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：US09416855B2

公开(公告)日：2016-08-16

申请号：US14270880

申请日：2014-05-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Young Bo Shim ,  Young Do Kwon ,  Byung June Choi ,  Yong Jae Kim ,  Kyung Shik Roh ,  Min Hyung Lee

IPC: F16H19/08 ,  B25J9/10

CPC classification number: F16H19/08 ,  B25J9/104 ,  F16H2019/085 ,  Y10T74/18848

Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.

Abstract translation: 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。

公开(公告)号：US09058804B2

公开(公告)日：2015-06-16

申请号：US13685221

申请日：2012-11-26

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Byung Kwon Choi ,  Young Do Kwon ,  Dong Soo Kim ,  Kyung Shik Roh

IPC: G10L21/00 ,  G10L19/008 ,  G10L25/21

CPC classification number: G10L19/008 ,  G10L25/21

Abstract: A speech signal transmission apparatus includes an extractor to extract speech signals from speech source signals collected by a plurality of microphones, a power calculator to calculate powers of speech signals of multiple channels and set any one of the speech signals of the multiple channels as a reference speech signal, a synchronization adjustor to adjust synchronization of the other speech signals based on the reference speech signal, a signal generator to generate extraction signals by offsetting the reference speech signal from the other synchronization-adjusted speech signals, an encryptor to compress and encrypt the reference speech signal and the extraction signals, and a transmitter to transmit the compressed and encrypted reference speech signal and extraction signals.

Abstract translation: 语音信号发送装置包括从多个麦克风收集的语音源信号中提取语音信号的提取器，功率计算器，计算多个声道的语音信号的功率，并设定多声道的任意一个语音信号作为参照 语音信号，同步调整器，用于基于参考语音信号调整其他语音信号的同步;信号发生器，通过将参考语音信号与其他同步调整的语音信号相抵消来产生提取信号;加密器，用于压缩和加密 参考语音信号和提取信号，以及发送器，用于发送压缩和加密的参考语音信号和提取信号。

公开(公告)号：US20140331798A1

公开(公告)日：2014-11-13

申请号：US14270880

申请日：2014-05-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Young Bo Shim ,  Young Do Kwon ,  Byung June Choi ,  Yong Jae Kim ,  Kyung Shik Roh ,  Min Hyung Lee

IPC: F16H19/08

CPC classification number: F16H19/08 ,  B25J9/104 ,  F16H2019/085 ,  Y10T74/18848

Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.

Abstract translation: 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。

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。