公开(公告)号：US20180116851A1

公开(公告)日：2018-05-03

申请号：US15796145

申请日：2017-10-27

Applicant: Daegu Gyeongbuk Institute of Science and Technology

Inventor： Hee Don LEE

IPC: A61F5/01 ,  G06F3/01

CPC classification number: A61F5/0102 ,  A61B5/1071 ,  A61B5/224 ,  A61B5/4528 ,  A61F2002/5093 ,  A61H1/0259 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5012 ,  A61H2201/5061 ,  A61H2201/5097 ,  G06F3/016

Abstract: Provided is a tendon device for a suit type robot which includes: a first wire and a second wire respectively fixed on a front portion and a rear portion of a joint of a user, and moving in a lengthwise direction thereof according to flexion-extension of the joint; a tendon driver including a first tendon module including a first pulley, and a second tendon module including a second pulley; a first pulley encoder measuring a rotary angle of the first pulley; a second pulley encoder for measuring a rotary angle of the second pulley; a controller configured to calculate tensions of the first wire and the second wire based on the rotary angle of the first and second pulleys in order to generate a control signal; and a driver configured to provide the first tendon module and the second tendon module with a driving power.

公开(公告)号：US20220063088A1

公开(公告)日：2022-03-03

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.