公开(公告)号：US20150053024A1

公开(公告)日：2015-02-26

申请号：US14050379

申请日：2013-10-10

Applicant: Daegu Gyeongbuk Institute of Science and Technology

Inventor： Tae Hun KANG ,  Jeon II MOON

IPC: G01L3/10

CPC classification number: G01L3/101

Abstract: Provided is a torque measuring apparatus using magnetic bodies, the torque measuring apparatus including: an input link whose one end is connected to a driver and rotated in one direction by the driver; a first displacement sensor disposed at the other end of the input link, and controlling rotation displacement of the input link and the driver; a plurality of first magnetic bodies connected to the input link via a connection member and rotating in the one direction; a plurality of second magnetic bodies disposed between the plurality of first magnetic bodies; an output link supporting the plurality of second magnetic bodies and rotated by the pluralities of first and second magnetic bodies, wherein the plurality of second magnetic bodies are disposed inside the output link; and a second displacement sensor closely disposed to one surface of the output link and measuring rotation displacement of the output link.

Abstract translation: 提供了一种使用磁体的扭矩测量装置，该扭矩测量装置包括：输入连杆，其一端连接到驾驶员并由驾驶员沿一个方向旋转; 设置在所述输入连杆的另一端的第一位移传感器，并且控制所述输入连杆和所述驱动器的旋转位移; 多个第一磁体，经由连接构件连接到所述输入连杆并沿所述一个方向旋转; 设置在所述多个第一磁体之间的多个第二磁体; 支撑所述多个第二磁体并由多个第一和第二磁体旋转的输出连杆，其中所述多个第二磁体设置在所述输出连杆内; 以及密封地布置在输出连杆的一个表面上并测量输出连杆的旋转位移的第二位移传感器。

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.

公开(公告)号：US20170120443A1

公开(公告)日：2017-05-04

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 ,  G05D1/00 ,  G05D1/02 ,  B25J5/00

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.

公开(公告)号：US20220326715A1

公开(公告)日：2022-10-13

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

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：US20140316308A1

公开(公告)日：2014-10-23

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 Il MOON

IPC: A61H1/00

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.

Abstract translation: 提供一种上肢康复机器人，其包括：感测构件，其安装并固定到使用者的上肢，并根据使用者的运动意图捕获上肢的运动; 电连接到感测构件的运动控制单元计算由上肢预期的上肢移动所需的运动方向，距离或角度，速度和辅助力（目标值），基于 通过使用感测构件拍摄的运动，并根据计算出的运动方向，距离或角度，速度和辅助力（目标值）产生和输出控制信号; 以及多关节机器人，所述多关节机器人连接到所述感测构件的臂的端部，其中所述多关节机器人引导固定到所述感测构件的所述上肢的运动以选择性地朝向放置在所述感测构件的食物托盘移动或旋转 沿X轴，Y轴或Z轴的工作台的指定位置，并向上肢提供辅助力。