公开(公告)号：US11897125B2

公开(公告)日：2024-02-13

申请号：US16788263

申请日：2020-02-11

Applicant: UNIST(ULSAN NATIONAL INSTITUTE OF SCIENCE AND TECHNOLOGY)

Inventor： Sang Hoon Kang ,  Hyunah Kang

IPC: B25J19/00 ,  A61B5/00 ,  G01L1/04 ,  G01L5/161

CPC classification number: B25J19/0095 ,  A61B5/4528 ,  A61B2560/0223 ,  F16F2230/0005 ,  G01L1/04 ,  G01L5/161

Abstract: A 3D spring array device includes: a fixed body having an internal space therein; a moving body positioned in a center of an x-y-z orthogonal coordinate system in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring and configured to connect the fixed body to the moving body in the internal space.