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公开(公告)号：KR101600850B1
公开(公告)日：2016-03-09
申请号：KR1020140169749
申请日：2014-12-01
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A61H2201/1215 , A61H2205/08 , A63B23/12
Abstract: 본발명은, 설치위치의바닥에안착배치되며, 일측에는상하방향으로왕복슬라이딩되는승강가이드부가연결설치된지지프레임, 지지프레임의승강가이드부에결합설치되며, 일측에횡방향으로배치된연결지지대가회전가능하게연결설치된베이스프레임, 연결지지대일측에축회전가능하게설치되는연결축부, 베이스프레임에설치된상태로연결지지대와연결되어, 연결지지대가축회전하도록구동력을발생시키는회전각도조절부, 일측이연결축부에연결결합되며, 타측에는재활대상자의상지부분을연결할수 있게하는상지연결대가장착된링크부, 연결지지대일측에설치된상태로연결축부와연결되어, 연결축부가회전되게하는능동구동기, 연결축부에연결설치되며, 연결축부의축회전에대한저항토크를발생시키는수동구동기를포함하는상지재활로봇장치를제공한다.
Abstract translation: 本发明涉及一种上肢康复机器人装置。 该装置包括：支撑框架，其安装在安装位置的地板上，并且具有连接到以往复方式上下滑动的升降引导单元的一侧; 基座框架，其联接并安装到支撑框架的提升引导单元，并且连接到沿水平方向布置的可连接的连接支撑件，以便可旋转; 连接轴单元，其安装在所述连接支撑件的一侧以围绕轴旋转; 旋转角度调节单元，其连接到连接支撑件，同时安装在基架上，以产生用于连接支撑件的轴旋转的驱动力; 连接单元，其具有连接到连接轴单元的一侧，另一端安装有用于连接到康复目标的上肢部分的上肢连接单元; 主动驱动单元，其连接到所述连接轴单元，同时安装在所述连接支撑件的一侧，以使所述连接轴单元旋转; 以及手动驱动单元，其连接到连接轴并且产生抵抗连接轴单元的轴旋转的阻力矩。
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公开(公告)号：KR1020150137818A
公开(公告)日：2015-12-09
申请号：KR1020140066361
申请日：2014-05-30
Applicant: 재단법인대구경북과학기술원
Abstract: 전동드라이버로봇용작업툴 장치가제공된다. 이장치는구동부로부터파지력을전달받는조 베이스(jaw base)와, 상기조 베이스와결합되어, 상기조 베이스를통해상기구동부로부터전달받은파지력에따라전동드라이버를파지하는그리퍼조(gripper jaw) 및상기조 베이스(jaw base)와상기그리퍼조(gripper jaw) 사이에배치되어, 상기전동드라이버에의한나사체결시에상기그리퍼조(gripper jaw)에전달되는반력토크를센싱하는센서를포함한다.
Abstract translation: 本发明提供一种电动驱动机器人的加工工具装置，其特征在于，包括：卡爪基座，用于从驱动单元接受夹紧力; 夹爪与颚座组合，用于根据从驱动单元通过颚座传递的夹持力夹持电动驾驶员; 以及传感器，其布置在所述钳口基部和所述夹爪之间，用于感测由所述电动驱动器拧紧时传递到所述夹爪的反作用力矩。
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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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公开(公告)号：KR1020140018654A
公开(公告)日：2014-02-13
申请号：KR1020120085075
申请日：2012-08-03
Applicant: 재단법인대구경북과학기술원
Abstract: Disclosed are a remote terminal for supporting extension of a remote communication distance and an operation method for the same. The remote terminal for supporting the extension of the remote communication distance includes an interface enabling a plurality of following-up terminals to be located within a setting range by transmitting a following-up driving setting command and a processor for connecting communication with a control terminal by selecting the m (m is a natural number) following-up terminals among the following-up terminals when either a communication distance or a communication state with the control terminal is not satisfied with a setting condition. [Reference numerals] (101) Control terminal; (103) Remote terminal for supporting the extension of the remote communication distance; (105) Following terminal
Abstract translation: 公开了用于支持远程通信距离的扩展的远程终端及其操作方法。 用于支持远程通信距离扩展的远程终端包括通过发送跟踪驱动设置命令和使与控制终端进行通信的处理器能够使多个后续终端位于设定范围内的接口， 当与控制终端的通信距离或通信状态不满足设置条件时，在后续终端中选择m（m是自然数）后续终端。 （附图标记）（101）控制端子; （103）远程终端用于支持远程通信距离的扩展; （105）以下终端
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Patent Agency Ranking
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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公开(公告)号：KR101349369B1
公开(公告)日：2014-01-14
申请号：KR1020120002257
申请日：2012-01-09
Applicant: 재단법인대구경북과학기술원
IPC: H02P27/04
Abstract: 본 발명은 데드타임(deadtime)과 스위치 전압강하(voltage drop)에 의한 인버터 출력 왜곡 보상 방법 및 그 장치에 관한 것으로, 보다 상세하게는 인버터의 PWM(Pulse Width Modulation) 구동 시 첨가해야 하는 데드타임과 스위치의 전압강하에 의해 발생하는 인버터의 출력 왜곡을 전류의 방향을 기준으로 간단하게 보상분을 증감함으로써 출력 전류의 왜곡을 보상하는 인버터 출력 왜곡 보상 방법 및 그 장치에 관한 것이다. 본 발명에 따르면, 하드웨어 추가 없이 간단한 방법으로 PWM 인버터의 구동시 데드타임과 스위치 전압강하에 의한 왜곡을 보상하여 인버터의 출력 전류의 왜곡을 보상할 수 있는 효과가 있다.
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公开(公告)号：KR1020140000485A
公开(公告)日：2014-01-03
申请号：KR1020120067527
申请日：2012-06-22
Applicant: 재단법인대구경북과학기술원
CPC classification number: A63B24/0087 , A63B23/12 , A63B2024/0096 , A63B2071/0647 , A63B2071/0655
Abstract: The present invention relates to a haptic device for exercising upper limbs. The device can be utilized in medical, game, and robot fields. The device allows a user to exercise his or her upper limbs using a vertical exercise unit and a horizontal exercise unit including swivel wheels and improves portability. Moreover, the device providing a haptic function to stimulate muscular sensation and tactile sensation by controlling the device by receiving a feedback signal on the operation of the device.
Abstract translation: 本发明涉及一种用于锻炼上肢的触觉装置。 该设备可用于医疗，游戏和机器人领域。 该装置允许用户使用垂直运动单元和包括旋转轮的水平运动单元来锻炼他或她的上肢，并提高便携性。 此外，该装置通过在装置的操作上接收反馈信号来控制装置来提供触觉功能以刺激肌肉感觉和触感。
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公开(公告)号：KR1020130121301A
公开(公告)日：2013-11-06
申请号：KR1020120044376
申请日：2012-04-27
Applicant: 재단법인대구경북과학기술원
Abstract: A robot end effecter, which is attached on an end portion of a robot arm or a manipulator; which enables the application to packing and assembling processes of electronics such as a cellular phone or TV; and which enables the improvement of flexibility for gripping and picking functions, is disclosed. A tool tip of the robot end effecter includes a body unit, which is formed of a flexible material; of which the cross sectional surface is formed into one among a circular type or point symmetry or rotation symmetry; and of which the inside is formed into a cavity, and a sensor unit which is mounted on the inner surface of the upper part of the body unit and which is formed of a plurality of optical fiber lattices.
Abstract translation: 机器人末端执行器，其附接在机器人手臂或操纵器的端部上; 这使得应用可以包括和组装诸如蜂窝电话或电视的电子设备的过程; 并且其能够提高抓取和拾取功能的灵活性。 机器人端部执行器的工具尖端包括由柔性材料形成的主体单元; 其横截面形成为圆形或点对称或旋转对称之一; 并且其内部形成为空腔;以及传感器单元，其安装在主体单元的上部的内表面上并且由多个光纤格架形成。
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公开(公告)号：KR101294250B1
公开(公告)日：2013-08-07
申请号：KR1020120016567
申请日：2012-02-17
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A method and a device to calculate a gripping force of grippers are provided to improve work efficiency by rapidly calculating a gripping force range of the gripper even if a new object is changed. CONSTITUTION: A method to calculate a gripping force of grippers comprises the steps of: estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force (S110); estimating a density of the object using first and second vertical movement forces (S120); estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force (S130); and calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient (S140). The first and second vertical movement forces are required to vertically move the gripper in half of a height of the object from a gripping point of the object. [Reference numerals] (AA) Start; (BB) End; (S110) Step of estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force; (S120) Step of estimating a density of the object using a first vertical movement force required to vertically move a gripper in a gripping point of the object and a second vertical movement force required to vertically move the gripper while the objects are gripped; (S130) Step of estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force; (S140) Step of calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient
Abstract translation: 目的：提供一种用于计算夹具的夹持力的方法和装置，用于通过快速计算夹具的夹持力范围来提高工作效率，即使新物体改变。 构成：计算夹持器的夹持力的方法包括以下步骤：使用从视觉图像获得的对象的几何信息估计对象的杨氏模量，以及在夹具用对象夹持物体的状态下测量的对象的变形量 预定的初始夹紧力（S110）; 使用第一和第二垂直移动力估计物体的密度（S120）; 估计当物体在初始夹紧力被夹持的状态下夹持力减小时，物体开始与夹具分离的时刻的滑动摩擦系数（S130）; 以及使用杨氏模量，密度和滑移摩擦系数计算夹持器的夹持力范围（S140）。 需要第一和第二垂直运动力将物体的一半高度从夹持物体的夹持位置垂直移动。 （附图标记）（AA）开始; （BB）结束; （S110）使用从视觉图像获得的对象的几何信息和在夹具以预定的初始夹持力夹持物体的状态下测量的物体的变形量来估计物体的杨氏模量的步骤; （S120）使用在物体的夹持点上垂直移动夹持器所需的第一垂直移动力和在夹持物体时垂直移动夹持器所需的第二垂直移动力来估计物体的密度的步骤; （S130）在物体以初始夹持力夹持的状态下，当夹持力减小时，估计物体开始与夹具分离的时刻的滑动摩擦系数的步骤; （S140）使用杨氏模量，密度和滑移摩擦系数来计算夹持器的夹持力范围的步骤
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