公开(公告)号：US20150127018A1

公开(公告)日：2015-05-07

申请号：US14498133

申请日：2014-09-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bok Man LIM ,  Kee Hong SEO

IPC: A61B19/00 ,  A61H3/00

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.

Abstract translation: 公开了一种行走辅助机器人和一种控制步行辅助机器人的方法。 控制方法包括：通过感测或测量至少一个关节的运动来收集运动信息，基于所述至少一个关节的感测或测量的运动来确定所述至少一个关节的运动状态，以及基于所述运动辅助机器人 关于所述至少一个关节的所确定的运动状态。

公开(公告)号：US20140277741A1

公开(公告)日：2014-09-18

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

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：US20130079929A1

公开(公告)日：2013-03-28

申请号：US13627667

申请日：2012-09-26

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Bok Man LIM ,  Kyung Shik ROH ,  Joo Hyung KIM

IPC: G05B19/18

CPC classification number: B62D57/032

Abstract: A robot and method of controlling the robot, the method including setting a target walking motion of the robot using an X-axis displacement, a y-axis displacement, and a z-axis rotation of a robot base, detecting and processing data of a position, a speed and a gradient of the robot base, a z-axis external force exerted on the foot, and a position, an angle, and a speed of each rotation joint using sensors, setting a support state and a coordination system of the robot, processing a state of the robot, performing an adaptive control by generating a target walking trajectory of the robot according to the target walking motion when a supporting leg of the robot is changed, setting a state machine representing a walking trajectory of the robot, and controlling a walking and a balancing of the robot by tracing the state machine that is set.

Abstract translation: 一种机器人和机器人控制方法，该方法包括使用机器人基座的X轴位移，y轴位移和z轴旋转来设定机器人的目标步行运动，检测和处理机器人的数据 位置，机器人基座的速度和梯度，施加在脚上的z轴外力，以及使用传感器的每个旋转关节的位置，角度和速度，设定支撑状态和协调系统 机器人处理机器人的状态，通过在机器人的支撑腿改变时根据目标步行动作产生机器人的目标步行轨迹进行自适应控制，设定表示机器人的步行轨迹的状态机， 并通过跟踪设置的状态机来控制机器人的行走和平衡。

公开(公告)号：US20190021938A1

公开(公告)日：2019-01-24

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

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：US20150094823A1

公开(公告)日：2015-04-02

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: A61H3/00

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/112 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/164 ,  A61H2201/1676 ,  A61H2201/50 ,  A61H2201/5007 ,  A61H2201/5012 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5092

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.

Abstract translation: 行走辅助装置可以包括：至少一个行走辅助单元，其构造成帮助用户行走; 和/或控制器，被配置为基于用户的步行模式来控制所述至少一个步行辅助单元，以在仅在步行周期中需要步行辅助的至少一个辅助时段中产生扭矩。 一种控制步行辅助的方法可以包括：使用在行走模式中需要步行辅助的辅助时段的开始时间和终止时间之间的差来计算步行辅助时间; 和/或通过产生用于行走辅助时间的扭矩来帮助用户在辅助时段开始时行走。