S340）根据比较结果调整训练波形的难度级别
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公开(公告)号：KR101307521B1
公开(公告)日：2013-09-12
申请号：KR1020120038698
申请日：2012-04-13
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A method for directly teaching a robot, a method for correcting teaching data, and a device for controlling the robot are provided to shorten playing times of the robot as the data in a section in which the robot stops among the teaching data stored after a direct teaching work is automatically or selectively corrected. CONSTITUTION: A method for directly teaching a robot comprises the following steps: preparing inserting components including first and second pegs and non-inserting components having a hole in which each peg can be inserted; grasping the central position of the first peg (S101); performing a work firstly connecting a first hole in which the first peg among holes formed in the non-inserting components is inserted into the first peg by the robot (S102); firstly inserting the first peg into the first hole (S103); connecting a second hole of the non-inserting components to a second peg of the inserting components by the robot (S104); and secondly inserting the second peg into the second hole (S105). The inserting component has two or more pegs. The size of the first peg is greater than the second peg and the first peg grasps the center position. [Reference numerals] (AA) Operator gives instructions; (BB) Robot provides supports; (S101) Grasping the central position of the first peg; (S102) Performing a first connection; (S103,S105) Performing a first insertion; (S104) Performing a second connection
Abstract translation: 目的：提供一种用于直接教导机器人的方法，用于校正教学数据的方法以及用于控制机器人的装置，以缩短作为机器人停止的部分中的数据的机器人的播放时间 自动或选择性地纠正直接教学工作。 构成：一种用于直接教导机器人的方法包括以下步骤：准备插入包括第一和第二钉的部件和具有孔的非插入部件，每个钉可插入其中; 抓住第一钉的中心位置（S101）; 执行首先连接第一孔的工作，其中通过机器人将形成在非插入部件中的孔中的第一栓钉插入到第一栓钉中的第一孔（S102）; 首先将第一钉插入到第一孔中（S103）; 通过所述机器人将所述非插入部件的第二孔连接到所述插入部件的第二栓钉（S104）; 其次将第二钉插入第二孔（S105）。 插入部件具有两个或更多个钉。 第一栓钉的尺寸大于第二栓钉，并且第一栓钉抓住中心位置。 （附图标记）（AA）操作员给出说明; （BB）机器人提供支持; （S101）抓住第一钉的中心位置; （S102）执行第一连接; （S103，S105）执行第一插入; （S104）执行第二连接
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公开(公告)号：KR101745860B1
公开(公告)日：2017-06-28
申请号：KR1020150113851
申请日：2015-08-12
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은사용자의상지에안착되고, 사용자동작의도에의한상기상지의물리적동작을감지하는커프와, 상기커프와전기적으로연결되고, 상기커프를통해감지된동작의도를토대로다관절로봇모듈의운동및 보조힘 정보를산출하여, 산출된정보를기반으로상기다관절로봇모듈의제어신호로변환하는모션제어부와, 상기커프가일단에체결되고, 상기모션제어부를통해변환된제어신호를토대로, 상기커프에안착된상지를선택적으로직교좌표계공간상 6자유도운동을안내하고힘을보조하는다관절로봇모듈을포함하는데, 상기커프는사용자팔이안착되어수용되도록, 사용자팔의둘레형태에대응하여오목하게제조된내피와, 상기내피의배면에배치된외피와, 상기내피와외피사이에장착되고, 사용자의동작의도를상지의물리적동작으로부터감지하는모션감지센서와, 상기외피의배면에구비되고, 상기외피의일단에고정하는제1체결부재와, 상기다관절로봇모듈의일단에고정되고, 상기제1체결부재와체결되는제2체결부재가포함되며, 호형태로상기외피의전, 후방에각각결합되는한 쌍의가이드레일부재및 상기외피의전,후방에각각배치된가이드레일부재의외측단측을따라슬라이딩이동하는브라켓부재를포함하여팔의길이방향을축으로팔목이회전운동이가능하도록한다.
Abstract translation: 本发明安置在用户的服装，电连接到所述套箍，用于感测上肢的物理运动是否，根据所述用户操作的图袖带和，所述多关节型机器人模块在由袖带检测出的动作的图的基础上 以及用于将多关节机器人模块的控制信号的运动控制器计算运动和辅助动力的信息，基于该计算出的信息，袖带被固定到一个端部，由运动控制器转换的控制信号的基础上， 包括用于引导所述选择性笛卡尔坐标空间中的多关节机器人模块，所述六个自由度运动的对小腿的上肢台，和辅助电源，要接收的袖带落座的使用者的胳膊，在对应于用户手臂的外周形状 运动检测传感器，安装在内蒙皮和外蒙皮之间，用于从上肢的物理运动中检测使用者的意图; 提供了第一紧固构件的所述后表面上，用于固定所述护套的端部，该多固定于多关节型机器人的模块的一端，并且包括第二紧固部件紧固到所述第一固定部件，其特征在于，呼叫类型 围绕外壳，一对导轨构件和周围，以及沿着各设置导轨bujaeui在后部外端侧包括支架构件移动滑动箍带，其中分别耦合到后壳的臂的轴向长度方向 允许旋转运动。
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