公开(公告)号：US08553842B2

公开(公告)日：2013-10-08

申请号：US13137634

申请日：2011-08-30

申请人： Kyung Won Moon ,  San Lim ,  Kwang Kyu Lee ,  Kyung Shik Roh

发明人： Kyung Won Moon ,  San Lim ,  Kwang Kyu Lee ,  Kyung Shik Roh

IPC分类号： H05G1/08 ,  H05G1/02

CPC分类号： A61B6/4452 ,  A61B6/0407 ,  A61B6/4464 ,  A61B6/467 ,  A61B6/547 ,  A61B6/587

摘要： An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.

摘要翻译： X射线设备包括沿着不同轴线布置的导轨，X射线管可移动地安装在至少一个导轨上并且适于在用户力下移动，设置在导轨上的电动机以移动X射线管 检测用户力的力检测单元，以及确定力方向的控制单元，并且在与所确定的方向对应的轴上驱动设置在导轨上的马达。 可以基于马达的力检测和速度控制容易地移动X射线装置，从而在期望的方向上实现更精确和安全的运动。 因此，X射线设备可以在医院中提供快速有效的体检。

公开(公告)号：US09298194B2

公开(公告)日：2016-03-29

申请号：US13317999

申请日：2011-11-02

申请人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

发明人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

IPC分类号： G05B19/04 ,  A61B6/10 ,  G05D15/01 ,  A61B6/00

CPC分类号： G05D15/01 ,  A61B6/102 ,  A61B6/107 ,  A61B6/4441 ,  A61B6/4447 ,  A61B6/4452

摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.

摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备可以移动。

公开(公告)号：US20120168397A1

公开(公告)日：2012-07-05

申请号：US13298812

申请日：2011-11-17

申请人： San Lim ,  Kwang Kyu Lee ,  Kyung Won Moon ,  Kyung Shik Roh

发明人： San Lim ,  Kwang Kyu Lee ,  Kyung Won Moon ,  Kyung Shik Roh

IPC分类号： B66C13/06 ,  B66D1/24 ,  B66C17/00 ,  B66D1/36 ,  B66D1/48

CPC分类号： B66C13/063 ,  B66D3/18

摘要： A hoist apparatus including a hoist and control method are provided. The hoist includes a cable to which an object is connected, a motor, a drum to wind or unwind the cable in linkage with rotation of the motor, a pulley connected to the drum via the cable to guide the cable to the drum, and an angle detection assembly to detect an angle of the cable between the pulley and the object. A control unit detects whether the object shakes based on the angle of the cable and controls shaking restriction if shaking of the object is detected. User force and angle of the cable are detected and movement of the object is controlled, the object is easily moved by the user, auxiliary force is applied to the object, and vibration of the object is minimized.

摘要翻译： 提供了一种包括起重机和控制方法的起重设备。 起重机包括连接物体的电缆，马达，与电动机的旋转相关联地卷绕或退绕电缆的滚筒，经由电缆连接到滚筒以将电缆引导到滚筒的滑轮，以及 角度检测组件，以检测皮带轮和物体之间的电缆的角度。 控制单元基于电缆的角度来检测物体是否摇动，并且如果检测到物体的晃动则控制抖动限制。 检测用户力和角度，并控制物体的移动，使用者容易移动物体，对物体施加辅助力，物体的振动最小化。

公开(公告)号：US20120136480A1

公开(公告)日：2012-05-31

申请号：US13317999

申请日：2011-11-02

申请人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

发明人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

IPC分类号： G05B19/04 ,  G05D15/01

CPC分类号： G05D15/01 ,  A61B6/102 ,  A61B6/107 ,  A61B6/4441 ,  A61B6/4447 ,  A61B6/4452

摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved.

摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备容易移动。

公开(公告)号：US20120087479A1

公开(公告)日：2012-04-12

申请号：US13137634

申请日：2011-08-30

申请人： Kyung Won Moon ,  San Lim ,  Kwang Kyu Lee ,  Kyung Shik Roh

发明人： Kyung Won Moon ,  San Lim ,  Kwang Kyu Lee ,  Kyung Shik Roh

IPC分类号： H05G1/02

CPC分类号： A61B6/4452 ,  A61B6/0407 ,  A61B6/4464 ,  A61B6/467 ,  A61B6/547 ,  A61B6/587

摘要： An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.

摘要翻译： X射线设备包括沿着不同轴线布置的导轨，X射线管可移动地安装在至少一个导轨上并且适于在用户力下移动，设置在导轨上的电动机以移动X射线管 检测用户力的力检测单元，以及确定力方向的控制单元，并且在与所确定的方向对应的轴上驱动设置在导轨上的马达。 可以基于马达的力检测和速度控制容易地移动X射线装置，从而在期望的方向上实现更精确和安全的运动。 因此，X射线设备可以在医院中提供快速有效的体检。

公开(公告)号：US20110166709A1

公开(公告)日：2011-07-07

申请号：US12985623

申请日：2011-01-06

申请人： Ji Young KIM ,  Kyung Shik Roh ,  Jong Do Choi ,  Kwang Kyu Lee ,  Kyung Won Moon

发明人： Ji Young KIM ,  Kyung Shik Roh ,  Jong Do Choi ,  Kwang Kyu Lee ,  Kyung Won Moon

IPC分类号： G05B15/00

CPC分类号： B25J9/1612 ,  G05B2219/40202

摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.

摘要翻译： 机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。 如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体 根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。 如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从 根据是否感测到施加到机器人手的推力或拉力，外部被检体。

公开(公告)号：US08606402B2

公开(公告)日：2013-12-10

申请号：US13004515

申请日：2011-01-11

申请人： Kwang Kyu Lee ,  Kyung Shik Roh ,  Jong Do Choi ,  Kyung Won Moon ,  Ji Young Kim

发明人： Kwang Kyu Lee ,  Kyung Shik Roh ,  Jong Do Choi ,  Kyung Won Moon ,  Ji Young Kim

IPC分类号： B25J9/02

CPC分类号： B25J9/1676 ,  G05B2219/40338 ,  G05B2219/40362

摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.

摘要翻译： 操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。 操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF， 障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞 避免与障碍物的碰撞。

公开(公告)号：US08538583B2

公开(公告)日：2013-09-17

申请号：US12985623

申请日：2011-01-06

申请人： Ji Young Kim ,  Kyung Shik Roh ,  Jong Do Choi ,  Kwang Kyu Lee ,  Kyung Won Moon

发明人： Ji Young Kim ,  Kyung Shik Roh ,  Jong Do Choi ,  Kwang Kyu Lee ,  Kyung Won Moon

IPC分类号： B25J13/02 ,  B25J13/08

CPC分类号： B25J9/1612 ,  G05B2219/40202

摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.

摘要翻译： 机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。 如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体 根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。 如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从 根据是否感测到施加到机器人手的推力或拉力，外部被检体。

公开(公告)号：US20110172819A1

公开(公告)日：2011-07-14

申请号：US13004515

申请日：2011-01-11

申请人： Kwang Kyu LEE ,  Kyung Shik Roh ,  Jong Do Choi ,  Kyung Won Moon ,  Ji Young Kim

发明人： Kwang Kyu LEE ,  Kyung Shik Roh ,  Jong Do Choi ,  Kyung Won Moon ,  Ji Young Kim

IPC分类号： B25J9/00

CPC分类号： B25J9/1676 ,  G05B2219/40338 ,  G05B2219/40362

摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.

摘要翻译： 操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。 操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF， 障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞 避免与障碍物的碰撞。

公开(公告)号：US08405340B2

公开(公告)日：2013-03-26

申请号：US12588691

申请日：2009-10-23

申请人： Kyung Won Moon ,  Kyung Shik Roh ,  Jong Do Choi ,  Hyun Kyu Kim

发明人： Kyung Won Moon ,  Kyung Shik Roh ,  Jong Do Choi ,  Hyun Kyu Kim

IPC分类号： G05B9/02

CPC分类号： B25J9/1638 ,  G05B2219/39194 ,  G05B2219/40264

摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.

摘要翻译： 公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。 当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩 补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是 在失重状态下，能够安全地停止机器人手臂。