公开(公告)号：US11768499B2

公开(公告)日：2023-09-26

申请号：US17607941

申请日：2020-05-07

Applicant: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Tae Hun Kang ,  Jung Hyun Chu ,  Sung Gil Wee ,  Dae Han Hong

IPC: G05D1/02

CPC classification number: G05D1/0221 ,  G05D1/0274 ,  G05D2201/0216

Abstract: One embodiment of the present invention provides an intersection point pattern recognition system using sensor data of a mobile robot, comprising: a mobile robot that autonomously drives by using sensor data received from a sensor unit and an intersection point pattern recognition model provided by a management server; and the management server that receives usage environment information of the mobile robot and generates the intersection point pattern recognition model of the mobile robot to provide the intersection pattern recognition model to the mobile robot, wherein the management server comprises: a map generation unit for receiving the usage environment information of the mobile robot and generating a route map of the mobile robot on the basis of the usage environment information; a normalization unit for generating a virtual map by normalizing the route map according to a preset rule; and a learning unit for generating the intersection point pattern recognition model by using the virtual map and the sensor data of the mobile robot as learning data.

公开(公告)号：US11433535B2

公开(公告)日：2022-09-06

申请号：US17370148

申请日：2021-07-08

Applicant: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Hee Don Lee ,  Tae Hun Kang

IPC: B25J9/12 ,  B25J17/02

Abstract: A series elastic actuator includes a first body, a motor, a pulley, a second body, a wire, a first adjuster, a second adjuster, a first spring, and a second spring. The wire is curved around a seat portion of the pulley, a first extending portion of the wire and the first adjuster are elastically supported with respect to the second body by the first spring, and the second extending portion of the wire and the second adjuster are elastically supported with respect to the second body by the second spring. When an external load is applied to the second body and relative rotation is generated between the pulley and the second body, a moment arm by the load is constant and the external load can be measured on the basis of the measured relative rotation angle and the spring constants of the first spring and the second spring.

公开(公告)号：US09662525B2

公开(公告)日：2017-05-30

申请号：US14050384

申请日：2013-10-10

Applicant: Daegu Gyeongbuk Institute of Science and Technology

Inventor： Seung Yeol Lee ,  Tae Hun Kang ,  Dong Bin Shin ,  Dae Jin Kim ,  Sung Hoon Eom ,  Jeon II Moon

IPC: A61H1/00 ,  A63B21/00 ,  A61H1/02 ,  A63B21/005 ,  A63B23/035 ,  A63B23/12 ,  A63B22/00

CPC classification number: A63B21/00181 ,  A61H1/0274 ,  A61H2201/1215 ,  A61H2201/1638 ,  A61H2201/1659 ,  A63B21/00178 ,  A63B21/0058 ,  A63B21/4021 ,  A63B21/4043 ,  A63B23/03508 ,  A63B23/1209 ,  A63B2022/0094 ,  Y10S901/09

Abstract: Provided are an upper limb rehabilitation robot including: a sensing member that is mounted and fixed to an upper limb of a user and captures motion of the upper limb according to a movement intention of the user; a motion control unit that is electrically connected to the sensing member, calculates a movement direction, a distance or angle, a speed, and an auxiliary force (target value) needed for the upper limb to move, intended by the upper limb, based on the motion captured by using the sensing member, and generates and outputs a control signal according to the calculated movement direction, distance or angle, speed, and auxiliary force (target value); and a multi-joint robot, to an end of an arm of which the sensing member is coupled, wherein the multi-joint robot guides movement of the upper limb fixed to the sensing member to selectively move or rotate toward a food tray placed at a designated position of a table along an X-axis, a Y-axis, or a Z-axis and provides an assistance force to the upper limb.

公开(公告)号：US09878448B2

公开(公告)日：2018-01-30

申请号：US14929716

申请日：2015-11-02

Applicant: Daegu Gyeongbuk Institute of Science and Technology

Inventor： Tae Hun Kang ,  Hee Jin Park ,  Jeon Il Moon

IPC: B25J9/16 ,  B25J9/00 ,  B25J5/00 ,  B25J13/08 ,  G06Q30/02 ,  B66F9/06 ,  G05D1/02

CPC classification number: B25J9/1633 ,  B25J5/007 ,  B25J9/0057 ,  B25J9/0084 ,  B25J9/1694 ,  B25J13/085 ,  B66F9/063 ,  G05B19/41895 ,  G05B2219/39147 ,  G05B2219/39163 ,  G05D1/0293 ,  G05D2201/0216 ,  G06Q30/02 ,  Y10S901/01

Abstract: Provided are an omnidirectional moving robot device, and a system and method for object conveyance using a plurality of moving robot devices. The omnidirectional moving robot device includes a sensor, a traveling unit including an omnidirectional wheel disposed in a housing, and a control unit configured to transmit a traveling command signal to the traveling unit by using data measured by the sensor.