公开(公告)号：US09770300B2

公开(公告)日：2017-09-26

申请号：US14333039

申请日：2014-07-16

Applicant: Samsung Electronics Co., Ltd.

Inventor： Young Do Kwon ,  Kee Hong Seo ,  Kyung Shik Roh

IPC: G06F19/00 ,  A61B19/00 ,  B25J9/16 ,  B25J13/02 ,  B25J3/04 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/064 ,  B25J3/04 ,  B25J9/1633 ,  B25J13/025

Abstract: A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.

公开(公告)号：US09452797B2

公开(公告)日：2016-09-27

申请号：US13723534

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Joo Hyung Kim ,  Kyung Shik Roh ,  Kee Hong Seo

IPC: B62D57/02 ,  B25J9/00 ,  B25J15/00 ,  B62D57/032

CPC classification number: B62D57/02 ,  B25J9/0009 ,  B25J15/0023 ,  B62D57/032 ,  Y10S901/01

Abstract: A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure.

Abstract translation: 支撑模块包括第一刚体，连接到第一刚体并形成封闭空间的空间形成体以及位于封闭空间内的多个硬质颗粒。 当至少一个预定的压力被施加到支撑模块上使得封闭空间的体积减小到预定值时，多个硬质颗粒和空间形成体形成第二刚体。 这种支撑模块可以提高步行机器人的稳定性，夹持结构的抓地力或承载结构的稳定性。

公开(公告)号：US20140156074A1

公开(公告)日：2014-06-05

申请号：US14089727

申请日：2013-11-25

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kee Hong Seo ,  Young Do Kwon ,  Kyung Shik Roh

IPC: B25J3/00

CPC classification number: B25J9/1689 ,  B25J3/04 ,  G05B2219/39181

Abstract: A robot includes a master device including an input unit, the input unit including a first end effector and a first joint, a slave device configured to be controlled by the master device and including a robot arm, the robot arm including a second end effector, a second joint, and a motor configured to drive the second joint, and a controller configured to calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion, generate a control signal based on the friction compensation value, and transmit the control signal to the motor configured to drive the second joint.

Abstract translation: 机器人包括主装置，其包括输入单元，所述输入单元包括第一末端执行器和第一关节，被配置为由主装置控制并包括机器人手臂的从装置，所述机器人手臂包括第二末端执行器， 第二关节和被配置为驱动第二关节的马达，以及控制器，被配置为响应于输入单元运动而基于输入单元的速度来计算摩擦补偿值以补偿第二关节的摩擦， 基于摩擦补偿值生成控制信号，并将控制信号发送到被配置为驱动第二关节的马达。

公开(公告)号：US20130162015A1

公开(公告)日：2013-06-27

申请号：US13723534

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd

Inventor： Joo Hyung KIM ,  Kyung Shik Roh ,  Kee Hong Seo

IPC: B62D57/02

CPC classification number: B62D57/02 ,  B25J9/0009 ,  B25J15/0023 ,  B62D57/032 ,  Y10S901/01

Abstract: A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure.

Abstract translation: 支撑模块包括第一刚体，连接到第一刚体并形成封闭空间的空间形成体以及位于封闭空间内的多个硬质颗粒。 当至少一个预定的压力被施加到支撑模块上使得封闭空间的体积减小到预定值时，多个硬质颗粒和空间形成体形成第二刚体。 这种支撑模块可以提高步行机器人的稳定性，夹持结构的抓地力或承载结构的稳定性。