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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
发明人： Ji Min Kim , Gyung Rock Kim , Jong Do Choi , Tae Sin Ha
CPC分类号： B25J9/0006 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/165 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069 , B25J9/1633 , G05B2219/40305
摘要： 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：US09463570B2
公开(公告)日：2016-10-11
申请号：US14565156
申请日：2014-12-09
发明人： Gyung Rock Kim , Ji Min Kim , Young Bo Shim , Jong Do Choi , Tae Sin Ha
CPC分类号： B25J9/0006 , G05B2219/40305 , G05B2219/40413
摘要： 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.
摘要翻译： 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
发明人： Jong Do Choi , Young Do Kwon , Gyung Rock Kim , Ji Min Kim , Young Bo Shim , Tae Sin Ha
CPC分类号： A61F2/68 , A61F5/01 , A61H3/00 , A61H2201/5061 , A61H2201/5069
摘要： 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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