公开(公告)号：US11617882B2

公开(公告)日：2023-04-04

申请号：US16662102

申请日：2019-10-24

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  RESEARCH & BUSINESS FOUNDATION SUNGKYUNKWAN UNIVERSITY

Inventor： Sehyuk Yim ,  Donghyun Hwang ,  Yong Seok Ihn ,  Keehoon Kim ,  Sang Rok Oh ,  Jinwoo Jeong

IPC: A61N1/05

Abstract: A nerve cover for covering a nerve within a living body tissue to protect the nerve includes a base of a flat plate shape, and a pair of covers protruding upward the base to form a hole for receiving a nerve, with one end attached to the base and the other end spaced apart from the one end, wherein when the base is bent in an arch shape when viewed from a side, a spacing between the pair of covers is expanded. In addition, an apparatus for insertion of an electrode structure includes a nerve cover fixing part which fixes the nerve cover with the base being bent, and an electrode structure fixing part in which the electrode structure is mounted, and which linearly moves the mounted electrode structure in an insertion direction to insert the electrode structure into the nerve surrounded by the nerve cover.

公开(公告)号：US11911060B2

公开(公告)日：2024-02-27

申请号：US17006446

申请日：2020-08-28

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Donghyun Hwang ,  Sungwoo Park ,  Namseon Jang ,  Yong Seok Ihn ,  Jinwoo Jeong ,  Keehoon Kim ,  Sang Rok Oh ,  Sungwook Yang ,  Sehyuk Yim

IPC: A61B17/30 ,  B25J7/00 ,  B25J9/16 ,  B25J13/08 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B17/30 ,  B25J7/00 ,  B25J9/161 ,  B25J9/1633 ,  B25J13/085 ,  A61B2017/00398 ,  A61B2090/064

Abstract: Provided is a forceps driving apparatus including a body, a gripper installed to be received in the body and formed to be open and closed, an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation, an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member, an actuator connected to the other side of the opening and closing member to rotate the opening and closing member by contraction or extension, and a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member.

公开(公告)号：US11633850B2

公开(公告)日：2023-04-25

申请号：US17103019

申请日：2020-11-24

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Donghyun Hwang ,  Sungwoo Park

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B25J15/02

Abstract: This disclosure relates to a technology for grasping an object while adjusting a grasping force according to stiffness of the object measured by a tactile sensor module, especially to a robot-hand, which includes a tactile sensor module for measuring a normal force applied when grasping an object, a phalange sensor module having an actuator to generate a driving force and configured to measure a rotational displacement of a motor, and a hand back control unit for operating the actuator by generating a desired displacement signal to control a grasping force so that a grasping motion is stably and accurately achieved by applying a minimum grasping force to soft object with no sliding and minimized deformation, wherein the desired displacement signal is generated based on stiffness which is calculated from the normal force data and the rotational displacement data.

公开(公告)号：US11491664B2

公开(公告)日：2022-11-08

申请号：US16566795

申请日：2019-09-10

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  RESEARCH & BUSINESS FOUNDATION SUNGKYUNKWAN UNIVERSITY

Inventor： Keehoon Kim ,  Yong Seok Ihn ,  Donghyun Hwang ,  Sehyuk Yim ,  Sang Rok Oh ,  Jinwoo Jeong

IPC: B25J9/00 ,  B25J15/00

Abstract: A robotic platform manipulating peripheral nerve system includes a manipulator and a recorder. The manipulator includes a rotating guide, a plurality of rotating movers and a plurality of manipulating units. The rotating guide has an opening portion through which the recorder records, and has a guide rail at a side. The rotating movers are combined with the rotating guide and move along the guide rail. The manipulating units are respectively fixed to the rotating movers, and a manipulating part performs the operation being connected to an end of each of the manipulating units.

公开(公告)号：US10990177B2

公开(公告)日：2021-04-27

申请号：US16199708

申请日：2018-11-26

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  CENTER OF HUMAN-CENTERED INTERACTION FOR COEXISTENCE

Inventor： Donghyun Hwang ,  Keehoon Kim ,  Byeongkyu Lim ,  Bum-Jae You

IPC: G06F3/01

Abstract: Provided is a tactile transmission device, which includes a base unit forming one surface of the tactile transmission device, a tip-tilt elastic member stacked on the base unit and configured to transmit a tactile feel to a finger of a user in a first direction oriented upward from a bottom surface of the finger and a second direction intersecting the first direction at a predetermined angle, and a cover disposed at an upper side of the tip-tilt elastic member to form another surface of the tactile transmission device.

公开(公告)号：US10653329B2

公开(公告)日：2020-05-19

申请号：US15721217

申请日：2017-09-29

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sang Rok Oh ,  Keehoon Kim ,  Sehyuk Yim ,  Yong Seok Ihn ,  Donghyun Hwang

IPC: A61B5/04 ,  A61N1/05 ,  A61B5/00

Abstract: A neural probe structure, which is fixed to a nerve to acquire an electrical signal from the nerve or apply electrical stimulation to the nerve, includes a body which is bent to enclose at least a part of circumference of the nerve, and a probe which extends longitudinally from the body and passes through the nerve, wherein the probe has electrodes. A neural probe assembly includes the neural probe structure, wherein the probe passes through the nerve and the body encloses at least a part of circumference of the nerve, so that the neural probe structure is fixed to the nerve.

公开(公告)号：US10248208B2

公开(公告)日：2019-04-02

申请号：US15567421

申请日：2015-08-10

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keehoon Kim ,  Donghyun Hwang

IPC: G06F3/01 ,  G06F3/0346

Abstract: A tactile transmission device for transmitting a tactile sensation to a user's finger comprises: a ring-type body which is put on a finger; a moving member which is formed such that the moving member can move with respect to the body; and a plurality of wire-type actuators which are formed so as to come in contact with the moving member, wherein each of the wire-type actuators is a solid-state actuator which changes in length when energy is applied thereto, a force applied to the moving member as the plurality of wire-type actuators change in length causes the moving member to move with respect to the body, and a contact part formed in the moving member comes into contact with a user's finger according to a movement of the moving member, so as to transmit a tactile sensation to the user.

公开(公告)号：US10144137B2

公开(公告)日：2018-12-04

申请号：US14938324

申请日：2015-11-11

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Keehoon Kim ,  Donghyun Hwang ,  Sang Rok Oh

IPC: B25J17/00 ,  B25J17/02 ,  F16H1/32

Abstract: A movement conversion apparatus has a frame, a plurality of auxiliary moving bodies connected to the frame to allow linear movement, a plurality of actuators configured to move the plurality of auxiliary moving bodies with respect to the frame, a main moving body surrounded by the plurality of auxiliary moving bodies and connected to the plurality of auxiliary moving bodies to have a hollow formed therein, and a rotating body rotatable on the basis of a rotary shaft fixed through the hollow. The plurality of auxiliary moving bodies are selectively moved to adjust a location of the main moving body. The rotating body is inserted into the hollow to rotate by a movement of the main moving body.