公开(公告)号：US20140241577A1

公开(公告)日：2014-08-28

申请号：US14162879

申请日：2014-01-24

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： No San KWAK ,  Seung Yong HYUNG ,  Woong KWON ,  Ji Young KIM ,  Kwang Kyu LEE

IPC: G06K9/00

CPC classification number: G06K9/00624 ,  G06K2209/057 ,  G06T7/277 ,  G06T7/73 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A method of tracking a moving object includes measuring displacement of an object to be tracked, obtaining a particle of the object to be tracked using the measured displacement, and tracking the object using pose information of the object in an image thereof and the obtained particle. A control apparatus includes an imaging module to perform imaging of an object and generates an image, and a tracking unit to acquire displacement and pose information of the object using the generated image of the object, to set a particle of the object using the acquired displacement of the object, and to track the object using the pose information of the object and the particle.

Abstract translation: 跟踪运动物体的方法包括测量待跟踪对象的位移，使用所测量的位移获得待跟踪对象的粒子，并使用其图像中的对象的姿态信息和所获得的粒子来跟踪对象。 控制装置包括：成像模块，用于对物体进行成像并生成图像;跟踪单元，使用所生成的对象的图像获取位移并构图物体的信息;使用获取的位移来设定物体的粒子; 并且使用对象和粒子的姿势信息来跟踪对象。

公开(公告)号：US20130116706A1

公开(公告)日：2013-05-09

申请号：US13723688

申请日：2012-12-21

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Kwang Kyu LEE ,  Woong Kwon ,  Kyung Shik Roh

IPC: A61B19/00

CPC classification number: G05B6/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76

Abstract: A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.

Abstract translation: 一种外科手术机器人的控制方法，其特征在于，计算作用在安装有外科手术器械的机器人手臂上的外力，当设置切口的中心点时，过滤作用在机器人手臂上的外力，计算虚拟力以使手术 远离切口的中心点定位以返回到切口的中心点的仪器，并将计算出的虚拟力施加到经过滤的外力上，以控制机器人手臂的运动。 结果，可以紧凑地设计外科手术机器人，从而减小手术机器人的体积。

公开(公告)号：US20140343730A1

公开(公告)日：2014-11-20

申请号：US14153302

申请日：2014-01-13

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ji Young KIM ,  Kwang Kyu LEE ,  Woong KWON ,  Kyung Shik ROH ,  Ju Suk LEE ,  Seung Yong HYUNG

IPC: G05B19/41

CPC classification number: B25J9/1625 ,  G05B2219/40299 ,  Y10S901/16

Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.

Abstract translation: 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。

公开(公告)号：US20130173055A1

公开(公告)日：2013-07-04

申请号：US13734062

申请日：2013-01-04

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Ji Young KIM ,  Kwang Kyu LEE ,  Young Do KWON ,  Kyung Shik ROH

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B25J3/04 ,  B25J13/025 ,  B25J15/0009 ,  G05B2219/39466 ,  G05B2219/39497 ,  G05B2219/39546 ,  G05B2219/40407

Abstract: Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user's fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user's fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.

Abstract translation: 这里公开了一种机器人手的控制方法，其包括使用主装置识别用户手指的前姿势，根据识别的前姿态改变机器人手的形状，使用主人识别用户手指的夹持运动 装置，并且根据对应于所识别的前姿势的夹持姿势执行机器人手的抓握运动。