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公开(公告)号：KR1020160075110A
公开(公告)日：2016-06-29
申请号：KR1020140184666
申请日：2014-12-19
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은금형작업에있어서에어홀드릴링작업을수행하는로봇시스템에관한것이다. 본발명의일면에따른금형에어홀드릴링로봇시스템은로봇매니퓰레이터와, 곡면좌표계를따라상기로봇매니퓰레이터가이동되는레일및 레일상에배치되고, 컨트롤러의제어신호에따라로봇매니퓰레이터를이동시키는슬라이딩조인트를포함하는것을특징으로한다.
Abstract translation: 本发明涉及一种用于在模具加工中钻孔孔的机器人系统。 根据本发明的一个方面，一种用于钻出模具空气孔的机器人系统包括：机器人操纵器; 轨道，其中所述机器人操纵器根据曲面的坐标系来移动; 以及布置在轨道上的滑动接头，并且根据控制器的控制信号移动机器人操纵器。
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公开(公告)号：KR101627519B1
公开(公告)日：2016-06-08
申请号：KR1020150062727
申请日：2015-05-04
Applicant: 재단법인대구경북과학기술원
CPC classification number: B25J9/1682 , B25J9/1689 , G05B2219/39146 , Y10S901/02
Abstract: 본발명은로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른로봇원격제어장치는사용자원격조작장치로부터원격조종의대상이되는필드로봇의운용정보및 상기필드로봇의작동모드를선택받고, 상기필드로봇의동작을제어하는조작명령신호를입력받는인터페이스부, 수신된상기작동모드정보및 상기조작명령신호에대응하는상기원격조종의대상이되는필드로봇의동작또는작업대상사물의동작에대한작업명령신호를생성하는작업명령생성부, 상기사용자로부터추종모드가선택된경우, 제1 필드로봇에대한상기작업명령신호가생성되면제2 필드로봇의동작을제어하는자율동작명령신호를생성하고, 상기사용자로부터사물모드가선택된경우, 상기작업대상사물에대한상기작업명령신호가생성되면상기작업대상사물을동작시키기위한상기제1 필드로봇및 상기제2 필드로봇의동작을제어하는자율동작명령신호를생성하는자율명령생성부, 그리고생성된상기자율동작신호를상기제1 필드로봇및 상기제2 필드로봇으로전달하는통신부를포함한다.
Abstract translation: 远程机器人控制装置及其方法技术领域本发明涉及远程机器人控制装置及其方法。 根据本发明的一个实施例，远程机器人控制装置包括接收单元，用于接收远程控制的现场机器人的操作信息的选择以及来自用户遥控器的现场机器人的操作模式，以及 接收控制现场机器人的操作的操作指令信号; 作业指令生成单元，其生成用于远程控制的野外机器人的操作的作业命令信号，或者响应于所接收的操作模式信息和操作命令信号的对象的操作; 如果在用户选择了后续模式时为第一场机器人生成了作业命令信号，则产生自动操作命令信号的自主命令产生单元，该自主操作指令信号控制第二场机器人的操作，并且产生控制 如果在用户选择对象模式时产生作业命令信号，则第一场地机器人和第二场地机器人操作对象的操作; 以及通信单元，将生成的自主操作命令信号发送到第一场机器人和第二场机器人。 因此，远程机器人控制装置可以通过现场机器人之间的协作来执行特定的工作，所述现场机器人可以替代在偏远地区的无定形或危险的工作环境中的工人。
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公开(公告)号：KR101515927B1
公开(公告)日：2015-05-04
申请号：KR1020130095470
申请日：2013-08-12
Applicant: 재단법인대구경북과학기술원
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: 本发明是一种曲柄状态涉及一种上肢康复设备以及利用该摇杆机构的结构的方法，连接耦合器，包括多个曲轴和摇臂轴和所述保持器附接到所述耦合器的紧固孔之间紧固孔 使得使用者可以根据由各种紧固孔形成的不同旋转运动轨迹而容易地接收各种康复运动。
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公开(公告)号：KR101511430B1
公开(公告)日：2015-04-10
申请号：KR1020130100620
申请日：2013-08-23
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명의실시예에따른하지고관절재활장치는, 장치프레임; 장치프레임에장착되어재활대상자의하지가로딩되는로딩부재및 로딩부재와연결되는손잡이부분을갖는재활부; 및손잡이부분이착탈가능하게결합되며, 장치프레임에왕복으로슬라이딩이동가능하게장착되어손잡이부분을밀거나당김으로써로딩부재를승강시키는구동부;를포함할수 있다. 본발명의실시예에따르면, 구동부에손잡이부분을고정시키는동작에한해수동으로한 후이후구동부의구동을자동으로수행함으로써하지의고관절에대한지속적인재활을수행할수 있어신뢰성있는재활치료를수행할수 있을뿐만아니라재활의자동화를위해구축되는구성을최소화하여장치구축에소요되는비용증감을억제할수 있다.
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公开(公告)号：KR101501524B1
公开(公告)日：2015-03-18
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: 본 발명은, 재활이 필요한 환자에게 재활 운동을 제공하되 환자의 의지에 따라 재활 훈련을 제공하는 자기주도형 재활 훈련 장치에 관한 것으로서, 환자에게 재활 의도 유발 환경을 제공하고 환자의 상태를 측정하여 환자에게 적합한 재활 운동을 제공하는 재활 훈련 장치에 관한 것이다. 본 발명의 일실시예에 따르면, 환자의 뇌신호를 측정하여 재활 운동의 시간 또는 세기 등을 조절해줌으로써, 환자가 능동적인 환경에서 재활 운동을 할 수 있게 한다.
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Patent Agency Ranking
公开(公告)号：KR101456797B1
公开(公告)日：2014-10-31
申请号：KR1020130120485
申请日：2013-10-10
Applicant: 재단법인대구경북과학기술원
Abstract: The present invention relates to an apparatus to control redirection of a legged mobile robot which includes an input unit inputting a command coordinate value with respect to a point wherein the legs of the legged mobile robot would be landing, and a command rotation angle of the legged mobile robot; a measurement unit measuring a rotation angle of a body generated when the legged mobile robot is moved; a computing unit computing an error between the command rotation angle and the measured rotation angle using the error to compute side linear velocity to control the amount of rotation of the legged mobile robot; and an output unit sending the computed side linear velocity to a position attitude controller to maintain feet position and body attitude of the mobile robot. According to the present invention, the robot can actively be redirected when moved by a hopping motion. By controlling inevitable rotation of the body of the robot, sliding of the robot′s legs can be prevented to maintain smooth moving performance. Also, the present invention can be used as a platform to develop a locomotion algorithm for normal mechanisms in addition to being used in robots having a predetermined number of legs.
Abstract translation: 本发明涉及一种控制有腿式移动机器人的重定向的装置，该装置包括输入单元，该输入单元输入相对于有腿可移动机器人的腿将着陆的点的指令坐标值，以及腿部的指令旋转角度 移动机器人 测量单元，测量当有腿可移动机器人移动时产生的身体的旋转角度; 计算单元使用误差计算命令旋转角度和测量的旋转角度之间的误差，以计算侧线速度来控制有腿可动机器人的旋转量; 以及输出单元，将计算出的侧线速度发送到位置姿态控制器，以维持移动机器人的脚位置和身体姿态。 根据本发明，当通过跳跃运动移动时，机器人可以主动地被重定向。 通过控制机器人身体的不可避免的旋转，可以防止机器人的腿的滑动，从而保持平稳的运动性能。 此外，除了用于具有预定数量的腿部的机器人之外，本发明可以用作开发用于正常机构的运动算法的平台。
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公开(公告)号：KR1020140071739A
公开(公告)日：2014-06-12
申请号：KR1020120139668
申请日：2012-12-04
Applicant: 재단법인대구경북과학기술원
IPC: A61B5/0488
Abstract: The present invention relates to a rehabilitation evaluating method using the electromyogram signal of an upper limb muscle and a rehabilitation evaluating apparatus thereof. The rehabilitation evaluating method using the electromyogram signal of an upper limb muscle according to an embodiment of the present invention includes the following steps of: acquiring the electromyogram signal of an upper limb muscle from a user; calculating the activity degree of the upper limb muscle by using the size of the electromyogram signal; calculating the fatigue degree of the upper limb muscle by using the frequency of the electromyogram signal; and determining the rehabilitation degree of the upper limb muscle by using the activity degree of the upper limb muscle and the fatigue degree of the upper limb muscle. According to the forementioned, the rehabilitation degree of a muscle can be determined more objectively and quantitatively by determining the rehabilitation degree by analyzing the size and frequency of the electromyogram signal of an upper limb muscle.
Abstract translation: 本发明涉及使用上肢肌电图信号的康复评价方法及其康复评价装置。 根据本发明的实施例的使用上肢肌肉肌电图信号的康复评价方法包括以下步骤：从使用者获取上肢肌肉的肌电图信号; 通过使用肌电图信号的大小计算上肢肌肉的活动度; 通过使用肌电图信号的频率计算上肢肌肉的疲劳程度; 并通过使用上肢肌肉的活动度和上肢肌肉的疲劳程度来确定上肢肌肉的康复程度。 根据前述，通过分析上肢肌肉肌电图信号的大小和频率来确定康复程度，可以更客观地和定量地确定肌肉的康复程度。
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公开(公告)号：KR101383421B1
公开(公告)日：2014-04-08
申请号：KR1020130043216
申请日：2013-04-18
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A63B23/12 , B25J11/00
Abstract: The present invention relates to an upper extremity rehabilitation robot 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. The upper extremity rehabilitation robot for meal assistance comprises a detection member which is fixed to an upper extremity of a user and detects the fine movement of the upper extremity by the intent of the user; a motion control unit which calculates the direction where the upper extremity wants to go and the power based on the movement detected by the detection member and generates and outputs control signals according to the calculated direction and the power; and an articulated robot module one end of an arm of which is coupled to the detection member and which assists and guides the upper extremity with the power in the direction to move the upper extremity fixed to the detection member to a dish disposed at a predetermined position of a table based on the control signals outputted through the motion control unit.
Abstract translation: 本发明涉及一种用于辅助老年人膳食和上肢体力小于正常人的康复患者的膳食辅助的上肢康复机器人。 用于膳食辅助的上肢康复机器人包括固定到使用者的上肢的检测构件，并且通过使用者的意图检测上肢的微细运动; 运动控制单元，其计算上肢想要去的方向和基于由检测构件检测到的运动的动力，并根据计算的方向和功率产生并输出控制信号; 以及铰接式机器人模块，其臂的一端联接到检测构件，并且在将固定到检测构件的上肢移动到设置在预定位置的盘的方向上有助于和引导上端的动力 基于通过运动控制单元输出的控制信号的表格。
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公开(公告)号：KR1020140040309A
公开(公告)日：2014-04-03
申请号：KR1020120105743
申请日：2012-09-24
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/001 , A61H2201/1659 , A61H2201/5007 , A61H2230/10 , B25J13/00
Abstract: The present invention relates to an apparatus and a method for controlling a rehabilitation robot, and a rehabilitation robot control device according to an embodiment of the present invention comprises: a brain signal measuring unit measuring brain signals corresponding to blood flow rate change of the brain from a user who uses the rehabilitation robot; a brain signal determining unit determining whether the measured brain signal is a pain signal showing pain or not using a predetermined pain pattern; and a rehabilitation robot control unit controlling a driving strength of the rehabilitation robot according to the fact of whether or not the measured brain signal is a pain signal. Accordingly, the rehabilitation robot control device controls the rehabilitation robot according to the pain of the user by measuring brain signals of the user who uses the rehabilitation robot in order to automatically control the driving strength of the rehabilitation robot without making the user manually control the driving strength of the rehabilitation robot.
Abstract translation: 本发明涉及一种用于控制康复机器人的装置和方法，以及根据本发明的实施例的康复机器人控制装置，包括：脑信号测量单元，测量对应于脑的血液流量变化的脑信号 使用康复机器人的用户; 脑信号确定单元，使用预定的疼痛模式来确定所测量的脑信号是否是疼痛信号显示疼痛; 以及根据测量的脑信号是否是疼痛信号的事实来控制康复机器人的驾驶强度的康复机器人控制单元。 因此，康复机器人控制装置通过测量使用康复机器人的用户的脑信号来控制康复机器人的疼痛，以便自动控制康复机器人的驾驶强度，而不会使用户手动控制驾驶 康复机器人的力量。
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公开(公告)号：KR101350066B1
公开(公告)日：2014-01-15
申请号：KR1020120128437
申请日：2012-11-13
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/02
CPC classification number: A61H1/0214 , A61H1/0274 , A61H1/0285 , A61H2201/1472
Abstract: The present invention relates to an upper limb rehabilitation training device for performing the upper limb rehabilitation training of a hemiplegic patient and, more specifically, to an upper limb rehabilitation training device for performing rehabilitation treatment through the reconstruction of muscle and joint movement by the rotation motion of an upper limb comprising: a main body of a hexahedron which includes a space in the inner part by connecting a front case and a rear case; a first rotation member which is arranged at one side of the main body and performs rotation motion by letting a user hold a handle bar; a second rotation member which is arranged at the other side of the main body, is mechanically connected to the first rotation member with a gear, is connected by the rotation of the first rotation member and performs symmetric rotation motion; and a transmission member which changes the rotation power and rotation speed of the first rotation member by moving forward or backward according to the selective control of a user and conveys the rotation power and rotation speed of the first rotation member to the second rotation member. The upper limb rehabilitation training device enables the patient to performs the upper limb rehabilitation training of a disease part (left part or right part) by the help of a normal upper limb without the direct help of a rehabilitation therapist and is able to effectively produce the motion of the upper limb to be rehabilitated by controlling the rotation number of a normal upper limb and an upper limb to be rehabilitated.
Abstract translation: 本发明涉及一种用于进行偏瘫患者的上肢康复训练的上肢康复训练装置，更具体地，涉及一种通过旋转运动重建肌肉和关节运动进行康复治疗的上肢康复训练装置 包括：六面体的主体，其通过连接前壳体和后壳体而在内部部分中包括空间; 第一旋转构件，其布置在主体的一侧，并且通过让使用者握住把手来执行旋转运动; 通过第一旋转构件的旋转连接配置在主体另一侧的第二旋转构件，其与齿轮机械地连接到第一旋转构件，进行对称旋转运动; 以及传动构件，其通过根据使用者的选择性控制向前或向后移动来改变第一旋转构件的旋转动力和转速，并将第一旋转构件的旋转动力和转速传递给第二旋转构件。 上肢康复训练装置使患者能够在正常上肢的帮助下进行疾病部位（左侧部分或右侧部位）的上肢康复训练，而无需康复治疗师的直接帮助，能够有效地产生 通过控制要恢复的正常上肢和上肢的旋转数来恢复上肢的运动。
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