公开(公告)号：US20150190923A1

公开(公告)日：2015-07-09

申请号：US14591755

申请日：2015-01-07

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kee Hong SEO ,  Ju Suk LEE

IPC: B25J9/00 ,  A61H3/00

CPC classification number: B25J9/0006 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5038 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2230/605 ,  B25J13/085

Abstract: A walking assistant device may calculate a walking cycle by measuring only motion of a specific joint without a force/torque sensor (F/T sensor) of a foot, and a method of controlling the walking assistant device. The method may include measuring motion of a hinge to which different support frames are connected; overlapping a reference trajectory corresponding to the measured motion and modulation trajectories that have been modulated from the reference trajectory; correcting the overlapping trajectory to correspond to the measured motion; determining assistant torque corresponding to a phase of the corrected trajectory; and providing the determined assistant torque to the support frame.

Abstract translation: 行走辅助装置可以通过仅在没有脚的力/扭矩传感器（F / T传感器）的情况下仅测量特定关节的运动来计算步行循环，以及控制步行辅助装置的方法。 该方法可以包括测量不同支撑框架连接到的铰链的运动; 将与已经从参考轨迹调制的测量运动和调制轨迹相对应的参考轨迹重叠; 校正重叠轨迹以对应于测量的运动; 确定与校正的轨迹的相位对应的辅助扭矩; 并将确定的辅助扭矩提供给支撑框架。

公开(公告)号：US20140343730A1

公开(公告)日：2014-11-20

申请号：US14153302

申请日：2014-01-13

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ji Young KIM ,  Kwang Kyu LEE ,  Woong KWON ,  Kyung Shik ROH ,  Ju Suk LEE ,  Seung Yong HYUNG

IPC: G05B19/41

CPC classification number: B25J9/1625 ,  G05B2219/40299 ,  Y10S901/16

Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.

Abstract translation: 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。

公开(公告)号：US20150139382A1

公开(公告)日：2015-05-21

申请号：US14498554

申请日：2014-09-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： Seung Yong HYUNG ,  Ji Yeun KIM ,  Kyung Shik ROH ,  Jong Won LEE ,  Ju Suk LEE ,  Won Jun HWANG ,  Hyo Seok HWANG

IPC: A61B6/00

CPC classification number: A61B6/469 ,  A61B6/06 ,  A61B6/12 ,  A61B6/405 ,  A61B6/4441 ,  A61B6/481 ,  A61B6/482 ,  A61B6/486 ,  A61B6/487 ,  A61B6/503 ,  A61B6/504 ,  A61B6/5211 ,  A61B6/542 ,  A61B6/547 ,  A61B2034/2046 ,  A61B2090/376

Abstract: Provided are an X-ray imaging apparatus that is capable of tracking a position of an object of interest using a Kalman filter so as to reduce the amount of X-ray radiation exposure of a subject, calculating covariance indicative of accuracy of the tracing, and controlling a collimator so that the position of the object of interest and calculated covariance may be correlated with a position and an area of a region into which X-rays are radiated, and a method of controlling the X-ray imaging apparatus.

Abstract translation: 提供了一种能够使用卡尔曼滤波器跟踪感兴趣对象的位置以减少被摄体的X射线辐射暴露量，计算表示跟踪精度的协方差的X射线成像装置，以及 控制准直器，使得感兴趣对象的位置和计算的协方差可以与放射X射线的区域的位置和面积相关联，以及控制X射线成像装置的方法。

公开(公告)号：US20150206614A1

公开(公告)日：2015-07-23

申请号：US14533873

申请日：2014-11-05

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung Shik ROH ,  Seung Yong HYUNG ,  Ji Yeun KIM ,  Jong Won LEE ,  Ju Suk LEE ,  Won Jun HWANG ,  Hyo Seok HWANG

IPC: G21K5/10 ,  G01N23/04

CPC classification number: G21K5/10 ,  A61B6/06 ,  A61B6/405 ,  A61B6/4441 ,  A61B6/461 ,  A61B6/482 ,  A61B6/504 ,  A61B6/5217 ,  A61B6/542 ,  G01N23/04

Abstract: A radiographic apparatus may comprise: a radiation irradiating module configured to irradiate radiation to an object; and/or a processing module configured to automatically set a part of a region to which the radiation irradiating module is able to irradiate the radiation, to a region of interest, and further configured to determine at least one of a radiation irradiation position and a radiation irradiation zone of the radiation irradiating module based on the region of interest.

Abstract translation: 放射线照相设备可以包括：辐射照射模块，被配置为将辐射辐射到物体; 和/或处理模块，被配置为将辐射照射模块能够照射辐射的区域的一部分自动地设置到感兴趣的区域，并且还被配置为确定辐射照射位置和辐射中的至少一个 基于感兴趣区域的辐射照射模块的照射区域。

公开(公告)号：US20150196403A1

公开(公告)日：2015-07-16

申请号：US14558081

申请日：2014-12-02

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ji Young KIM ,  Kyung-Won MOON ,  Young Bo SHIM ,  Ju Suk LEE

IPC: A61F2/70 ,  A61H3/00

CPC classification number: A61F2/70 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/6818 ,  A61F2002/6827 ,  A61F2002/6836 ,  A61F2002/6845 ,  A61F2002/6863 ,  A61F2002/701 ,  A61F2002/702 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/707 ,  A61F2002/708 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  Y10S901/09 ,  Y10S901/23 ,  Y10S901/46

Abstract: Disclosed herein is a control method of a wearable robot, including: generating reference gait data based on the results of sensing by a sensor unit included in a structure; estimating, when a wearer walks, the wearer's gait phase based on the results of sensing by the sensor unit; detecting a gait phase having a minimum difference from the estimated gait phase from the reference gait data; and driving a driver of the structure, according to a control signal generated based on the estimated gait phase and the detected gait phase.

Abstract translation: 本发明公开了一种耐磨机器人的控制方法，包括：基于包含在结构中的传感器单元的感测结果生成参考步态数据; 根据传感器单元的感测结果估计穿戴者走路时的佩戴者的步态相位; 检测与来自参考步态数据的估计步态相位具有最小差异的步态相位; 以及根据基于估计的步态相位和检测到的步态相位产生的控制信号来驱动该结构的驱动器。