公开(公告)号：US09566709B2

公开(公告)日：2017-02-14

申请号：US14217808

申请日：2014-03-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Woong Kwon ,  Bok Man Lim ,  Gurel Ogan

IPC: B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00

CPC classification number: B25J9/1607 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00225 ,  A61B2034/302 ,  A61B2034/742 ,  A61B2090/373 ,  A61B2090/378 ,  B25J9/1689 ,  G05B2219/39079 ,  G05B2219/40182 ,  G05B2219/40333 ,  G05B2219/40336 ,  G05B2219/40338 ,  G05B2219/40352 ,  G05B2219/40371 ,  G05B2219/45117

Abstract: A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.

Abstract translation: 机器人可以包括：具有冗余的多工具模块，所述多工具模块包括引导管和多个工具，所述多个工具被配置成在与所述引导管相互作用并且从所述引导管延伸的同时进行操作; 和/或控制器，被配置为基于关于任务空间中的多个工具的远端的运动指令信息来生成关于多工具模块在关节空间中的运动的控制信号。 冗余可以反映联合空间中多工具模块的多个自由度大于任务空间的多个自由度。 可以使用冗余来产生控制信号。

公开(公告)号：US09073209B2

公开(公告)日：2015-07-07

申请号：US13770357

申请日：2013-02-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： Min Hyung Lee ,  Kyung Shik Roh ,  Bok Man Lim

IPC: G05B15/00 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/162 ,  B25J9/1633 ,  B62D57/032

Abstract: A walking robot capable of implementing a balancing action to ensure a stable walking on uneven ground based on an FSM-based walking control method, and a control method thereof, is capable of implementing stable walking by controlling torques of the hip joint, the knee joint and the ankle joint by use of FSM without calculating complicated Dynamics Equations. The walking robot ensures stable walking on uneven ground through a simple calculation by use of the angle formed by the ground and the both feet The walking robot is made to be applied to a robot provided with joints having six degrees of freedom through a simple calculation of compensation angles.

Abstract translation: 基于FSM行走控制方法的能够实现平衡动作以确保在不平坦地面上稳定行走的行走机器人及其控制方法能够通过控制髋关节，膝关节的扭矩来实现稳定的行走 和踝关节使用FSM，而不计算复杂的动力学方程。 步行机器人通过使用地面和双脚形成的角度通过简单的计算来确保在不平坦的地面上的稳定的行走。通过简单的计算，将步行机器人应用于具有六自由度的关节的机器人， 补偿角度。

公开(公告)号：US11801192B2

公开(公告)日：2023-10-31

申请号：US16144128

申请日：2018-09-27

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bok Man Lim ,  Kee Hong Seo

IPC: A61H3/00 ,  A61H1/02 ,  A61B34/30

CPC classification number: A61H3/00 ,  A61B34/30 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/0176 ,  A61H2201/0184 ,  A61H2201/1215 ,  A61H2201/1246 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084

Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.

公开(公告)号：US10117801B2

公开(公告)日：2018-11-06

申请号：US14498133

申请日：2014-09-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bok Man Lim ,  Kee Hong Seo

IPC: A61H3/00 ,  A61H1/02 ,  A61B34/30

Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.

公开(公告)号：US10064778B2

公开(公告)日：2018-09-04

申请号：US14337684

申请日：2014-07-22

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung-Won Moon ,  Ji Young Kim ,  Young-Bo Shim ,  Bok Man Lim

IPC: A61H1/02 ,  A61H3/00 ,  A61B5/103 ,  A61B5/11

Abstract: A walking assistance device may include at least one walking assistance unit configured to assist a user in walking; and/or a controller configured to control, based on a walk pattern of the user, the at least one walking assistance unit to produce torque only in at least one assistance period needing walking assistance in a walk cycle. A method of controlling walking assistance may include: calculating a walking assistance time using a difference between a start time and a termination time of an assistance period needing the walking assistance in a walk pattern; and/or assisting a user in walking when the assistance period begins, by producing torque for the walking assistance time.