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公开(公告)号：KR101379810B1
公开(公告)日：2014-04-01
申请号：KR1020120150471
申请日：2012-12-21
Applicant: 한국과학기술연구원
CPC classification number: F16D3/16 , B25J19/068 , F16D3/005 , F16D3/60 , Y10S901/28 , Y10T74/20305
Abstract: The present invention relates to a stiffness regulating device which can transmit the driving force of a drive motor to a driven member with wanted stiffness. The stiffness regulating device includes a rotating shaft connected to the driven member to rotate the driven member; a rotary connecting member connected to the rotating shaft to be able to free rotate, and rotated by receiving the driving force of the drive motor; and a resilient connecting member fixed to the rotating shaft and extending in a longitudinal direction of the rotating shaft to be connected to the rotary connecting member. The resilient connecting member applies the resilient force in a direction opposite to a rotation direction of the rotary connecting member to prevent the free rotation of the rotary connecting member with respect to the rotating shaft. When the rotary connecting member is rotated by the drive motor, the resilient force of the resilient connecting member serves as the stiffness so that the rotating force of the rotary connecting body is transmitted to the rotating shaft.
Abstract translation: 本发明涉及一种刚性调节装置，其能够将驱动马达的驱动力传递到具有所需刚度的从动构件。 刚度调节装置包括连接到从动构件以旋转从动构件的旋转轴; 旋转连接构件，其连接到所述旋转轴以能够自由旋转，并且通过接收所述驱动电动机的驱动力而旋转; 以及弹性连接构件，其固定在所述旋转轴上并且沿所述旋转轴的纵向方向延伸以与所述旋转连接构件连接。 弹性连接构件沿与旋转连接构件的旋转方向相反的方向施加弹性力，以防止旋转连接构件相对于旋转轴的自由旋转。 当旋转连接构件被驱动电动机旋转时，弹性连接构件的弹力用作刚度，使得旋转连接体的旋转力传递到旋转轴。
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公开(公告)号：KR1020140013335A
公开(公告)日：2014-02-05
申请号：KR1020120080024
申请日：2012-07-23
Applicant: 한국과학기술연구원
CPC classification number: A61H1/00 , A61B5/112 , A61H3/00 , A61H23/02 , A61H23/0263 , A61H2201/165 , A61H2201/5002 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5097
Abstract: The present invention relates to a wearable vibratory stimulation device and an operating method thereof and more particularly, to a wearable vibratory stimulation device for helping people having difficulty in walking to walk and an operating method thereof. The wearable vibratory stimulation device according to one embodiment of the present invention comprises: a measurement unit for obtaining data related to movement of the body of a user wearing the vibratory stimulation device; walking pattern database for storing normal walking pattern data collected by measuring walking patterns of ordinary people having normal walking patterns and result information of analyzing walking patterns a certain user has; a control unit for generating a stimulation signal permitted to a specific part of the user's body by comparing and analyzing the movement of the user, transferred from the measurement unit, with normal walking pattern data stored in the walking pattern database and; and a vibrating unit for adding vibratory stimulation on the specific region of the user's body by corresponding to the stimulation signal transferred form the control unit. [Reference numerals] (110) Measurement unit; (120) Walking pattern database; (130) Control unit; (140) Vibrating unit; (150) Motion capturing apparatus
Abstract translation: 本发明涉及一种可佩带式振动刺激装置及其操作方法，更具体地说，涉及一种用于帮助走路步行困难的人的可穿戴式振动刺激装置及其操作方法。 根据本发明的一个实施例的可穿戴振动刺激装置包括：测量单元，用于获得与佩戴振动刺激装置的使用者身体的运动有关的数据; 行走模式数据库，用于存储通过测量具有正常行走模式的普通人的行走模式和分析特定用户具有的步行模式的结果信息而收集的正常行走模式数据; 控制单元，用于通过比较和分析从测量单元传送的用户的移动与存储在步行模式数据库中的正常行走模式数据，生成允许用户身体的特定部分的刺激信号; 以及用于通过对应于从控制单元传送的刺激信号在用户身体的特定区域上添加振动刺激的振动单元。 （附图标记）（110）测量单元; （120）行走图数据库; （130）控制单元; （140）振动单元; （150）运动捕捉装置
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公开(公告)号：KR1020130092276A
公开(公告)日：2013-08-20
申请号：KR1020120013913
申请日：2012-02-10
Applicant: 한국과학기술연구원
CPC classification number: F16D7/007 , F16D7/10 , F16D28/00 , F16D43/208
Abstract: PURPOSE: A torque limiter capable of controlling yielding torque is provided to rapidly correspond to external environments and conditions as various kinds of the yielding torque are controlled and changed in real time. CONSTITUTION: A torque limiter capable of controlling yielding torque comprises a spring, a rotation unit (250), a transmitting unit, a fixing unit (150), and a yielding torque control unit. The yielding torque control unit is equipped on the fixing unit and controls yielding torque of the rotation unit by controlling an elastic force of the spring. The yielding torque control unit changes the elastic force of the spring in real time and controls yielding torque of the spring. [Reference numerals] (10) Rotation generating device; (20) Rotation output unit
Abstract translation: 目的：提供能够控制屈服扭矩的扭矩限制器，以便随着各种屈服转矩的实时控制和变化而快速对应于外部环境和条件。 构成：能够控制屈服扭矩的扭矩限制器包括弹簧，旋转单元（250），发送单元，定影单元（150）和屈服扭矩控制单元。 屈服转矩控制单元装配在定影单元上，并且通过控制弹簧的弹力来控制旋转单元的转矩。 屈服转矩控制单元实时改变弹簧的弹力并控制弹簧的屈服扭矩。 （附图标记）（10）旋转发生装置; （20）旋转输出单元
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公开(公告)号：KR1020130084461A
公开(公告)日：2013-07-25
申请号：KR1020120005264
申请日：2012-01-17
Applicant: 한국과학기술연구원
CPC classification number: B25J19/0008 , B25J19/0016
Abstract: PURPOSE: A robot arm having a gravity compensation mechanism is provided to form a link mechanism with the multi-degree of freedom joint, thereby offsetting a gravitational effect due to the weight of the link mechanism. CONSTITUTION: A robot arm having a gravity compensation mechanism includes a first rotating member (101), a second rotating member (102), and single degree of freedom gravity beams (201,202). The rotating members respectively rotate with double degree of freedom rotations. The first rotation of the first rotating member is a yaw rotation. The second rotation of the first rotating member is a pitch rotation perpendicular to the first rotation. The third and the fourth rotation of the second rotating member are respectively the pitch rotation and a roll rotation. The single degree of freedom gravity beams are connected to the first rotating member or the second rotating member. The single degree of freedom gravity beams offset gravities due to the weight of the first rotating member or the second rotating member.
Abstract translation: 目的：提供一种具有重力补偿机构的机器人臂，以形成具有多自由度关节的连杆机构，从而抵消由于连杆机构的重量引起的重力作用。 构成：具有重力补偿机构的机器人臂包括第一旋转构件（101），第二旋转构件（102）和单自由度重力梁（201,202）。 旋转构件分别以双自由度旋转旋转。 第一旋转构件的第一旋转是偏转旋转。 第一旋转构件的第二旋转是垂直于第一旋转的俯仰旋转。 第二旋转构件的第三和第四旋转分别是俯仰旋转和滚动旋转。 单自由度重力梁连接到第一旋转构件或第二旋转构件。 单自由度重力梁由于第一旋转构件或第二旋转构件的重量而偏移重力。
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公开(公告)号：KR101250795B1
公开(公告)日：2013-04-04
申请号：KR1020110051244
申请日：2011-05-30
Applicant: 한국과학기술연구원
Abstract: 본 발명에 따른 작업자가 로봇에 직접 가하는 교시력을 운동 명령으로 하여 동작하는 직접 교시 로봇 시스템은 상기 작업자가 파지하여 상기 교시력을 가할 수 있는 인터페이스 장치와, 상기 인터페이스 장치에 가해지는 상기 교시력을 측정하는 교시력 측정 센서와, 상기 교시력 측정 센서에서 측정된 상기 교시력을 운동 명령 정보로 하여 상기 로봇의 목표 동작 특성을 생성하는 동작 제어기 및 상기 목표 동작 특성을 추종하도록 상기 로봇을 동작시키는 엑츄에이터를 포함하고, 상기 동작 제어기는 상기 엑츄에이터의 포화 특성이 발생하지 않는 범위 내로 상기 목표 동작 특성을 제한한다.
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Patent Agency Ranking
公开(公告)号：KR1020120132864A
公开(公告)日：2012-12-10
申请号：KR1020110051244
申请日：2011-05-30
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A motion control system of a direct teaching robot is provided to safely perform a direct teaching task because an operator moves a workpiece as a desired form regardless of the real weight of the workpiece within a range of the movement performance of a robot. CONSTITUTION: A motion control system(1) of a direct teaching robot comprises an interface device(200), a teaching force measuring sensor(100), a motion controller, and an actuator. An operator grips the interface device, thereby providing teaching force. The teaching force measuring sensor measures the teaching force delivered to the interface device. The motion controller generates target motion properties of the robot by using the teaching force measured by the teaching force measuring sensor as motion command information. The actuator operates the robot to follow the characteristics of desired motions. The motion controller controls the target motion properties within a range in which saturation characteristics of the actuator are not generated.
Abstract translation: 目的：提供直接教学机器人的运动控制系统，以安全地执行直接教学任务，因为操作者在机器人的运动性能的范围内，无论工件的实际重量如何，都将工件移动为所需形状。 构成：直接教学机器人的运动控制系统（1）包括接口装置（200），教导力测量传感器（100），运动控制器和致动器。 操作人员抓住界面装置，从而提供教学力。 教学力测量传感器测量传递到接口设备的教学力。 运动控制器通过使用由教导力测量传感器测量的教导力作为运动指令信息来生成机器人的目标运动特性。 致动器操作机器人以遵循所需运动的特征。 运动控制器在不产生致动器的饱和特性的范围内控制目标运动特性。
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27.发明授权
公开(公告)号：KR100953385B1
公开(公告)日：2010-04-20
申请号：KR1020080013533
申请日：2008-02-14
Applicant: 한국과학기술연구원
Abstract: 본 발명은 자기력을 이용하여 강성을 발생시키면서 제어할 수 있는 강성 발생 장치 및 이를 이용한 로봇 머니퓰레이터의 조인트를 제공하는 것을 목적으로 한다. 상기 목적을 달성하기 위해 본 발명은 피동 부재와 연결되는 회전축과; 상기 회전축에 고정되며, 전자석으로 구성된 로터; 및 상기 로터의 상부와 하부에 간격을 두고 각각 배치되고, 중앙에 관통공이 형성되는 원판형으로 이루어지며, 구동모터에 의하여 회전될 수 있는 영구자석으로 구성되는 한 쌍의 스테이터를 포함하는 강성 발생 장치를 제공한다.
강성, 머니퓰레이터, 스테이터, 로터, 영구자석, 전자석-
公开(公告)号：KR102000246B1
公开(公告)日：2019-07-15
申请号：KR1020170124777
申请日：2017-09-27
Applicant: 연세대학교 산학협력단 , 한국과학기술연구원
IPC: A61B5/0488 , A61B5/04
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公开(公告)号：KR101893915B1
公开(公告)日：2018-09-03
申请号：KR1020160133480
申请日：2016-10-14
Applicant: 한국과학기술연구원
Abstract: 본발명은재활훈련자의하체회전거동향상을위한하지재활장치를포함하는하지재활시스템으로서, 재활훈련자의자기수용감각, 전정감각, 시각반응능력및 운동능력중 어느하나이상을평가하는평가부; 평가부로부터의신호와재활훈련자의증상에기초하여, 생체신호피드백정보를생성하고, 재활훈련자의하체훈련프로그램을생성하는제어부; 및생체신호피드백정보와하체훈련프로그램을출력하는이미지출력장치를포함하고, 제어부로부터하체훈련프로그램의신호를전달받아하지재활장치를구동하는하지재활시스템을제공할수 있다.
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