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    동력보조 구동 시스템 및 방법
    6.
    发明申请
    동력보조 구동 시스템 및 방법 审中-公开
    助力驱动系统和方法

    公开(公告)号：WO2017135716A1

    公开(公告)日：2017-08-10

    申请号：PCT/KR2017/001163

    申请日：2017-02-03

    Applicant: 중앙대학교 산학협력단 ,  서울과학기술대학교 산학협력단

    Inventor： 김정엽 ,  신동준

    IPC: B62M6/50 ,  B62M6/45

    CPC classification number: B62M6/45 ,  B62M6/50

    Abstract: 본 발명의 실시예는 크랭크의 동작상태를 측정하는 측정부, 상기 측정부의 측정값에 기초하여, 동력보조에 필요한 전암 또는 전류를 결정하는 제어부, 상기 전압 또는 전류가 인가되어 구동력을 제공하는 모터부 및 자신 이외의 구성요소들에 전력을 제공하는 전원부를 포함하는 동력보조 구동 시스템을 제공한다.

    Abstract translation:

    本发明的实施例的测量单元，其测量一个曲柄操作状态，基于所述测量部的措施，所述控制单元，所述电压或电流，以确定整个岩石或电流以驱动辅助所需的是 以及用于向除了电机单元之外的部件供电的电源单元。

    기계적 균형 보상 장치·진동 감쇠 장치가 적용된 전동식 휠체어구동로봇
    7.
    发明公开
    기계적 균형 보상 장치·진동 감쇠 장치가 적용된 전동식 휠체어구동로봇 有权
    电动车身机器人

    公开(公告)号：KR1020140002826A

    公开(公告)日：2014-01-09

    申请号：KR1020120068476

    申请日：2012-06-26

    Applicant: 서울과학기술대학교 산학협력단

    Inventor： 김정엽 ,  신찬제 ,  김호중 ,  전성율 ,  이지은

    IPC: A61G5/04 ,  A61G5/10 ,  G05D1/00 ,  G05G1/00

    Abstract: The present invention relates to an electrical wheelchair robot to which a mechanical balance compensation device and a vibration damper are applied for preventing an electrical wheel chair from pulling on a slope by being applied with the mechanical balance compensation device and a headset type motion module used to resolve inconvenience of users using the electrical wheel chair so that elderlies or hands and feet disabled people who cannot use a joystick can conveniently use the electrical wheelchair.

    Abstract translation: 电动轮椅机器人技术领域本发明涉及一种电动轮椅机器人，其中施加有机械平衡补偿装置和减振器，用于防止电动轮椅通过施加机械平衡补偿装置和使用的耳机型运动模块来拉动斜坡 解决使用电动轮椅的用户的不便，使老年人或手脚残疾人无法使用操纵杆可以方便地使用电动轮椅。

    패시브형 근력 보상 장치를 이용한 족행 보행 보조로봇
    8.
    发明授权
    패시브형 근력 보상 장치를 이용한 족행 보행 보조로봇 有权
    运动助手机器人使用被动肌肉补偿装置

    公开(公告)号：KR101315199B1

    公开(公告)日：2013-10-07

    申请号：KR1020120033762

    申请日：2012-04-02

    Applicant: 서울과학기술대학교 산학협력단

    Inventor： 김정엽 ,  김민기 ,  김범중 ,  천희범 ,  하재광

    IPC: A61H3/00 ,  B25J9/00

    CPC classification number: A61H3/008 ,  A61H2003/001 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/1659 ,  A61H2201/50 ,  A61H2201/5071 ,  A61H2205/10 ,  A61H2205/102 ,  A61H2230/805 ,  B25J9/0006

    Abstract: PURPOSE: A walking assistant robot assisting the walk of a user is provided to be mass-produced at an affordable price and hasten time when the robot is commercialized. CONSTITUTION: A walking assistant robot assisting the walk of a user comprises: a femoral region frame which supports a femoral region, is formed in the outer side of thigh and controls actively the position of a spring section by rotating a cam counterclockwise with an angle of 0-180° through a motor; a link frame which is formed between a supporting part and the spring section, applies pressure to an elastic spring as much as a gap between the supporting part and the spring section which is narrowed when knee articulation bends and removes the pressure of the elastic spring as much as a gap developed when a knee joint stretches out; a lower leg frame which supports a lower leg part, is formed at the outer side of calf and includes a spring section offsetting load which is applied to a user; and a foot frame which supports a foot, is fixed to the foot of the user and is naturally rotated according to the movement of an ankle by fixing the upper end with the lower leg frame in order to help the walk of the user. In the lower leg frame, the upper end is fixed to the femoral region frame and the bottom end is fixed to the foot frame.

    Abstract translation: 目的：帮助用户走路的步行辅助机器人以合理的价格批量生产，加快机器人商业化的时间。 构成：辅助用户行走的行走辅助机器人包括：支撑股骨区域的股骨架框架形成在大腿的外侧，并通过以一定的角度逆时针旋转凸轮来主动地控制弹簧部分的位置 0-180°通过电机; 形成在支撑部和弹簧部之间的连杆框架，与支撑部和弹簧部之间的间隙一样向弹性弹簧施加压力，所述间隙在膝关节弯曲时变窄，并且将弹性弹簧的压力除去 当膝关节伸展时，发展差距很大; 支撑小腿部的小腿架形成在小腿的外侧，并且包括向使用者施加的弹簧部分偏移负荷; 并且支撑脚的脚架被固定到使用者的脚部，并且通过将上端与小腿框架固定而根据脚踝的运动自然地旋转，以帮助使用者的行走。 在小腿框架中，上端固定在股骨架框架上，底端固定在脚架上。

    다축 링크형 오십견 큐어 로봇
    9.
    发明公开
    다축 링크형 오십견 큐어 로봇 有权
    由于具有多种连接方式的老年人，坚固的机器人和坚固的肩膀

    公开(公告)号：KR1020130024386A

    公开(公告)日：2013-03-08

    申请号：KR1020110087813

    申请日：2011-08-31

    Applicant: 서울과학기술대학교 산학협력단

    Inventor： 김정엽 ,  양운제 ,  오승택 ,  임병일 ,  고영대

    IPC: B25J9/06 ,  A61H1/02 ,  A63B23/12 ,  B25J9/02

    Abstract: PURPOSE: A multi-axis link type frozen shoulder curing robot is provided to use a heating wire pad around the shoulder and arm of a patient with frozen shoulder for offering a thermal fomentation effect. CONSTITUTION: A multi-axis link type frozen shoulder curing robot includes an H-beam type supporting unit(100), a height adjusting bar(200), a first axis yaw-link unit(300), a second axis roll-link unit(400), a third axis pitch-link unit(500), a universal joint type arm holder(600), a micom unit(700), a heating wire pad(800), an LCD monitor unit(900), and a key button unit(900a). The H-beam type supporting unit supports each device by touching the floor. The height adjusting bar is protruded from the upper one side of the H-beam type supporting unit. [Reference numerals] (700) Micom unit

    Abstract translation: 目的：提供一种多轴连杆式冷冻肩部固化机器人，以便在具有冻结肩部的患者的肩部和手臂周围使用加热丝网垫，以提供热绷紧效果。 构成：多轴连杆式冷冻肩部固化机器人包括H型梁支撑单元（100），高度调节杆（200），第一轴偏转链接单元（300），第二轴线滚动连杆单元 （400），第三轴节距连杆单元（500），万向节臂支架（600），微型单元（700），加热线垫（800），LCD监视器单元（900） 键按钮单元（900a）。 H型梁支撑单元通过触摸地板支撑每个设备。 高度调节杆从H型梁支撑单元的上侧突出。 （附图标记）（700）微单元

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