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Patent Agency Ranking
公开(公告)号：US09463570B2
公开(公告)日：2016-10-11
申请号：US14565156
申请日：2014-12-09
Applicant: Samsung Electronics Co., Ltd.
Inventor： Gyung Rock Kim , Ji Min Kim , Young Bo Shim , Jong Do Choi , Tae Sin Ha
CPC classification number: B25J9/0006 , G05B2219/40305 , G05B2219/40413
Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.
Abstract translation: 本文公开了一种用于辅助穿戴者预期运动的可佩戴机器人，包括：一个或多个构造成支撑佩戴者的连杆; 一个或多个接头单元，被配置为将链节彼此连接; 控制器，其被配置为确定穿着者的预期运动，并且基于穿着者的预期运动来计算至少一个扭矩; 以及配置成在关节中产生计算出的转矩的驾驶员。 根据穿戴机器人，可以基于穿戴者重心的速度实时地确定穿着者的预期运动。 此时，通过使用压力传感器，运动判定的可靠性可能增加。 此外，可以根据佩戴者的预期运动有效地控制关节运动。
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公开(公告)号：US09849004B2
公开(公告)日：2017-12-26
申请号：US14476342
申请日：2014-09-03
Applicant: Samsung Electronics Co., Ltd.
Inventor： Jong Do Choi , Young Do Kwon , Gyung Rock Kim , Ji Min Kim , Young Bo Shim , Tae Sin Ha
CPC classification number: A61F2/68 , A61F5/01 , A61H3/00 , A61H2201/5061 , A61H2201/5069
Abstract: Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.
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公开(公告)号：US09833896B2
公开(公告)日：2017-12-05
申请号：US14556772
申请日：2014-12-01
Applicant: Samsung Electronics Co., Ltd.
Inventor： Ji Min Kim , Gyung Rock Kim , Jong Do Choi , Tae Sin Ha
CPC classification number: B25J9/0006 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/165 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069 , B25J9/1633 , G05B2219/40305
Abstract: There are provided a wearable robot and a method of controlling the same. The method includes obtaining a joint angle and a joint angular velocity of a plurality of joints, calculating a target joint angle of one joint among the plurality of joints using a joint angle and a joint angular velocity of at least one joint among the other joints, calculating assistive torque to be applied to the one joint using the calculated target joint angle, and outputting the calculated assistive torque to the one joint.
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公开(公告)号：US09439733B2
公开(公告)日：2016-09-13
申请号：US14030302
申请日：2013-09-18
Applicant: Samsung Electronics Co., Ltd.
Inventor： Tae Sin Ha , Won Jun Ko , Young Do Kwon , Gyung Rock Kim , Byung Kwon Choi
CPC classification number: A61B34/30 , A61B34/37 , A61B34/74 , A61B2017/00207 , A61B2017/00212 , A61B2034/2065
Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.
Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。
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公开(公告)号：US20140303643A1
公开(公告)日：2014-10-09
申请号：US14030302
申请日：2013-09-18
Applicant: Samsung Electronics Co., Ltd.
Inventor： Tae Sin Ha , Won Jun Ko , Young Do Kwon , Gyung Rock Kim , Byung Kwon Choi
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/74 , A61B2017/00207 , A61B2017/00212 , A61B2034/2065
Abstract: A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.
Abstract translation: 手术机器人系统包括设置有外科器械的从属装置和用于控制外科器械的运动的主装置。 主设备包括具有操纵工具的主操纵模块，姿势识别器附接到该操纵工具，以及主控制模块，其使用经由姿态识别器获取的姿势信息来估计操作工具的姿势，生成外科器械姿态控制信号 对应于操作工具的估计姿势，并将控制信号发送到从设备。
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