公开(公告)号：US10124488B2

公开(公告)日：2018-11-13

申请号：US15332312

申请日：2016-10-24

Applicant: Korea Institute of Science and Technology

Inventor： Junghwan Lee ,  Jung Min Park ,  Sang Rok Oh

IPC: B25J9/16 ,  G05D1/02

Abstract: A robot control system includes a detecting device configured to detect an obstacle, and a control device configured to control a robot by planning a driving path of the robot. The control device generates a road map space including nodes containing information about a state of the robot and edges connecting the nodes. Also, the control device checks whether the obstacle detected by the detecting device overlaps with the nodes, removes an overlapped node, generates a driving path by sampling remaining nodes and edges, and checks whether the edges of the driving path overlap with the obstacle. When there is no overlapped edge, the control device determines the driving path on the road map space to plan a path along which the robot drives without colliding with the obstacle.

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：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：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：US10163001B2

公开(公告)日：2018-12-25

申请号：US15088604

申请日：2016-04-01

Applicant: Korea Institute of Science and Technology

Inventor： Junsik Kim ,  Jung Min Park ,  Sang Rok Oh

IPC: G06K9/00 ,  G06T19/20 ,  G06F3/01

Abstract: The virtual model control system has an input device configured to provide input information for formation, movement or transformation of a virtual model; a control device configured to form the virtual model based on the input information received from the input device, move or transform the virtual model, form a plurality of physical particles at the virtual model, form contact point information therefor, and move the plurality of physical particles to update the contact point information; an output device configured to output the virtual model to the outside. When the plurality of physical particles penetrates into another virtual model in the virtual space, the control devices update the contact point information so that the penetrating physical particles are rearranged at an outer side of the another virtual model.

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.