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公开(公告)号：KR101032305B1
公开(公告)日：2011-05-06
申请号：KR1020080132332
申请日：2008-12-23
Applicant: 한국과학기술원
Abstract: 본 발명은 햅틱피드백 제공장치와 그 제어방법에 관한 것으로서, 더욱 상세하게는 미세돌기를 이용하여 진동을 발생시킴으로써 피부감각을 제공하고 강성의 변화를 이용하여 근감각을 제공하는 햅틱피드백 제공장치와 그 제어방법에 관한 것이다. 이를 위해, 복수개의 미세돌기가 형성되어 있는 돌기부;와 미세돌기간의 간격을 변화시키는 간격조절부;와 간격조절부로 전기를 인가하는 제1전기인가부;를 포함하는 피부감각수단; 내부에 유변유체가 충진된 유연한 재질의 유체관;과 유체관으로 전기를 인가하여 유체관의 강도를 변화시키는 제2전기인가부;를 포함하고, 피부감각수단의 하부에 구비되는 근감각수단; 및 제1전기인가부와 제2전기인가부를 제어하는 제어수단;을 포함함으로써, 사용자에게 근감각과 피부감각을 제공하는 것을 특징으로 하는 햅틱피드백 제공장치와 제어방법을 제공한다.
햅틱, 피부감각, 근감각, 미세돌기, 강성, 유변유체, 작동유체, 파라핀-
72.发明公开자기유변유체를 이용한 외력 반응형 강성구현장치, 이를 이용한 햅틱제공장치, 이를 이용한 초소형 이동체 및 그 제어방법 失效使用磁力流体对外力反应的强度发生装置，使用该装置提供被动式消声反馈的装置，使用其的微型移动装置和控制方法
公开(公告)号：KR1020110043317A
公开(公告)日：2011-04-27
申请号：KR1020090100381
申请日：2009-10-21
Applicant: 한국과학기술원
Abstract: PURPOSE: A stiffness generation apparatus using magnetorheological fluid on reaction upon external force, an apparatus for providing passive haptic feedback using the same, a micromini moving device using the same and a control method are provided to measure the strength of external force by using the inductance variation resulting from electromagnetic induction. CONSTITUTION: An elasticity providing unit(40) provides elastic force to a pressing plate(20). Through the inductance variation resulting from electromagnetic induction, the elasticity providing unit generates an electric signal. A measurement unit measures the strength of an external force, and a yoke(60) is formed inside a housing(10). A magnetic field application unit(70) applies a magnetic field to a magnetorheological fluid.
Abstract translation: 目的：使用磁力流变流体对外力反应的刚度产生装置，使用其提供被动触觉反馈的装置，使用其的微型移动装置和控制方法，用于通过使用电感来测量外力的强度 电磁感应产生的变化。 构成：弹性提供单元（40）向按压板（20）提供弹性力。 通过由电磁感应产生的电感变化，弹性提供单元产生电信号。 测量单元测量外力的强度，并且轭（60）形成在壳体（10）内。 磁场施加单元（70）将磁场施加到磁流变流体。
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公开(公告)号：KR101026839B1
公开(公告)日：2011-04-04
申请号：KR1020090122214
申请日：2009-12-10
Applicant: 한국과학기술원
CPC classification number: H02N2/0005 , G06F3/016 , H01L41/09
Abstract: PURPOSE: A small smart actuator device and a sensing method thereof are provided to senses a magnetic reaction force and generate an inertial vibration due to magnetic reaction force by using piezoelectric materials and solenoid materials with a hybrid type. CONSTITUTION: An actuator unit changes supplied electricity to a magnetic field to generate a magnetic reaction force. A sensing unit uses a piezoelectric phenomenon which changes a shape by the magnetic reaction force. The actuator unit is a first magnetic force generator(110) in which a solenoid coil is arranged. A second magnetic force generator(210) is magnetically adjacent to the first magnetic generator. A piezoelectric layer(220) changes the shape by the magnetic reaction force. An elastic unit(230) is connected to the piezoelectric layer.
Abstract translation: 目的：提供一种小型智能致动器及其感测方法，以通过使用具有混合型的压电材料和螺线管材料来感测磁反作用力并由于磁反作用力而产生惯性振动。 构成：致动器单元将提供的电力改变为磁场以产生磁反作用力。 感测单元使用通过磁反作用力改变形状的压电现象。 致动器单元是布置有螺线管线圈的第一磁力发生器（110）。 第二磁力发生器（210）与第一磁发生器磁性相邻。 压电层（220）通过磁反作用力改变形状。 弹性单元（230）连接到压电层。
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公开(公告)号：KR1020110009800A
公开(公告)日：2011-01-31
申请号：KR1020090067183
申请日：2009-07-23
Applicant: 한국과학기술원
Abstract: PURPOSE: A stiffness generating apparatus utilizing a vibration generating actuator, a control method thereof and a device using the method are provided to realize various damping power and stiffness since little power is applied to a vibration generating actuator to control frictional force. CONSTITUTION: A stiffness generating apparatus(1) utilizing a vibration generating actuator comprises a housing(10), a piston(20), an elasticity supply unit and a vibration generating actuator(40). The housing forms a frame and its one side is open. The piston is inserted into the housing and is installed to be able to reciprocate in one direction. The elasticity supply unit is installed between the housing and the piston and transfers the elasticity to the piston. The vibration generating actuator is installed on one side of the housing and generates vibration. The vibration generating actuator controls the frictional force between the housing and the piston by the vibration.
Abstract translation: 目的：提供一种使用振动产生致动器的刚度产生装置，其控制方法和使用该方法的装置，以实现各种阻尼功率和刚度，因为对振动产生致动器施加少量功率以控制摩擦力。 构成：利用振动产生致动器的刚度发生装置（1）包括壳体（10），活塞（20），弹性供应单元和振动产生致动器（40）。 外壳形成框架，其一面是敞开的。 活塞被插入壳体中并且被安装成能够在一个方向上往复运动。 弹性供应单元安装在壳体和活塞之间，并将弹性转移到活塞上。 振动产生致动器安装在壳体的一侧并产生振动。 振动产生致动器通过振动来控制壳体和活塞之间的摩擦力。
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公开(公告)号：KR1020100125834A
公开(公告)日：2010-12-01
申请号：KR1020090044741
申请日：2009-05-22
Applicant: 한국과학기술원
IPC: H02N2/00
CPC classification number: H02N2/008 , G06F3/0414 , H02N2/006 , H02N2/067
Abstract: PURPOSE: An electric motor is provided to control the number of the pulse of a resonance frequency which is applied to an actuator by using the contact signal of a user, which is inputted through a contact sensing part. CONSTITUTION: A contact sensing part(100) distinguishes the variously-typed location contact of a user or pressing contact. The contact sensing part transfers an impulse, which is transferred from an actuator, to the user. A control part applies electrical energy to the actuator based on the contact signal of a user whom is detected through the contact sensing part. The actuator applies a specific impulse to the contact sensing part by receiving periodic electric energy from the control part. The control part generates a plurality of impact vibrations by applying at least one pulse of a resonance frequency to the actuator based on the contact signal of a user.
Abstract translation: 目的：提供一种电动机，用于通过使用通过接触感测部输入的用户的接触信号来控制施加到致动器的共振频率的脉冲数。 构成：接触感测部件（100）区分用户的不同类型的位置接触或按压接触。 接触感测部件将从致动器传送的脉冲传送到用户。 控制部基于通过接触检测部检测出的使用者的接触信号，向致动器施加电能。 致动器通过接收来自控制部件的周期性电能而向接触感测部件施加特定的脉冲。 基于用户的接触信号，控制部通过向致动器施加至少一个共振频率的脉冲来产生多个冲击振动。
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Patent Agency Ranking
公开(公告)号：KR1020100118636A
公开(公告)日：2010-11-08
申请号：KR1020090037411
申请日：2009-04-29
Applicant: 한국과학기술원
Abstract: PURPOSE: A vibration generating module using an elastic reaction is provided to generate soft vibrations by inertial force, since a permanent magnet is vertically vibrated by self-weight without contact. CONSTITUTION: A vibration generating module using an elastic reaction comprises a magnetic field forming unit(100), an elastic force providing unit(200), and a permanent magnet(300). The elastic force providing unit vertically provides an elastic force. If electrical energy is not provided to the magnetic field forming unit, the permanent magnet moves down toward a magnetic member by self-magnetic force, so that the initial state that the elastic force providing unit holds elastic returning force can be maintained. If electrical energy is provided to the magnetic field forming unit, the permanent magnet moves up from the magnetic member by repulsive force between the self-magnetic force and the magnetic field of the magnetic field form unit and the elastic returning force of the elastic force providing unit, so that the state of the permanent magnet can be maintained.
Abstract translation: 目的：提供使用弹性反应的振动产生模块，通过惯性力产生软振动，因为永磁体通过自重而不会接触而垂直振动。 构成：使用弹性反应的振动产生组件包括磁场形成单元（100），弹力提供单元（200）和永磁体（300）。 弹性力提供单元垂直地提供弹性力。 如果没有向磁场形成单元提供电能，则永磁体通过自身磁力向下移动到磁性构件，从而可以保持弹性力提供单元保持弹性返回力的初始状态。 如果向磁场形成单元提供电能，则永久磁铁通过排斥力在磁力形成单元的自磁力和磁场之间的弹性力向上移动，并且提供弹性力的弹性返回力 单元，从而可以维持永磁体的状态。
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公开(公告)号：KR1020100102412A
公开(公告)日：2010-09-24
申请号：KR1020090020780
申请日：2009-03-11
Applicant: 한국과학기술원
CPC classification number: G06F3/016 , F15B15/00 , H04M19/047
Abstract: PURPOSE: A haptic feedback providing device and a method thereof are provided to simultaneously supply a skin haptic stimulus due to a vibration unit and a muscle haptic stimulus due to a viscosity change, thereby providing haptic feedback similar to a feeling when a user touches an object. CONSTITUTION: A user touches an upper plate(310). A vibration unit generates vibration in the bottom of the upper plate. The first electricity applying unit applies electricity to the vibration unit. A fluid pipe(410) is installed in the bottom of a skin haptic unit(300). The inside of the fluid pipe is filled with rheological fluid. The second electricity applying unit applies electricity to the fluid pipe. A control unit(100) controls the first electricity applying unit and the second electricity applying unit.
Abstract translation: 目的：提供触觉反馈提供装置及其方法，以同时由于粘度变化而提供由于振动单元和肌肉触觉刺激引起的皮肤触觉刺激，从而提供类似于用户触摸对象时的感觉的触觉反馈 。 构成：用户触摸上板（310）。 振动单元在上板的底部产生振动。 第一电力施加单元向振动单元施加电力。 流体管（410）安装在皮肤触觉单元（300）的底部。 流体管内部充满流变液。 第二施加电力单元对流体管道施加电力。 控制单元（100）控制第一供电单元和第二供电单元。
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公开(公告)号：KR100980857B1
公开(公告)日：2010-09-10
申请号：KR1020080070446
申请日：2008-07-21
Applicant: 한국과학기술원
Abstract: 본 발명은 유변유체의 유량제어에 관한 것으로, 보다 상세하게는 유변유체의 점성을 제어하여 유량을 제어하는 유변유체의 유량제어밸브, 밸브 제어방법, 이를 이용한 유량제어댐퍼 및 댐퍼 제어방법에 관한 것이다. 이를 위해, 유변유체가 수용되는 제 1 수용부; 및 제 1 수용부와 연통되는 유동홀이 형성되고, 유동홀내의 유변유체에 전기장 또는 자기장을 인가할 수 있는 유동제어부;로 구성되어 전기장 또는 자기장의 세기에 따라 유동홀내의 유변유체의 점성이 변화하여 유동이 제어되는 것을 특징으로 하는 유변유체의 유량제어밸브가 제공된다. 그리고, 하우징 내에 제 2 수용부를 구비한 유량제어댐퍼가 제공된다.
햅틱, 유변유체, 전기, 자기, 유동홀, 전단력, 유동저항, 댐퍼, 수용부-
公开(公告)号：KR1020100093211A
公开(公告)日：2010-08-25
申请号：KR1020090012299
申请日：2009-02-16
Applicant: 한국과학기술원
CPC classification number: G06F3/016
Abstract: PURPOSE: A human interaction system using a kinesthetic feedback and a method thereof are provided to give various feelings except voice to the other party by transferring kinesthetic feedbacks to the other party depending on the operation of a user. CONSTITUTION: A driving unit(300) generates kinesthetic feedbacks according to the operation of a user through the operation of interactive devices(100,200), and a sensor(400) measures physical force applied to the driving unit. A converting unit(500) converts the operation signal into an electric signal in order to transmit and receive an operating signal of the driving unit measured by the sensor. A communication module(600) transmits and receives the electric signal.
Abstract translation: 目的：提供使用动觉反馈的人交互系统及其方法，以根据用户的操作，通过将动觉反馈传送给另一方来向对方给出除语音之外的各种感觉。 构成：驱动单元（300）通过交互式设备（100,200）的操作根据用户的操作产生运动反馈，并且传感器（400）测量施加到驱动单元的物理力。 A转换单元（500）将操作信号转换为电信号，以便发送和接收由传感器测量的驱动单元的操作信号。 通信模块（600）发送和接收电信号。
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公开(公告)号：KR1020100084876A
公开(公告)日：2010-07-28
申请号：KR1020090004246
申请日：2009-01-19
Applicant: 한국과학기술원
Abstract: PURPOSE: A haptic feedback providing device and a haptic feedback providing method using the same are provided to offer skin sensation and muscle sensation at the same time, thereby offering haptic feedback as same as feeling when in fact touching an object. CONSTITUTION: A skin sense unit(30) includes an upper plate(110) contacted with a skin of a user, a vibrator(130) which is included in a lower part of the upper plate and occurs vibration, and the first electrical application unit applied power to the vibrator. A muscle sense unit(40) includes a case accepting rheological fluid, a rotating unit, and the second electrical application unit applied power to the case. The rotating unit includes an inside film partly included in the rheological fluid and the upper plate. A muscle sensation is included in a lower part of the skin sense unit. A control unit controls the first and the second electrical application unit.
Abstract translation: 目的：提供触觉反馈提供装置和使用其的触觉反馈提供方法，以同时提供皮肤感觉和肌肉感觉，由此提供触觉反馈，与实际触摸对象时的感觉相同。 构成：皮肤感测单元（30）包括与用户的皮肤接触的上板（110），包括在上板的下部并发生振动的振动器（130），并且第一电施加单元 向振动器施加电力。 肌肉感知单元（40）包括容纳流变液的壳体，旋转单元和向壳体施加电力的第二电气施加单元。 旋转单元包括部分包括在流变液和上板中的内膜。 肌肉感觉包括在皮肤感觉单元的下部。 控制单元控制第一和第二电气应用单元。
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