公开(公告)号：US09687409B2

公开(公告)日：2017-06-27

申请号：US14519145

申请日：2014-10-21

Applicant: Industrial Technology Research Institute

Inventor： Ming-Chang Teng ,  Yi-Jeng Tsai

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165

Abstract: A walking assist device including a waist assembly and at least one leg assembly connected to the waist assembly is provided. The leg assembly includes a thigh stand, a shank stand, a sole, a hip joint, a knee joint and an ankle joint. The hip joint is pivoted to the thigh. The knee joint is pivoted to the thigh stand and connected to the shank stand. The ankle joint includes at least a flexible plate and an elastic member. The flexible plate includes a first end and a second end opposite to each other. The first end is pivoted to the shank stand directly or indirectly, the second end is connected to the sole, and the elastic member presses the first end of the flexible plate.

公开(公告)号：US20170151070A1

公开(公告)日：2017-06-01

申请号：US14982881

申请日：2015-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Kuan-Chun Sun ,  Yi-Jeng Tsai ,  Cheng-Hua Wu ,  Jwu-Sheng Hu

IPC: A61F2/70 ,  H04W4/02 ,  A61B5/11 ,  A61H1/02 ,  A61H3/00

CPC classification number: A61F2/70 ,  A61B5/112 ,  A61B2562/0219 ,  A61F2002/689 ,  A61F2002/704 ,  A61H1/0255 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2205/108 ,  B25J9/0006 ,  G05B2219/37134 ,  G05B2219/37388 ,  G05B2219/40305 ,  H04W4/029

Abstract: A method for estimating posture of robotic walking aid comprises: providing a motor controller, a motor encoder and a motor on right and left hip joints, and right and left knee joints of a robotic walking aid, providing an inertial sensor on upper body of the robotic walking aid, wherein the motor controller, the motor encoder, the motor and the inertial sensor are coupled to a control unit; installing the robotic walking aid on a user; inputting the lengths of the upper body, two thighs, two shanks, two feet of the robotic walking aid to the control unit, wherein the upper body, two thighs, two shanks, two feet form a plurality of points; obtaining an angle of the upper body corresponding to a reference frame with the inertial sensor; obtaining angles of those joints with those motor encoders; and calculating 3 dimensional coordinates of each point with a motion model.

公开(公告)号：US09140344B2

公开(公告)日：2015-09-22

申请号：US13777328

申请日：2013-02-26

Applicant: Industrial Technology Research Institute

Inventor： Ming-Chang Teng ,  Yi-Jeng Tsai ,  Chin-Chi Hsiao

IPC: F16H37/06 ,  B25J17/00 ,  F16H37/08 ,  B25J9/10 ,  B25J17/02

CPC classification number: F16H37/0826 ,  B25J9/102 ,  B25J9/103 ,  B25J17/0241 ,  Y10T74/18784

Abstract: A differential-velocity driving device and a mechanical arm to which the differential-velocity driving device is applied are provided. The differential-velocity driving device includes a first rotary driving element, a first transmission gear connected to the first rotary driving element, a second rotary driving element, a second transmission gear connected to the second rotary driving element, a fixing member connected to the first rotary driving element and the second rotary driving element such that the first rotary driving element does not move or rotate with respect to the second rotary driving element, a power output gear engaged with the first transmission gear and the second transmission gear, and an output shaft passing through an axle center of the power output gear and being coaxial with the axle center.

Abstract translation: 提供了一种使用差动速度驱动装置的差速驱动装置和机械臂。 微分速度驱动装置包括第一旋转驱动元件，连接到第一旋转驱动元件的第一传动齿轮，第二旋转驱动元件，连接到第二旋转驱动元件的第二传动齿轮，连接到第一旋转驱动元件的第二传动齿轮 旋转驱动元件和第二旋转驱动元件，使得第一旋转驱动元件相对于第二旋转驱动元件不移动或旋转，与第一变速齿轮和第二变速齿轮啮合的动力输出齿轮，以及输出轴 通过动力输出齿轮的轴心并与轴心同轴。

公开(公告)号：US09752665B2

公开(公告)日：2017-09-05

申请号：US14583424

申请日：2014-12-26

Applicant: Industrial Technology Research Institute

Inventor： Han-Ping Yang ,  Yi-Jeng Tsai ,  Chau-Shin Jang ,  Jih-Yang Chang ,  Hsin-Tien Yeh ,  Cheng-Hsuan Lin

IPC: F16H37/08 ,  H02K7/116 ,  H02K16/00 ,  F16H49/00 ,  F16H1/32

CPC classification number: F16H37/0826 ,  F16H1/32 ,  F16H49/001 ,  H02K7/116 ,  H02K16/00 ,  H02K2213/09

Abstract: The present invention discloses a compliance motor structure and the manufacturing method thereof. The motor structure may include a first motor, a second motor and a first gear set. The first motor may include a first rotor. The second motor may include a second rotor. The first gear set may include a first inner input shaft, a second outer shaft and a first output shaft, which are coupled to each other; the first inner input shaft may be connected to the first rotor, and the first outer input shaft may be connected to the second rotor; the power generated by the first motor and the second motor, coupled to the first gear set, can be outputted via the first output shaft.

公开(公告)号：US20150272810A1

公开(公告)日：2015-10-01

申请号：US14519145

申请日：2014-10-21

Applicant: Industrial Technology Research Institute

Inventor： Ming-Chang Teng ,  Yi-Jeng Tsai

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165

Abstract: A walking assist device including a waist assembly and at least one leg assembly connected to the waist assembly is provided. The leg assembly includes a thigh stand, a shank stand, a sole, a hip joint, a knee joint and an ankle joint. The hip joint is pivoted to the thigh. The knee joint is pivoted to the thigh stand and connected to the shank stand. The ankle joint includes at least a flexible plate and an elastic member. The flexible plate includes a first end and a second end opposite to each other. The first end is pivoted to the shank stand directly or indirectly, the second end is connected to the sole, and the elastic member presses the first end of the flexible plate.

Abstract translation: 提供一种行走辅助装置，其包括腰部组件和连接到腰部组件的至少一个腿部组件。 腿组件包括大腿架，柄架，鞋底，髋关节，膝关节和踝关节。 髋关节枢转到大腿。 膝关节枢转到大腿架并连接到柄架上。 踝关节至少包括柔性板和弹性构件。 柔性板包括彼此相对的第一端和第二端。 第一端直接或间接地枢转到柄架，第二端连接到鞋底，弹性构件按压柔性板的第一端。

公开(公告)号：US20160153535A1

公开(公告)日：2016-06-02

申请号：US14583424

申请日：2014-12-26

Applicant: Industrial Technology Research Institute

Inventor： Han-Ping Yang ,  Yi-Jeng Tsai ,  Chau-Shin Jang ,  Jih-Yang Chang ,  Hsin-Tien Yeh ,  Cheng-Hsuan Lin

IPC: F16H48/06 ,  F16H49/00 ,  F16H48/38 ,  F16H1/28

CPC classification number: F16H37/0826 ,  F16H1/32 ,  F16H49/001 ,  H02K7/116 ,  H02K16/00 ,  H02K2213/09

Abstract: The present invention discloses a compliance motor structure and the manufacturing method thereof. The motor structure may include a first motor, a second motor and a first gear set. The first motor may include a first rotor. The second motor may include a second rotor. The first gear set may include a first inner input shaft, a second outer shaft and a first output shaft, which are coupled to each other; the first inner input shaft may be connected to the first rotor, and the first outer input shaft may be connected to the second rotor; the power generated by the first motor and the second motor, coupled to the first gear set, can be outputted via the first output shaft.

Abstract translation: 本发明公开了一种顺应性电机结构及其制造方法。 马达结构可以包括第一马达，第二马达和第一齿轮组。 第一马达可以包括第一转子。 第二电动机可以包括第二转子。 第一齿轮组可以包括彼此联接的第一内部输入轴，第二外部轴和第一输出轴; 第一内部输入轴可以连接到第一转子，并且第一外部输入轴可以连接到第二转子; 可以经由第一输出轴输出由第一电动机和第二电动机产生的与第一档位组合的动力。