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    PLANETARY GEAR ACTUATOR
    31.
    发明申请
    PLANETARY GEAR ACTUATOR 有权

    公开(公告)号：US20220074468A1

    公开(公告)日：2022-03-10

    申请号：US17469951

    申请日：2021-09-09

    Applicant: NAVER LABS CORPORATION ,  Korea University of Technology and Education Industry-University Cooperation Foundation

    Inventor： Yong Jae KIM ,  Seong Ho YUN ,  Ji Won SEO

    IPC: F16H1/46

    Abstract: A planetary gear actuator including a sun gear, a rotary internal gear being concentric with the sun gear, a fixed internal gear being concentric with the sun gear, compound planetary gears, and a carrier connected to each of the compound planetary gears so as to be rotatable relative to each of compound planetary gears may be provided, Each of the compound planetary gears may include a first planet gear engaged with the sun gear, a second planet gear at one side of the first planet gear, engaged with the rotary internal gear, and having a smaller number of teeth than the first planet gear, and a third planet gear at another side of the first planet gear, engaged with the fixed internal gear, and having a smaller number of teeth than the first planet gear. One compound planetary gear may overlap another compound planetary gear in a thickness direction.

    GRAVITY COMPENSATION ASSEMBLY AND ROBOT WAIST STRUCTURE INCLUDING SAME
    32.
    发明申请
    GRAVITY COMPENSATION ASSEMBLY AND ROBOT WAIST STRUCTURE INCLUDING SAME 有权

    公开(公告)号：US20210370530A1

    公开(公告)日：2021-12-02

    申请号：US17404396

    申请日：2021-08-17

    Applicant: Korea University of Technology and Education Industry-University Cooperation Foundation ,  NAVER LABS CORPORATION

    Inventor： Yong Jae KIM ,  Seong Ho YUN

    IPC: B25J19/00 ,  B25J17/00

    Abstract: A gravity compensation assembly including a main frame having one side connected to a weight body to be supported, and the other side where an inner rotation portion and an outer rotation portion spaced apart from each other and having rotation axis in an x-axis direction are coupled, an auxiliary frame having one side rotatably connected to the inner rotation portion of the main frame, and the other side where an auxiliary rotation portion having a rotation axis in the x-axis direction is coupled, and an elastic force providing having one side rotatably connected to the outer rotation portion of the main frame, and the other side coupled to the auxiliary rotation portion of the auxiliary frame, and configured to perform load compensation by an elastic force when a center of gravity changes as a relative angle of the main frame and the auxiliary frame changes may be provided.

    Apparatus for generating tactile sensation
    40.
    发明授权
    Apparatus for generating tactile sensation 有权

    公开(公告)号：US10198067B2

    公开(公告)日：2019-02-05

    申请号：US15521898

    申请日：2016-08-23

    Applicant: KOREA UNIVERSITY OF TECHNOLOGY AND EDUCATION INDUSTRY-UNIVERSITY COOPERATION

    Inventor： Jee Hwan Ryu ,  Harsimran Singh

    IPC: G08B6/00 ,  G06F3/01 ,  G06F3/02 ,  G09B21/00

    Abstract: An apparatus for generating a tactile sensation comprises: a tactile sensation generating unit including a magnetorheological fluid, of which the shape changes according to a magnetic field and which comes in contact with a user's body, and a first magnet which is arranged to be surrounded with the magnetorheological fluid, which increases the amount of change of the magnetorheological fluid by the magnetic field thereof, and of which the position changes according to a change in a magnetic field generated by an external source; a magnetic field forming unit for selectively forming a magnetic field around the tactile sensation generating unit; and a control unit which outputs a signal for forming a magnetic field to the magnetic field forming unit when a user's body in contact with the tactile sensation generating unit reaches the surface of a virtual object.

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